Modularized light collaborative robot
Through the modularly designed lightweight collaborative robot, the existing robot structure is complex and difficult to maintain, achieving more efficient maintenance and flexible adaptability.
Patent Information
- Application Number
- CN202421823804.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-30
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-07-30
AI Technical Summary
The existing lightweight collaborative robot has complex structures, high cost of use, and difficult maintenance, resulting in low work efficiency.
Design a modular lightweight collaborative robot, including a drive module, a linkage module and an execution module, each module can be detachably installed, and can be quickly disassembled and replaced by the design of screws and fasteners.
It improves the convenience and work efficiency of robot maintenance, reduces the loss time during the maintenance process, and enables the robot to better adapt to different working scenarios.
Smart Images
Figure CN222831822U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of collaborative robots, in particular to a modular lightweight collaborative robot. Background Art
[0002] With the continuous development of industrial automation, artificial intelligence has gradually become a market hotspot in recent years. Artificial intelligence will bring new changes to human life in the future. As a product of artificial intelligence, lightweight collaborative robots have gradually attracted widespread attention due to their flexibility, safety and easy programming. This type of robot is a combination of mechanical arms + intelligent control + intelligent interaction.
[0003] However, the structures of robots currently on the market are relatively complex and the cost of use is high. At the same time, when a robot malfunctions, it is difficult to repair it. When it is damaged, the entire robot needs to be replaced, which is costly and affects the robot's working process, greatly reducing work efficiency. Utility Model Content
[0004] In order to improve the convenience of robot maintenance and improve the working efficiency of the robot, the present application proposes a modular lightweight collaborative robot.
[0005] The utility model solves the technical problem by adopting the following technical solutions:
[0006] A modular lightweight collaborative robot comprises a driving module, a linkage module and an execution module; the driving module is detachably mounted on an end of the linkage module for driving the linkage module; the execution module is detachably mounted on an end of the linkage module away from the driving module.
[0007] By adopting the above-mentioned technical solution, when the modular lightweight collaborative robot is damaged, the staff can quickly determine the module that needs to be repaired, and quickly disassemble the corresponding module for replacement, thereby improving the convenience of the staff in repairing the modular lightweight collaborative robot and reducing the time lost during the repair process, thereby improving the work efficiency of the modular lightweight collaborative robot.
[0008] Preferably, the execution module comprises an execution body and an actuator; the actuator is detachably mounted on the execution body; the execution body is detachably mounted on an end of the linkage module away from the driving module.
[0009] By adopting the above-mentioned technical solution, when applied to different work scenarios, workers can quickly replace actuators, so that the modular lightweight collaborative robot can better adapt to the current work scenario and improve the working accuracy of the modular lightweight collaborative robot.
[0010] Preferably, the actuator body is provided with a first mounting hole for mounting actuators of different sizes; the inner side wall of the first mounting hole is provided with a first threaded through hole; the actuator body is provided with a first screw matching the first threaded through hole; the first screw is pressed against the actuator.
[0011] By adopting the above-mentioned technical solution, when the staff needs to replace the actuator, they rotate the first screw to make the first screw detach from the actuator. Then, after the staff replaces the appropriate actuator, they rotate the first screw to make the first screw press against the actuator, thereby firmly installing the actuator on the execution body, and maintaining the stability of the normal operation of the actuator while quickly replacing the actuator.
[0012] Preferably, the first screw gripping end is surrounded by a wave pattern.
[0013] By adopting the above technical solution, when replacing the actuator, the staff holds the holding end of the first screw tightly and then rotates the first screw. The setting of the wave pattern can effectively increase the friction between the staff's hand and the holding end of the first screw, making it easier for the staff to quickly rotate the first screw, saving time and effort.
[0014] Preferably, the execution body is provided with a protrusion; and the linkage module is provided with an embedding groove which is embedded with the protrusion.
[0015] By adopting the above-mentioned technical solution, when the execution module is damaged, the staff pulls out the execution body, thereby being able to quickly replace it with a new execution module, thereby improving maintenance efficiency. The staff then aligns the protrusion of the new execution module with the mounting groove and inserts it, thereby being able to quickly install the execution module, thereby further improving maintenance efficiency.
[0016] Preferably, a second threaded through hole is provided on the inner side wall of the embedding groove; a second screw is matched with the second threaded through hole; the protrusion is provided with a third threaded through hole matching the thread of the second screw; the third threaded through hole is coaxially arranged with the second threaded through hole; the second screw passes through the second threaded through hole; and the second screw is partially penetrated through the third threaded through hole.
