Split type teaching equipment

Abstract

The embodiment of the utility model provides a split type teaching device, which comprises an operation robot comprising an operation mechanism and a moving mechanism, the operation mechanism is arranged on the moving mechanism, and the moving mechanism is used for being arranged on a supporting surface; and the teaching control device communicates with the moving mechanism and the operation mechanism, the teaching control device can control the moving mechanism to drive the operation mechanism to move along the supporting surface relative to the teaching control device, and the teaching control device can teach the operation mechanism. The teaching control device is arranged to communicate with the moving mechanism, the teaching control device can control the moving mechanism to drive the operation mechanism to move relative to the teaching control device along the supporting face, so that the operation mechanism can reach the operation position, and the teaching control device is arranged to communicate with the operation mechanism. A worker can teach the operation mechanism through the teaching control device, the worker does not need to arrive at the operation position in the teaching process, the teaching difficulty is low, and safety is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot demonstration technology field especially is related to a split type demonstration equipment. BACKGROUND

[0002] With the rapid development of automation technology, work robots are applied more and more widely, and work robots are used to replace workers to complete some simple, tedious and repetitive tasks to improve efficiency. Before work robots are put into use, workers need to demonstrate programming to work robots so that work robots can complete various tasks.

[0003] Workers usually use a demonstration control device to demonstrate work robots, and the demonstration control device sends instructions to work robots to guide work robots to perform a series of operations, and work robots store these instructions in a controller so that they can be automatically executed later.

[0004] In related technologies, in some dangerous or narrow demonstration work scenes such as mines, workers have a high difficulty in demonstrating work robots through a demonstration control device, and it is not safe. UTILITY MODEL CONTENT

[0005] The utility model aims at at least solving one of the technical problems existing in the prior art. To this end, the utility model provides a split type demonstration equipment, which has a low demonstration difficulty and is safe.

[0006] The utility model embodiment provides a split type demonstration equipment, which comprises: a work robot, comprising a work mechanism and a moving mechanism, the work mechanism being arranged on the moving mechanism, and the moving mechanism being arranged on a support surface; a demonstration control device, in communication with the moving mechanism and the work mechanism, the demonstration control device being capable of controlling the moving mechanism to drive the work mechanism to move along the support surface relative to the demonstration control device, and the demonstration control device being capable of demonstrating the work mechanism.

[0007] The split type demonstration equipment provided by the utility model embodiment has at least the following beneficial effects:

[0008] The demonstration control device is in communication with the moving mechanism, and the demonstration control device can control the moving mechanism to drive the work mechanism to move along the support surface relative to the demonstration control device, so that the work mechanism can reach the work position. In addition, the demonstration control device is in communication with the work mechanism, and workers can demonstrate the work mechanism through the demonstration control device. In the demonstration process, workers do not need to reach the work position, the demonstration difficulty is low, and it is relatively safe.

[0009] In one embodiment of the implementation, the work robot comprises a controller, which is arranged on the moving mechanism and is electrically connected with the work mechanism and the moving mechanism, and which communicates with the teaching control device.

[0010] In one embodiment of the implementation, the teaching control device comprises a teaching mechanism and a support frame, the teaching mechanism is arranged on the support frame and communicates with the controller, and the support frame is arranged on the support surface and is movable along the support surface.

[0011] In one embodiment of the implementation, the moving mechanism comprises a moving chassis and a rotating wheel, the work mechanism is arranged on the moving chassis, and the rotating wheel is connected with the moving chassis and can drive the moving chassis to move along the support surface.

[0012] In one embodiment of the implementation, the work mechanism comprises a clamping assembly and a lifting assembly, the lifting assembly is arranged on the moving chassis and is connected with the clamping assembly, the lifting assembly can drive the clamping assembly to lift relative to the moving chassis, and the clamping assembly is used for clamping a target object.

[0013] In one embodiment of the implementation, the work robot comprises a first camera, the first camera is connected with the lifting assembly, the first camera is used for collecting first position information of the target object, and the rotating wheel drives the moving chassis to move according to the first position information.

[0014] In one embodiment of the implementation, the work mechanism comprises a mechanical arm, the mechanical arm is arranged on the lifting assembly and is connected with the clamping assembly, and the mechanical arm can drive the clamping assembly to move relative to the lifting assembly.

[0015] In one embodiment of the implementation, the work robot comprises a second camera, the second camera is connected with the clamping assembly, the second camera is used for collecting second position information of the target object, and the mechanical arm drives the clamping assembly to move according to the second position information.

[0016] In one embodiment of the implementation, the work robot comprises a detection module, the detection module is arranged on the moving chassis, and the detection module is used for detecting obstacles.

