Mobile collaborative robot

Abstract

The utility model discloses a mobile collaborative robot, which comprises a mobile unit, the mechanical arm is arranged on the moving unit; the execution unit comprises a load support arranged on the mechanical arm and a traction support arranged on the load support, the load support is connected with the mechanical arm through a transition flange, one end of the transition flange is connected with the mechanical arm, and the other end of the transition flange is connected with the load support; and one connecting end surface of the transition flange is inclined relative to the other connecting end surface. The moving unit is adopted for movement of the collaborative robot, and the operable range of the mechanical arm is expanded; the load support and the mechanical arm are connected through the transition flange, and a certain included angle is formed between the two connecting end faces of the transition flange, so that a certain included angle is formed between the acting direction of the load support and the connecting end faces of the mechanical arm. In this way, interference between the load support and the mechanical arm in the moving process can be effectively avoided, and the robot has a larger operable range.

Description

Technical Field

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

[0002] With the rapid development of robotics, contact-based operations are becoming increasingly common in robotic arm tasks such as polishing, workpiece assembly, and object grasping. These tasks require the robotic arm to achieve high-precision position control while also precisely controlling the contact force of the external environment to maintain a compliant state. Existing compliant traction structures are typically used for small or lightweight robotic arms. Their application to large or heavy robotic arms presents a limited operational range. Utility Model Content

[0003] The purpose of the utility model is to provide a mobile collaborative robot to solve the problem of limited operating range of existing robots.

[0004] The utility model is achieved through the following technical solutions:

[0005] Mobile collaborative robots, including:

[0006] Mobile unit;

[0007] a robotic arm, disposed on the mobile unit;

[0008] The execution unit includes a load support arranged on the robotic arm and a traction support arranged on the load support. The load support and the robotic arm are connected via a transition flange. One end of the transition flange is connected to the robotic arm, and the other end is connected to the load support. One connecting end surface of the transition flange is inclined relative to the other connecting end surface.

[0009] In some embodiments, the two connecting end faces of the transition flange form an angle of 30° to 45°.

[0010] In some embodiments, the mobile unit includes an AGV trolley and a mounting platform provided on the AGV trolley, a robotic arm mounting seat is provided on the mounting platform, and the robotic arm is mounted on the robotic arm mounting seat.

[0011] In some embodiments, the mounting platform is provided with telescopically adjustable legs for supporting the mounting platform.

[0012] In some embodiments, a battery and an electric control box for powering the robot are provided on the mounting platform.

[0013] In some embodiments, the mobile unit is provided with an obstacle avoidance unit for detecting obstacles.

[0014] In some embodiments, the traction bracket includes two traction handles arranged opposite to each other, and the traction handles are provided with a safety switch for controlling the movement of the robotic arm.

[0015] In some embodiments, the robotic arm is covered with electronic skin.

[0016] In some embodiments, the robotic arm is covered with an electronic skin, and the electronic skin includes:

[0017] The housing unit comprises a shell, wherein a cavity is formed in the shell, and the cavity is filled with a buffer layer;

[0018] The sensor unit is used to detect the pressure exerted on the housing unit by the outside world, and the sensor unit is arranged in the buffer layer.

[0019] In some embodiments, the buffer layer is made of flexible or elastic material.

[0020] In some embodiments, a contact layer in the form of an arched protrusion is provided on the top of the shell.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] A mobile unit is used for the movement of the collaborative robot, which expands the operable range of the robotic arm; the load bracket and the robotic arm are connected through a transition flange, and the two connecting end faces of the transition flange are relatively inclined, so that there is a certain angle between the two connecting end faces of the transition flange. When the two connecting end faces of the transition flange are respectively connected to the load bracket and the robotic arm, the action direction of the load bracket forms a certain angle with the connecting end face of the robotic arm. This can effectively avoid interference between the load bracket and the robotic arm during movement, so that the robot has a larger operable range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention 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 any creative work.

[0024] Figure 1 This is a schematic diagram of the structure of a mobile collaborative robot in an embodiment of the present utility model.

[0025] Figure 2 This is the main view of the structure of the mobile collaborative robot in the embodiment of the present utility model.

[0026] Figure 3 This is a schematic diagram of the connection structure of the mobile collaborative robot execution unit on the robotic arm in an embodiment of the present utility model.

[0027] Figure 4 This is a schematic diagram of the structure of the mobile collaborative robot execution unit in an embodiment of the present utility model.

[0028] Figure 5 This is the main view of the structure of the mobile collaborative robot execution unit in the embodiment of the present utility model.

[0029] Figure 6 This is a schematic diagram of the electronic skin structure in an embodiment of the present utility model.