[0017] By adopting the above-mentioned technical solution, when replacing the execution module, the second screw is rotated to disengage the second screw from the third threaded through hole, that is, the protrusion can be separated from the mounting groove. Then the staff pulls out the execution body, inserts the new execution body, and rotates the second screw again to firmly connect the execution module and the linkage module, thereby improving the stability of the normal operation of the execution module.
[0018] Preferably, the driving module includes a base; a rotating joint is provided on the upper surface of the base; a first motor is installed inside the base; the driving end of the first motor passes through the upper surface of the base; the driving end of the first motor is connected to the rotating joint; a bracket is detachably installed on the upper surface of the rotating joint; a second motor is detachably installed on one side of the bracket, and a third motor is detachably installed on the other side; the second motor and the third motor are arranged opposite to each other; the driving end of the second motor and the driving end of the third motor can both be detachably connected to the linkage module; the second motor is provided with a first fixing screw; the third motor is provided with a second fixing screw; the first fixing screw passes through the linkage module; the first fixing screw is detachably connected to the second motor; the second fixing screw passes through the linkage module; the second fixing screw is detachably connected to the third motor.
[0019] By adopting the above-mentioned technical solution, a base is set to facilitate the rapid installation of the modular light collaborative robot to the required position, and the rotary joint is driven by the first motor to rotate, so that the rotary joint can drive the bracket, the second motor, the third motor and the linkage module to rotate synchronously, thereby realizing the circumferential rotation of the modular light collaborative robot; then the second motor and the third motor respectively realize the multi-directional movement of the modular light collaborative robot through the linkage module; the second motor and the third motor are respectively detachably installed on the bracket, and the driving end of the second motor and the driving end of the third motor are respectively detachably connected to the linkage module, the first fixed screw is detachably connected to the second motor, and the second fixed screw is detachably connected to the third motor, and the linkage module can be quickly disassembled, which is convenient for quickly replacing the second motor, the third motor and / or the linkage module, thereby improving the convenience of maintenance of the modular light collaborative robot.
[0020] Preferably, the linkage module is provided with a second mounting hole matching the second motor driving end; the second motor driving end passes through the second mounting hole; the linkage module is installed with a first fastener used in conjunction with the second motor driving end; the first fastener is sleeved on the end of the second motor driving end away from the second motor; the first fastener is provided with a first notch; the end of the first fastener close to the first notch is threadedly connected with a third screw for tightening or loosening the second motor driving end; the linkage module is provided with a third mounting hole matching the third motor driving end; the third motor driving end passes through the third mounting hole; the linkage module is installed with a second fastener used in conjunction with the third motor driving end; the second fastener is sleeved on the end of the third motor driving end away from the third motor; the second fastener is provided with a second notch; the end of the second fastener close to the second notch is threadedly connected with a fourth screw for tightening or loosening the third motor driving end.
[0021] By adopting the above-mentioned technical solution, the driving end of the second motor passes through the second mounting hole, and the driving end of the third motor passes through the third mounting hole, which can effectively improve the stability of the normal operation of the second motor and the third motor, thereby improving the stability of the normal operation of the modular lightweight collaborative robot; when disassembling the linkage module, by rotating the third screw, the fourth screw, the first fixed screw and the second fixed screw, the third screw cooperates with the first notch to loosen the first fastener, the fourth screw cooperates with the second notch to loosen the second fastener, the first fixed screw is detached from the second motor, and the second fixed screw is detached from the third motor, so that the linkage module can be quickly disassembled, further improving the convenience of maintenance of the linkage module.
[0022] Preferably, the execution module is also provided with a visual monitor.
[0023] By adopting the above-mentioned technical solution and setting up a visual monitor, the motion trajectory of the actuator can be effectively monitored, thereby accurately adjusting the movement of the execution module and improving the accuracy of the normal operation of the modular lightweight collaborative robot.