[0017] In one embodiment of the implementation, the split type teaching device comprises a charging table, the charging table can be electrically connected with the work robot to charge the work robot.

[0018] The additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by those skilled in the art from the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in conjunction with the drawings and examples, wherein:

[0020] Figure 1 is a perspective structural schematic view of a split teaching equipment under an embodiment of the present application;

[0021] Figure 2 is Figure 1 a perspective structural schematic view of the split teaching equipment from another view angle;

[0022] Figure 3 is Figure 1 a perspective structural schematic view of a teaching control device of the split teaching equipment;

[0023] Figure 4 is Figure 3 a perspective structural schematic view of a teaching mechanism;

[0024] Figure 5 is Figure 1 a perspective structural schematic view of a work robot of the split teaching equipment;

[0025] Figure 6 is Figure 5 a partial structural schematic view of the work robot;

[0026] Figure 7 is Figure 5 a perspective structural schematic view of a clamping assembly and a mechanical arm;

[0027] Figure 8 is Figure 5 a perspective structural schematic view of a first camera and a holder structure.

[0028] REFERENCE NUMERALS:

[0029] Split teaching device 1000; work robot 100; work mechanism 110; clamping assembly 111; connecting seat 1111; clamping block 1112; lifting assembly 112; mechanical arm 113; first part 113a; second part 113b; first work arm 1311; second work arm 1312; third work arm 1313; fourth work arm 1314; moving mechanism 120; moving chassis 121; mounting surface 1201; mounting protrusion 1211; rotating wheel 122; controller 130; first camera 140; holder structure 150; base 151; first support 152; second support 153; second camera 160; detection module 170; mounting plate 180; teaching control device 200; teaching mechanism 210; first teaching arm 211; second teaching arm 212; third teaching arm 213; fourth teaching arm 214; mounting seat 215; handle 2151; knob 216; support frame 220; roller 221; charging table 300. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for the purpose of explaining the present application, and cannot be understood as a limitation of the present application.

[0031] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as a limitation of the present application.

[0032] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0033] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0034] In the description of the present utility model, the description of the reference terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0035] In the related art, the teaching control device is usually installed on the work robot, and the teaching control device and the work robot are synchronously moved to the work position, and then the worker drives the work robot to work through the teaching control device to complete the teaching. This method needs the worker to teach at or near the work position, and is difficult to be applied to dangerous or narrow teaching work scenes.

[0036] Please refer to Figure 1 and Figure 2 , Figure 1 is a perspective structural schematic view of a split type teaching equipment 1000 under an embodiment of the present utility model embodiment; Figure 2 is Figure 1 a perspective structural schematic view of the split type teaching equipment 1000 from another view. The present utility model embodiment provides a split type teaching equipment 1000, which comprises a work robot 100 and a teaching control device 200. The work robot 100 comprises a work mechanism 110 and a moving mechanism 120, the work mechanism 110 is arranged on the moving mechanism 120, and the moving mechanism 120 is arranged on a support surface. The teaching control device 200 communicates with the moving mechanism 120 and the work mechanism 110, the teaching control device 200 can control the moving mechanism 120 to drive the work mechanism 110 to move along the support surface relative to the teaching control device 200, and the teaching control device 200 can teach the work mechanism 110.

[0037] Specifically, the work mechanism 110 can perform operations such as carrying, welding, spraying, painting, and clamping. The moving mechanism 120 can be arranged on a support surface such as the ground or the surface of other equipment. The teaching control device 200 can communicate with the work mechanism 110 and the moving mechanism 120 through wireless methods such as Bluetooth, local area network, near field communication (NFC), and mobile network, and the teaching control device 200 can also communicate with the work mechanism 110 and the moving mechanism 120 through a cable.

[0038] It can be understood that the teaching control device 200 can be arranged at a safe position away from the working position, and the worker can control the teaching control device 200 at the safe position to control the moving mechanism 120 to drive the working mechanism 110 to move along the support surface to the working position, and then control the working mechanism 110 to work.

[0039] By arranging the teaching control device 200 to communicate with the moving mechanism 120, the teaching control device 200 can control the moving mechanism 120 to drive the working mechanism 110 to move along the support surface relative to the teaching control device 200, so that the working mechanism 110 can reach the working position, and by arranging the teaching control device 200 to communicate with the working mechanism 110, the worker can teach the working mechanism 110 through the teaching control device 200, and the worker does not need to reach the working position during the teaching process, so that the teaching difficulty is low and the safety is high.

[0040] In an embodiment of the embodiment, please refer to Figure 1 and Figure 2 The split type teaching device 1000 includes a charging table 300, and the charging table 300 can be electrically connected with the working robot 100 to charge the working robot 100. In this way, the long-time work of the working robot 100 can be supported.

