Collaborative robot tail end flange structure and collaborative robot

Abstract

The utility model discloses a collaborative robot tail end flange structure and a collaborative robot, a tail end IO communication board is arranged in the tail end flange structure, a light-emitting component is arranged on the outer surface of the tail end flange structure, the light-emitting component is connected with the tail end IO communication board, and the light-emitting component is used for displaying the state of the collaborative robot. Through interaction between the tail end IO communication board and the light-emitting component, various communication states of the robot can be displayed in real time, so that the tail end flange structure can visually display the states of the robot, the safety of the robot is improved, and the robot can better cooperate with workers.

Description

Technical Field

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

[0002] Collaborative robots are robotic systems that can work with humans. They are highly flexible and safe and can work with humans in the same workspace. The end flange structure of the collaborative robot is a key component of the robot hand, which determines the flexibility and precision of the robot during work.

[0003] The robotic arm and the gripper of the collaborative robot are connected by an end flange structure, in which sensors are installed. The robotic arm provides the robot with movement capabilities, the gripper is used to grasp and manipulate objects, and the sensor is used to sense the environment and interact with the staff. However, the traditional end flange structure has some limitations and challenges.

[0004] The traditional end flange structure is usually bulky, which limits the flexibility and accuracy of the robot. There is no corresponding electrical interface at the end, and the signal line needs to be reconnected from the robot base. There is no signal display during operation, and the operating status of the robot cannot be clearly reflected. Utility Model Content

[0005] The utility model provides a collaborative robot end flange structure and a collaborative robot to solve the technical problems in the above-mentioned prior art.

[0006] The technical solution adopted by the utility model is: in the first aspect, a collaborative robot terminal flange structure is provided, wherein a terminal IO communication board is arranged inside the terminal flange structure, and a light-emitting component is arranged on the outer surface, wherein the light-emitting component is connected to the terminal IO communication board, and the light-emitting component is used to display the status of the collaborative robot.

[0007] Furthermore, the end flange structure includes a first end flange and a second end flange which are coaxially arranged; the second end flange is installed on the first end flange, and a mounting cavity is formed inside the two, and the end IO communication board is installed in the mounting cavity.

[0008] Furthermore, an annular groove is formed at the joint of the first end flange and the second end flange, and the light-emitting component includes an LED light strip and a light-transmitting ring; the LED light strip and the light-transmitting ring are installed in the annular groove in sequence; and the end IO communication board is connected to the LED light strip.

[0009] Furthermore, a first sealing groove is provided on the first end flange, and a second sealing groove is provided on the second end flange. The first sealing groove and the second sealing groove are located in the annular groove. O-rings are provided in both the first sealing groove and the second sealing groove. The light-transmitting ring is sealed and installed in the annular groove via the O-ring.

[0010] Furthermore, the second end flange is mounted on the first end flange by means of screws or threads.

[0011] Furthermore, an IO male connector is installed on the first terminal flange or the second terminal flange, and the IO male connector is connected to the terminal IO communication board.

[0012] Furthermore, it also includes a cable fixing sheet metal, and the cable fixing sheet metal is installed in the installation cavity.

[0013] Furthermore, an enabling switch and a recording point switch are also installed on the first end flange or the second end flange, and the enabling switch and the recording point switch are respectively connected to the end IO communication board.

[0014] Furthermore, a mounting boss and a sinking step are coaxially arranged on the end face of the first end flange, the sinking step is located at the inner circle of the mounting boss, and an end flange cover plate is provided at the sinking step.

[0015] In a second aspect, a collaborative robot is provided, comprising the end flange structure described in the first aspect.

[0016] The beneficial effects of the utility model are:

[0017] (1) The utility model can display various communication states of the robot in real time through the interaction between the terminal IO communication board and the light-emitting component, so that the terminal flange structure can intuitively display the robot state.

[0018] (2) The utility model enables the robot to display its current status in real time, thereby improving the safety of the robot and enabling it to work better with staff.

[0019] (3) The design of the terminal IO communication board of the utility model enables the terminal flange structure to transfer signals through the circuit board, so that the terminal flange structure can receive feedback of different signals, thereby increasing the compatibility of the collaborative robot.