[0024] In summary, the present application includes at least one of the following beneficial technical effects:
[0025] 1. When replacing the execution module, the second screw is rotated to disengage the second screw from the third threaded through hole, that is, the protrusion can be separated from the embedding groove, thereby improving the convenience of maintenance of the modular lightweight collaborative robot. Then, after the staff pulls out the execution body, inserts a new execution body, and rotates the second screw again, so that the execution module and the linkage module are firmly connected, thereby improving the stability of the normal operation of the execution module and thus improving the working efficiency of the modular lightweight collaborative robot;
[0026] 2. A base is provided to facilitate the rapid installation of the modular light collaborative robot to the required position, and the rotary joint is driven to rotate by the first motor, so that the rotary joint can drive the bracket, the second motor, the third motor and the linkage module to rotate synchronously, thereby realizing the circumferential rotation of the modular light collaborative robot; then the second motor and the third motor respectively realize the multi-directional activities of the modular light collaborative robot through the linkage module; the second motor and the third motor are respectively detachably installed on the bracket, and the driving end of the second motor and the driving end of the third motor are respectively detachably connected to the linkage module, and the linkage module can be quickly disassembled, which is convenient for quickly replacing the second motor, the third motor and / or the linkage module, thereby improving the convenience of maintenance of the modular light collaborative robot;
[0027] 3. The driving end of the second motor passes through the second mounting hole, and the driving end of the third motor passes through the third mounting hole, which can effectively improve the stability of the normal operation of the second motor and the third motor, thereby improving the stability of the normal operation of the modular lightweight collaborative robot; when disassembling the linkage module, by rotating the third screw, the fourth screw, the first fixed screw and the second fixed screw, the third screw cooperates with the first notch to loosen the first fastener, the fourth screw cooperates with the second notch to loosen the second fastener, the first fixed screw is detached from the second motor, and the second fixed screw is detached from the third motor, so that the linkage module can be quickly disassembled, further improving the convenience of maintenance of the linkage module. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0029] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;
[0030] Figure 2 This is a partial exploded view of an embodiment of the present application, which mainly shows the structure of the driving module;
[0031] Figure 3 This is a schematic diagram of the structure of the second fastener in the embodiment of the present application;
[0032] Figure 4 This is a partial exploded view of an embodiment of the present application, which mainly reflects the structure of the execution module.
[0033] Description of reference numerals:
[0034] 1. driving module; 11. base; 12. rotating joint; 13. first motor; 14. bracket; 15. second motor; 151. first fixing screw; 16. third motor; 161. second fixing screw;
[0035] Linkage module; 21, mounting groove; 211, second threaded through hole; 212, second screw rod; 22, second mounting hole; 23, first fastener; 231, first notch; 232, third screw rod; 24, third mounting hole; 25, second fastener; 251, second notch; 252, fourth screw rod;
[0036] 3. Execution module; 31. Execution body; 311. First mounting hole; 3111. First threaded through hole; 312. First screw; 313. Protrusion; 3131. Third threaded through hole; 32. Actuator; 33. Visual monitor. DETAILED DESCRIPTION
[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0038] The embodiment of the present application discloses a modular lightweight collaborative robot.
[0039] Reference Figures 1 to 4 A modular lightweight collaborative robot comprises a driving module 1, a linkage module 2 and an execution module 3; the driving module 1 is provided with a base 11, and the setting of the base 11 is convenient for the staff to quickly install the modular lightweight collaborative robot at the required position, and a first motor 13 and a control module are installed inside the base 11, and the control module is used to control the operation of the first motor 13, and then the driving end of the first motor 13 passes through the upper surface of the base 11, and the driving end of the first motor 13 is connected to a rotary joint 12, which is convenient for controlling the circumferential motion of the modular lightweight collaborative robot, and a bracket 14 is provided on the upper surface of the rotary joint 12, and the bracket 14 is installed on the rotary joint 12 by screws. In the embodiment of the present application, the bracket 14 is a U-shaped frame, and a second motor 15 is detachably installed on one side of the U-shaped frame, and a third motor 16 is detachably installed on the other side, and the second motor 15 and the third motor 16 are arranged relatively to each other, and the driving end of the second motor 15 and the driving end of the third motor 16 can be respectively The second motor 15 is detachably connected to the linkage module 2, and the second motor 15 is provided with a first fixed screw 151, and the third motor 16 is provided with a second fixed screw 161; the first fixed screw 151 passes through the linkage module 2, and the first fixed screw 151 is detachably connected to the second motor 15, the second fixed screw 161 passes through the linkage module 2, and the second fixed screw 161 is detachably connected to the third motor 16, and then the control module controls the operation of the second motor 15 and the third motor 16, so that the control module can control the movement of the linkage module 2 through the operation of the first motor 13, the second motor 15 and / or the third motor 16, and the execution module 3 is detachably installed on the end of the linkage module 2 far from the driving module 1. Through the detachable installation between the driving module 1, the linkage module 2 and the execution module 3, the corresponding module can be quickly replaced, which improves the convenience of the staff in repairing the modular light collaborative robot, saves time and effort, and thus improves the work efficiency of the modular light collaborative robot.