[0041] Specifically, the charging table 300 is arranged on the support surface, and the charging table 300 can communicate with the working robot 100. The working robot 100 is provided with a battery for supplying power to the moving mechanism 120 and the working mechanism 110. When the battery is insufficient, the moving mechanism 120 can obtain the position of the charging table 300 and move to the charging table 300 to charge the battery through the charging table 300.

[0042] For the convenience of description, the arrangement direction of the working robot 100, the charging table 300 and the teaching control device 200 when the working robot 100 charges at the charging table 300 is defined as the x-axis direction, the direction perpendicular to the x-axis direction and parallel to the support surface is defined as the y-axis direction, and the direction perpendicular to the support surface is defined as the z-axis direction.

[0043] The teaching control device 200 in the split type teaching device 1000 provided by the embodiment of the utility model will be described below.

[0044] In an embodiment of the embodiment, please refer to Figure 3 , Figure 3 is Figure 1Figure 2 is a perspective view of the teaching control device 200 of the split teaching device 1000. The teaching control device 200 includes a teaching mechanism 210 and a support frame 220. The teaching mechanism 210 is arranged on the support frame 220 and communicates with the working mechanism 110. The support frame 220 is arranged on a support surface and can move along the support surface. It can be understood that by arranging the teaching mechanism 210 on the support frame 220, the support frame 220 can drive the teaching mechanism 210 to move along the support surface, so that the worker can obtain a relatively safe and wide position for teaching, which is beneficial to reduce the teaching difficulty and improve the safety, and at the same time, the teaching control device 200 can use different teaching work scenes.

[0045] In this embodiment, the bottom side of the support frame 220 is provided with a plurality of rollers 221, which can roll along the support surface to drive the support frame 220 and the teaching mechanism 210 to move along the support surface. Specifically, the number of rollers 221 is 4, and the 4 rollers 221 are arranged at the four corners of the bottom side of the support frame 220 to improve the stability of the movement of the support frame 220.

[0046] In one embodiment of the present embodiment, please refer to Figure 3 and Figure 4 , Figure 4 is Figure 3 Figure 2 is a perspective view of the teaching mechanism 210 of the split teaching device 1000. The teaching mechanism 210 includes a first teaching arm 211, a second teaching arm 212, a third teaching arm 213, a fourth teaching arm 214, a mounting seat 215 and two push blocks 216 which are sequentially connected in rotation. The first teaching arm 211 is fixedly arranged on the support frame 220. The second teaching arm 212 can rotate relative to the first teaching arm 211 about two axes parallel to the y-axis direction and the z-axis direction. The third teaching arm 213 can rotate relative to the second teaching arm 212 about an axis parallel to the y-axis direction. The fourth teaching arm 214 can rotate relative to the third teaching arm 213 about an axis parallel to the y-axis direction. The mounting seat 215 can rotate relative to the fourth teaching arm 214 about an axis parallel to the x-axis direction. The two push blocks 216 are arranged on the side of the mounting seat 215 away from the fourth teaching arm 214 and can rotate relative to the mounting seat 215 about an axis parallel to the x-axis direction. Driving motors are arranged between the first teaching arm 211 and the second teaching arm 212, between the second teaching arm 212 and the third teaching arm 213, and between the fourth teaching arm 214 and the mounting seat 215. The mounting seat 215 is provided with a handle 2151, and the worker can hold the handle 2151 and wave the push blocks 216 with fingers to teach the working mechanism 110 the clamping action.

[0047] It should be noted that the above description of the rotational connection relationship between the various components of the teaching mechanism 210 is based on the current state (initial state) of the illustrated teaching mechanism 210, and as the worker operates, the relative rotation axis of the relevant teaching arm will change. It can be understood that the structure of the work mechanism 110 corresponds to the structure of the teaching mechanism 210, which will be described in detail below.

[0048] In other embodiments, the teaching mechanism 210 can also have other structures, and the specific structure of the teaching mechanism 210 is not limited by the present application.

[0049] The work robot 100 in the split teaching device 1000 provided by the embodiment of the present application is described below.

[0050] In an embodiment of this embodiment, please refer to Figure 1 and Figure 5 , Figure 5 is Figure 1 the three-dimensional structure schematic diagram of the work robot 100 of the split teaching device 1000. The work robot 100 comprises a controller 130, which is arranged on the moving mechanism 120 and is electrically connected with the work mechanism 110 and the moving mechanism 120, and the controller 130 is in communication with the teaching control device 200. In this way, the teaching control device 200 can send signals to the controller 130, and the controller 130 drives the moving mechanism 120 to move along the support surface and / or drives the work mechanism 110 to work according to the signals.