[0020] (4) The utility model uses a reasonable structure and lightweight materials to make the end flange structure lightweight, thereby improving the flexibility and accuracy of the robot, making it easier for the robot to operate in a small space and reducing the impact on the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a cross-sectional view of the end flange structure disclosed in the utility model;

[0022] Figure 2 It is a structural schematic diagram of the end flange structure disclosed in the utility model;

[0023] Figure 3 It is a structural schematic diagram of the first end flange disclosed in the utility model;

[0024] Figure 4 It is a structural schematic diagram of the second end flange disclosed in the utility model;

[0025] Figure 5 It is a structural schematic diagram of the cable fixing sheet metal disclosed in the utility model;

[0026] Figure 6 It is a partial cross-sectional view of the light-transmitting ring and the LED light strip disclosed in the utility model installed at the joint between the first end flange and the second end flange;

[0027] Figure 7 It is a front view of the end flange structure disclosed in the utility model;

[0028] Figure 8 It is a structural schematic diagram of the terminal IO communication board disclosed in the utility model.

[0029] Figure markings: 1-first end flange, 101-first sealing groove, 102-mounting boss, 103-sunken step, 104-wire hole, 2-IO male head, 3-light-transmitting ring, 301-LED light strip, 4-second end flange, 401-second sealing groove, 5-cable fixing sheet metal, 6-stainless steel stud, 7-hexagon socket screw, 8-end IO communication board, 9-end flange cover, 10-countersunk screw, 11-enabling switch, 12-recording point switch. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings, but the embodiments of the utility model are not limited thereto. It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] In the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0032] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0033] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0034] Embodiment 1:

[0035] See also Figure 1-Figure 8 This embodiment discloses a collaborative robot terminal flange structure, wherein a terminal IO communication board 8 is arranged inside the terminal flange structure, and a light-emitting component is arranged on the outer surface. The light-emitting component is connected to the terminal IO communication board 8, and the light-emitting component is used to display the status of the collaborative robot.

[0036] Through the above design, the various states of the robot can be controlled by the terminal IO communication board 8 to control the light-emitting component to emit different lights, thereby intuitively displaying the various states of the robot.

[0037] Specifically, the light-emitting component and the terminal IO communication board 8 can be electrically connected by wires or connected by communication, such as a communication receiving module is provided on the light-emitting component and a communication sending module is provided on the terminal IO communication board 8.

[0038] Specifically, the terminal flange structure includes a first terminal flange 1 and a second terminal flange 4 which are coaxially arranged; the second terminal flange 4 is installed on the first terminal flange 1, and a mounting cavity is formed inside the two, and the terminal IO communication board 8 is installed in the mounting cavity. The terminal IO communication board 8 is placed in the mounting cavity, and the terminal IO communication board 8 can maximize its volume while taking into account miniaturization. In addition, the design of the terminal IO communication board 8 enables the terminal flange structure to transfer signals through the circuit board, so that the terminal flange structure can receive feedback of different signals, thereby increasing the compatibility of the collaborative robot.

[0039] For details, see Figure 3 , Figure 4 , the second end flange 4 can be mounted on the first end flange 1 by screws. In other embodiments, the second end flange 4 can also be mounted on the first end flange 1 by threads (not shown in the figure).

[0040] Preferably, the first end flange 1 and the second end flange 4 are both made of aluminum alloy, so that the end flange structure is lightweight. The lightweight material can improve the flexibility and precision of the robot, make the robot easier to operate in a small space, and reduce the impact on the working environment.

[0041] Specifically, the light emitting component may be a light emitting diode, one or more light emitting diodes may be provided, and the light emitting diodes may be installed on the outer side wall of the terminal flange structure or on the end face of the terminal flange structure. Figure 6 The joint of the first end flange 1 and the second end flange 4 forms an annular groove, and the light-emitting component includes an LED light strip 301 and a light-transmitting ring 3; the LED light strip 301 and the light-transmitting ring 3 are sequentially installed in the annular groove. The light emitted by the LED light strip 301 is more uniform and beautiful.

[0042] For details, see Figure 6 The first end flange 1 is provided with a first sealing groove 101, the second end flange 4 is provided with a second sealing groove 401, the first sealing groove 101 and the second sealing groove 401 are located in the annular groove, the first sealing groove 101 and the second sealing groove 401 are both provided with O-type sealing rings, and the light-transmitting ring 3 is sealed and installed in the annular groove through the O-type sealing ring. After the light-transmitting ring 3 is installed in the annular groove, its outer side wall is coplanar with the outer side wall of the first end flange 1 and the second end flange 4, so as to be more beautiful.