[0040] The linkage module 2 is provided with a first fixing screw 151, the first fixing screw 151 passes through the linkage module, and the first fixing screw 151 is threadedly connected to the second motor 15; the linkage module 2 is provided with a second mounting hole 22 matching the driving end of the second motor 15, and the driving end of the second motor 15 passes through the second mounting hole 22. The restriction of the driving end of the second motor 15 by the second mounting hole 22 can reduce the possibility that the driving end of the second motor 15 deviates from the predetermined position due to rotation, thereby improving the stability of the normal operation of the second motor 15; then the linkage module 2 is installed with a second mounting hole 22 for use in conjunction with the driving end of the second motor 15 The first fastener 23 is arranged on the side of the second mounting hole 22 away from the second motor 15, that is, the first fastener 23 is sleeved on the end of the driving end of the second motor 15 away from the second motor 15, and the first fastener 23 is provided with a first notch 231. The end of the first fastener 23 close to the first notch 231 is threadedly connected with a third screw 232. The staff rotates the third screw 232 and the first fixing screw 151, and the third screw 232 cooperates with the first notch 231 to quickly tighten or loosen the first fastener 23, thereby quickly separating the second motor 15 and the linkage module 2.
[0041] The linkage module 2 is provided with a second fixing screw, which passes through the linkage module and is threadedly connected to the third motor; the linkage module 2 is provided with a third mounting hole 24 matching the driving end of the third motor 16, and the driving end of the third motor 16 passes through the third mounting hole 24. The restriction of the driving end of the third motor 16 by the third mounting hole 24 can reduce the possibility that the driving end of the third motor 16 deviates from the predetermined position due to rotation, thereby improving the stability of the normal operation of the third motor 16; then the linkage module 2 is installed with a second fastener used in conjunction with the driving end of the third motor 16 25. The second fastener 25 is arranged on the side of the third mounting hole 24 away from the third motor 16, that is, the second fastener 25 is sleeved on the end of the driving end of the third motor 16 away from the third motor 16, and the second fastener 25 is provided with a second notch 251. The end of the second fastener 25 close to the second notch 251 is threadedly connected with a fourth screw 252. The staff rotates the fourth screw 252 and the second fixing screw 161, and the fourth screw 252 cooperates with the second notch 251 to quickly tighten or loosen the second fastener 25, thereby quickly separating the third motor 16 and the linkage module 2.
[0042] When the linkage module 2 is damaged, the staff rotates the third screw 232 and the fourth screw 252 at the same time to quickly loosen the first fastener 23 and the second fastener 25, and then quickly separate the drive module 1 and the linkage module 2, thereby realizing the rapid replacement of the linkage module 2, saving time and effort, and improving the convenience of the staff in repairing the linkage module 2.
[0043] In the embodiment of the present application, the linkage module 2 is provided with three sets of parallelogram linkage mechanisms, and the three sets of parallelogram mechanisms are driven to move by the second motor 15 and / or the third motor 16, thereby driving the linkage module 2 to drive the execution module 3 to move.
[0044] In the embodiment of the present application, the execution module 3 includes an execution body 31 and an actuator 32. The execution body 31 is provided with a first mounting hole 311. The inner wall of the first mounting hole 311 is provided with a first threaded through hole 3111. Then, the execution body 31 is provided with a first screw rod 312 matching the first threaded through hole 3111. By rotating the first screw rod 312, the first screw rod 312 is disengaged from or pressed against the actuator 32, so that the actuator 32 can be quickly replaced, which is convenient for installing actuators 32 of different sizes and / or different types to meet the needs of different scenarios.
[0045] The execution body 31 is provided with a protrusion 313, the linkage module 2 is provided with an embedding groove 21 that is embedded with the protrusion 313, and the inner side wall of the embedding groove 21 is provided with a second threaded through hole 211, and the second threaded through hole 211 is matched with a second screw rod 212, and then the protrusion 313 is provided with a third threaded through hole 3131 that is threadably matched with the second screw rod 212, and the third threaded through hole 3131 is coaxially arranged with the second threaded through hole 211, and the coaxial arrangement can effectively reduce the second screw 212 and the third threaded through hole 2131. The possibility that the hole 3131 cannot be aligned is increased, thereby improving the stability of the disassembly and assembly of the execution module 3; when replacing the execution module 3, the second screw 212 passes through the second threaded through hole 211, and the second screw 212 is partially penetrated into the third threaded through hole 3131. The second screw 212 is rotated to disengage the second screw 212 from the third threaded through hole 3131, so that the execution body 31 and the linkage module 2 can be quickly separated, which is convenient for quickly replacing the execution module 3, saving time and effort, and improving the convenience of the staff in repairing the execution module 3.