[0030] in:

[0031] 10. Robotic arm;

[0032] 20. Electronic skin, 201. Housing, 2011. Flange, 2012. Mounting hole, 2013. Contact layer, 202. Buffer layer, 203. Sensor unit;

[0033] 31. AGV trolley, 32. Mounting platform, 33. Robotic arm mounting base, 34. Outrigger;

[0034] 41. Load bracket, 42. Traction bracket, 421. Traction handle, 422. Safety switch, 43. Transition flange, 44. Obstacle avoidance unit, α, angle between the two connecting end faces of the transition flange. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0036] Reference Figure 1 and Figure 2 In some embodiments of the present invention, the mobile collaborative robot includes:

[0037] The mobile unit is used to coordinate the movement of the robot to expand the manipulator's operational range. The mobile unit can be an AGV, which can achieve a large range of movement of the entire manipulator 10 and meet the robot's movement requirements in a small space.

[0038] The robotic arm 10 is mounted on the mobile unit. It uses a high-precision robotic arm that can respond promptly and accurately to the operations of the execution unit through program control. When large-scale operations are required, the mobile unit can move the robotic arm, ensuring the safety of the robotic arm during use.

[0039] Execution unit, see Figure 3 、 Figure 4 and Figure 5 , including a load bracket 41 arranged on the robotic arm and a traction bracket 42 arranged on the load bracket. The load bracket 41 is connected to the robotic arm 10 through a transition flange 43. One end of the transition flange 43 is connected to the robotic arm 10, and the other end is connected to the load bracket 41, and the two connecting end surfaces of the transition flange 43 form an angle of 30°-45°.

[0040] The load bracket 41 is used to carry the end load. The load bracket can adopt a frame structure to facilitate the installation of the end load and other components.

[0041] The traction bracket 42 is used by the operator to pull the robot arm. A six-dimensional force sensor is usually provided between the traction bracket and the load bracket to detect the force acting on the traction bracket and thus control the movement of the robot arm.

[0042] The load bracket 41 is connected to the robot arm 10 via a transition flange 43. The two connecting end faces of the transition flange are arranged to be relatively inclined. There is a certain angle between the two connecting end faces of the transition flange 43. When the two connecting end faces are respectively connected to the robot arm and the load, the action direction of the load bracket 41 can form a certain angle with the connecting end face of the robot arm. This can effectively avoid interference between the load bracket and the robot arm during movement, so that the robot has a larger operational range.

[0043] In some embodiments, the two connecting end faces of the transition flange form an angle of 30° to 45°. Figure 5 The included angle α between the two connecting end faces of the transition flange 43 can be set to 30°.

[0044] In some embodiments, the mobile unit includes an AGV trolley 31 and a mounting platform 32 disposed on the AGV trolley. The mounting platform 32 is provided with a robotic arm mounting seat 33, and the robotic arm 10 is mounted on the robotic arm mounting seat 33. The mounting platform 32 is mounted on the AGV trolley 31 to facilitate the installation of the robotic arm mounting seat 33, thereby facilitating the installation of the robotic arm on the mobile unit, ensuring the installation rigidity of the robotic arm, and thus well ensuring the movement accuracy of the robotic arm.

[0045] In some embodiments, the mounting platform 32 is provided with telescopically adjustable legs 34. The telescopic adjustment of the legs allows the mounting platform to be supported during operation, ensuring the stability of the mobile platform and the operational control accuracy of the robotic arm. When the robot needs to be moved, the legs can be retracted.

[0046] In some embodiments, the mounting platform 32 is equipped with batteries and an electrical control box for powering the robot. This provides space for other robot components. The batteries and electrical control box are placed on the mounting platform to power and control the robot, freeing it from the constraints of external cables. This allows the robot to move more freely and with greater range of motion.

[0047] In some embodiments, the mobile unit is provided with an obstacle avoidance unit 44 for detecting obstacles. The obstacle avoidance unit may use a distance sensor or other sensor to sense the distance between the mobile unit and the obstacle to achieve autonomous control of the movement of the mobile unit.

[0048] In some embodiments, the traction bracket 42 includes two opposing traction handles 421, each of which is provided with a safety switch 422 for controlling the movement of the robotic arm. The traction handles are used by an operator to traction the robotic arm, and the safety switch on the traction handles is provided for safe control of the movement of the robotic arm. When the safety switch is pressed, the robotic arm 10 can move with the traction bracket 42.

[0049] In some embodiments, the robotic arm 10 is covered with an electronic skin 20. Figure 6 , the electronic skin 20 includes:

[0050] Housing unit; the housing unit includes a housing 201, the housing 201 is formed with a cavity, reference Figure 4 As shown, the cavity may be a structure with one end open, and the cavity is filled to form a buffer layer 202 .

[0051] Sensor unit 203 ; the sensor unit 203 is used to detect the external pressure acting on the housing unit, wherein the sensor unit 203 is arranged in the buffer layer 202 .

[0052] A buffer layer is formed within the shell, and the sensor unit is placed within the buffer layer, increasing the electronic skin's sensitivity to external forces and providing reliable protection for the robotic arm. Furthermore, placing the sensor unit within the buffer layer not only protects the sensor unit but also reduces interference from external vibrations, improving the stability of the sensor unit's performance in various environments.

[0053] By forming a cavity in the shell, it is convenient to directly form a buffer layer in the cavity of the shell, and the buffer layer is used to fix the sensor unit on the shell. The processing and forming of the electronic skin is convenient and the processing cost is low.