[0043] Preferably, see Figure 3 The first end flange 1 is provided with a wire hole 104 at the annular groove, and the end IO communication board 8 is electrically connected to the LED light strip 301 through a wire.

[0044] See also Figure 3 The first terminal flange 1 has three through holes on its side wall, which are used to install the IO male connector 2, the enabling switch 11, and the recording point switch 12. In other embodiments, the IO male connector 2, the enabling switch 11, and the recording point switch 12 can also be installed on the second terminal flange 4 (not shown in the figure). The IO male connector 2, the enabling switch 11, and the recording point switch 12 are electrically or communicatively connected to the terminal IO communication board 8, respectively.

[0045] For further information, see Figure 1 , Figure 2 , Figure 5 A cable fixing sheet metal 5 is also installed in the installation cavity. The cable fixing sheet metal 5 is particularly important for protecting the cable. Without this structure, when the end flange structure is in operation, it will cause very large wear to the cable, thereby affecting the performance of the robot.

[0046] For details, see Figure 1 , Figure 2 , Figure 8 The terminal IO communication board 8 is mounted on the first terminal flange 1 through the stainless steel stud 6, and the cable fixing sheet metal 5 is mounted on the end of the stainless steel stud 6 through the hexagon socket screw 7. Preferably, the terminal IO communication board 8 and the cable fixing sheet metal 5 are coaxially arranged.

[0047] Specifically, a mounting boss 102 and a sinking step 103 are coaxially arranged on the end face of the first end flange 1, the sinking step 103 is located at the inner circle of the mounting boss 102, and the end flange cover plate 9 is fixed to the sinking step 103 by a countersunk screw 10. Depending on the size of the clamp, the clamp can be installed on the mounting boss 102 or the sinking step 103, and the end flange cover plate 9 needs to be removed when it is installed on the sinking step.

[0048] Embodiment 2:

[0049] This embodiment discloses a collaborative robot, which includes a robotic arm, a clamp and the end flange structure described in Example 1, and the robotic arm and the clamp are connected by the end flange structure.

[0050] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A collaborative robot end flange structure, characterized in that: A terminal IO communication board is arranged inside the terminal flange structure, and a light-emitting component is arranged on the outer surface. The light-emitting component is connected to the terminal IO communication board, and the light-emitting component is used to display the status of the collaborative robot.

2. The collaborative robot end flange structure according to claim 1, characterized in that: The end flange structure includes a first end flange and a second end flange which are coaxially arranged; the second end flange is installed on the first end flange, and a mounting cavity is formed inside the two, and the end IO communication board is installed in the mounting cavity.

3. The collaborative robot end flange structure according to claim 2, characterized in that: An annular groove is formed at the joint of the first end flange and the second end flange, and the light-emitting component includes an LED light strip and a light-transmitting ring; the LED light strip and the light-transmitting ring are installed in the annular groove in sequence; the end IO communication board is connected to the LED light strip.

4. The collaborative robot end flange structure according to claim 3, characterized in that: A first sealing groove is provided on the first end flange, and a second sealing groove is provided on the second end flange. The first sealing groove and the second sealing groove are located in the annular groove. O-rings are provided in both the first sealing groove and the second sealing groove. The light-transmitting ring is sealed and installed in the annular groove via the O-ring.

5. The collaborative robot end flange structure according to claim 2, characterized in that: The second end flange is mounted on the first end flange by means of screws or threads.

6. The collaborative robot end flange structure according to claim 2, characterized in that: An IO male connector is also installed on the first end flange or the second end flange, and the IO male connector is connected to the end IO communication board.

7. The collaborative robot end flange structure according to claim 2, characterized in that: It also includes a cable fixing sheet metal, which is installed in the installation cavity.

8. The collaborative robot end flange structure according to claim 2, characterized in that: An enabling switch and a recording point switch are also installed on the first end flange or the second end flange, and the enabling switch and the recording point switch are respectively connected to the end IO communication board.

9. The collaborative robot end flange structure according to claim 2, characterized in that: A mounting boss and a sinking step are coaxially arranged on the end surface of the first end flange. The sinking step is located at the inner circle of the mounting boss, and an end flange cover plate is arranged at the sinking step.

10. A collaborative robot, characterized in that: The invention comprises the end flange structure as described in any one of claims 1 to 9.

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