[0046] The gripping end of the first screw rod 312 and the gripping end of the second screw rod 212 are both surrounded by wave patterns.
[0047] In the embodiment of the present application, the actuator 32 includes but is not limited to common grippers, suction cups, pen holders 14, cameras, etc. The execution module 3 is also provided with a visual monitor 33, which can be a common motion camera. A force sensor (not shown in the figure) is also provided, which can effectively improve the intelligent perception and precise operation of the modular lightweight collaborative robot.
[0048] The implementation principle of a modular lightweight collaborative robot in an embodiment of the present application is: when disassembling the modular lightweight collaborative robot, rotate the second screw 212 until the second screw 212 is disengaged from the third threaded through hole 3131, thereby separating the protrusion 313 from the mounting groove 21, that is, separating the execution module 3 and the linkage module 2; then rotate the third screw 232 until the first fastener 23 is loosened, that is, the first fastener 23 is separated from the driving end of the second motor 15, and at the same time rotate the fourth screw 252 until the second fastener 25 is loosened, that is, the first fastener 23 is separated from the driving end of the second motor 15, so that the linkage module 2 and the driving module 1 can be quickly separated.
[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A modular lightweight collaborative robot, characterized in that: It includes a driving module, a linkage module and an execution module; the driving module is detachably mounted on the end of the linkage module to drive the linkage module; the execution module is detachably mounted on the end of the linkage module away from the driving module.
2. A modular lightweight collaborative robot according to claim 1, characterized in that: The execution module comprises an execution body and an actuator; the actuator is detachably mounted on the execution body; the execution body is detachably mounted on the end of the linkage module away from the driving module.
3. A modular lightweight collaborative robot according to claim 2, characterized in that: The actuator body is provided with a first mounting hole for mounting actuators of different sizes; the inner side wall of the first mounting hole is provided with a first threaded through hole; the actuator body is provided with a first screw rod matching the first threaded through hole; the first screw rod is pressed against the actuator.
4. A modular lightweight collaborative robot according to claim 3, characterized in that: The first screw holding end is surrounded by a wave pattern.
5. A modular lightweight collaborative robot according to claim 2, characterized in that: The execution body is provided with a protrusion; the linkage mold is provided with an embedding groove embedded with the protrusion.
6. A modular lightweight collaborative robot according to claim 5, characterized in that: A second threaded through hole is provided on the inner side wall of the embedding groove; a second screw is matched with the second threaded through hole; a third threaded through hole matching the thread of the second screw is provided on the protrusion; the third threaded through hole is coaxially arranged with the second threaded through hole; the second screw passes through the second threaded through hole; and the second screw is partially penetrated through the third threaded through hole.
7. A modular lightweight collaborative robot according to claim 1, characterized in that: The driving module includes a base; a rotating joint is arranged on the upper surface of the base; a first motor is installed inside the base; a driving end of the first motor passes through the upper surface of the base; the driving end of the first motor is connected to the rotating joint; a bracket is detachably installed on the upper surface of the rotating joint; a second motor is detachably installed on one side of the bracket, and a third motor is detachably installed on the other side; the second motor and the third motor are arranged opposite to each other; the driving end of the second motor and the driving end of the third motor can both be detachably connected to the linkage module; the second motor is provided with a first fixing screw; the third motor is provided with a second fixing screw; the first fixing screw passes through the linkage module; the first fixing screw is detachably connected to the second motor; the second fixing screw passes through the linkage module; the second fixing screw is detachably connected to the third motor.
8. A modular lightweight collaborative robot according to claim 7, characterized in that: The linkage module is provided with a second mounting hole matching the second motor driving end; the second motor driving end passes through the second mounting hole; the linkage module is equipped with a first fastener used in conjunction with the second motor driving end; the first fastener is sleeved on the end of the second motor driving end away from the second motor; the first fastener is provided with a first notch; the ends of the first fastener close to the first notch are threadedly connected with a third screw for tightening or loosening the second motor driving end; the linkage module is provided with a third mounting hole matching the third motor driving end; the third motor driving end passes through the third mounting hole; the linkage module is equipped with a second fastener used in conjunction with the third motor driving end; the second fastener is sleeved on the end of the third motor driving end away from the third motor; the second fastener is provided with a second notch; the ends of the second fastener close to the second notch are threadedly connected with a fourth screw for tightening or loosening the third motor driving end.
9. A modular lightweight collaborative robot according to claim 1, characterized in that: The execution module is also provided with a visual monitor.