[0054] The buffer layer 202 is formed from a flexible or elastic material; for example, the buffer layer 20 can be formed integrally within the cavity of the housing using porous silicone foam. Leveraging its excellent elasticity, vibration damping, and isolation properties, the porous silicone foam encapsulates the sensor unit, effectively isolating it from external interference while maintaining high sensitivity, thus ensuring the stability and reliability of the electronic skin's performance.

[0055] The use of porous silicon foam can facilitate the molding of a buffer layer in the cavity of the shell, and in the process of molding the buffer layer, the connection between the buffer layer and the shell is achieved, and the sensor unit is set in the shell.

[0056] The housing 201 is formed of a flexible material, such as rubber. A housing formed of a flexible material such as rubber can effectively sense external forces and transmit them to the sensor unit. Furthermore, the electronic skin can adapt to the shape of the robotic arm, allowing it to be installed anywhere on the robotic arm and adapt to various deformations caused by the robotic arm's rotation and other movements.

[0057] The connecting end of the shell 201 is provided with a flange 2011. The flange 2011 can be well fitted to the surface of any shape of the robotic arm due to its flexibility. A mounting hole 2012 is provided on the flange 2011 to facilitate fixing the shell to the robotic arm.

[0058] A contact layer 2013, arched and raised, is positioned on top of the housing 201, gradually moving away from the housing's connection end from its outer contour toward the center. This arched contact layer ensures that the electronic skin's contact layer is the first to come into contact with the outside world during operation. This allows the contact layer to promptly sense external forces, ensuring the safety of the robotic arm during movement.

[0059] The thickness of contact layer 2013 is thinner than the rest of the housing and is also integrally formed with the housing using rubber. When the robotic arm makes contact with the outside world at this location, contact layer 2013 makes contact first, allowing it to better sense external forces and enhance the sensitivity of the electronic skin.

[0060] The sensor unit 203 includes a pressure sensor, an interface unit, a power management unit, and a microprocessor.

[0061] Pressure sensors can be capacitive or voltage-based. For example, in the case of a capacitive pressure sensor, the sensor unit receives signals from the capacitive pressure sensor, which detects external pressure by measuring changes in capacitance. Typically, a capacitive pressure sensor consists of two electrodes. When an external force acts on the sensor surface, the capacitance changes, and the external pressure is measured by measuring this change in capacitance.

[0062] When the robotic arm touches the outside world, the pressure generated by the touch transmits the force to the sensor unit through the contact layer of the shell unit. The capacitive pressure sensor converts the pressure into an electrical signal and transmits it to the robotic arm control module of the mechanical unit. The control module quickly locks the movement of the electric cylinder between the joints of the robotic arm. The electric cylinder stops moving, causing the robotic arm to stop moving, thereby avoiding damage to equipment or human body.

[0063] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on the present invention.

[0064] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this invention does not necessarily mean that the components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that the direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0065] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention falls within the scope of protection of the present invention.

Claims

1. A mobile collaborative robot, characterized in that: include: Mobile unit; a robotic arm, disposed on the mobile unit; The execution unit includes a load support arranged on the robotic arm and a traction support arranged on the load support. The load support and the robotic arm are connected via a transition flange. One end of the transition flange is connected to the robotic arm, and the other end is connected to the load support. One connecting end surface of the transition flange is inclined relative to the other connecting end surface.

2. The mobile collaborative robot according to claim 1, characterized in that: The two connecting end faces of the transition flange form an angle of 30° to 45°.

3. The mobile collaborative robot according to claim 1 or 2, characterized in that: The mobile unit includes an AGV trolley and a mounting platform arranged on the AGV trolley, a robotic arm mounting seat is arranged on the mounting platform, and the robotic arm is mounted on the robotic arm mounting seat.

4. The mobile collaborative robot according to claim 3, characterized in that: The installation platform is provided with legs that can be telescopically adjusted and used to support the installation platform.

5. The mobile collaborative robot according to claim 3, characterized in that: The installation platform is provided with a battery and an electric control box for supplying power to the robot.

6. The mobile collaborative robot according to claim 1, characterized in that: The mobile unit is provided with an obstacle avoidance unit for detecting obstacles.

7. The mobile collaborative robot according to claim 1, characterized in that: The traction bracket includes two traction handles arranged opposite to each other, and the traction handles are provided with a safety switch for controlling the movement of the mechanical arm.

8. The mobile collaborative robot according to claim 1, characterized in that: The robotic arm is covered with an electronic skin, which includes: The housing unit comprises a shell, wherein a cavity is formed in the shell, and the cavity is filled with a buffer layer; The sensor unit is used to detect the pressure exerted on the housing unit by the outside world, and the sensor unit is arranged in the buffer layer.

9. The mobile collaborative robot according to claim 8, characterized in that: The buffer layer is made of flexible or elastic material.

10. The mobile collaborative robot according to claim 8, characterized in that: A contact layer in the form of an arched protrusion is provided on the top of the shell.

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