[0051] Specifically, the controller 130 communicates with the teaching mechanism 210, the worker operates the teaching mechanism 210 to perform a series of operations, the teaching mechanism 210 sends signals to the controller 130, and the controller 130 controls the work mechanism 110 to reproduce the operation according to the signals and records the relevant data.

[0052] In an embodiment of this embodiment, please refer to Figure 1 and Figure 2 When the work mechanism 110 is in the initial state, the work mechanism 110 extends to the front side of the moving mechanism 120 in the moving direction of the moving mechanism 120, and when the work mechanism 110 is in the working state, the work mechanism 110 moves relative to the moving mechanism 120 and clamps the target object. It can be understood that the moving direction is the direction in which the moving mechanism 120 drives the work mechanism 110 to move towards the work position, that is, the direction in which the work mechanism 110 works (i.e. the positive direction of the x-axis in this embodiment). In this way, the work mechanism 110 can cooperate with the moving mechanism 120 to realize the clamping of a wide range of target objects, which is beneficial to improve the work efficiency.

[0053] It should be noted that before the mobile mechanism 120 drives the working mechanism 110 to reach the working position, the working mechanism 110 is in an initial state, and the working mechanism 110 is stationary relative to the mobile mechanism 120. After the mobile mechanism 120 drives the working mechanism 110 to reach the working position, the working mechanism 110 is switched from the initial state to the working state, and the controller 130 controls the working mechanism 110 to move relative to the mobile mechanism 120 and clamp the target object according to the position of the target object.

[0054] In an embodiment of this implementation, referring to Figure 1 and Figure 5 The mobile mechanism 120 includes a mobile chassis 121 and rotating wheels 122. The working mechanism 110 is arranged on the mobile chassis 121, and the rotating wheels 122 are connected to the mobile chassis 121 and can drive the mobile chassis 121 to move along the support surface. In this way, the rotating wheels 122 can drive the mobile chassis 121 and the working mechanism 110 to move along the support surface to the working position, so as to facilitate the working mechanism 110 to work.

[0055] Specifically, the controller 130 and the working mechanism 110 are arranged on the top side of the mobile chassis 121. The battery is arranged on the mobile chassis 121, and the rear side of the mobile chassis 121 is provided with a charging port for electrically connecting with the charging table 300 to charge the battery.

[0056] Specifically, the rotating wheels 122 are multiple, and the multiple rotating wheels 122 are arranged on the bottom side of the mobile chassis 121 and are configured to rotate relative to the mobile chassis 121 about an axis parallel to the z-axis direction, so that the rotating wheels 122 can drive the mobile chassis 121 to move in different directions, which is beneficial to avoid obstacles.

[0057] In an embodiment of this implementation, referring to Figure 1 and Figure 5 The mobile chassis 121 has a mounting surface 1201 on the top side, and the working mechanism 110 and the controller 130 are arranged on the mounting surface 1201. The working mechanism 110 is located on the side of the controller 130 away from the teaching control device 200. Specifically, the working mechanism 110, the controller 130, and the teaching control device 200 are arranged in sequence along the x-axis direction. In this way, the working mechanism 110 is located on the front side of the controller 130, so as to facilitate the working mechanism 110 to clamp and work. The working mechanism 110 and the controller 130 are reasonably arranged on the mounting surface 1201, which can fully utilize the space and is beneficial to reduce the volume of the mobile chassis 121.

[0058] In an embodiment of this implementation, referring to Figure 1 and Figure 5The work mechanism 110 comprises a clamping assembly 111 and a lifting assembly 112. The lifting assembly 112 is arranged on the mobile chassis 121 and connected with the clamping assembly 111. The lifting assembly 112 can drive the clamping assembly 111 to lift relative to the mobile chassis 121. The clamping assembly 111 is used for clamping target objects. Specifically, the lifting assembly 112 is arranged on the mounting surface 1201. In this way, the lifting assembly 112 can drive the clamping assembly 111 to lift to a position more convenient for clamping target objects, which is conducive to improving the clamping efficiency.

[0059] In an embodiment of the present embodiment, please refer to Figure 1 and Figure 6 , Figure 6 is Figure 5 a partial structure diagram of the work robot 100. The work robot 100 comprises a mounting plate 180. The mobile chassis 121 is provided with mounting protrusions 1211. The lifting assembly 112 is arranged on the mounting plate 180. In the advancing direction, the mounting plate 180 has a plurality of mounting positions with the mounting protrusions 1211. In this way, the relative positions of the lifting assembly 112 and the mobile chassis 121 in the advancing direction can be adjusted, so that the clamping assembly 111 can protrude relative to the front side of the mobile chassis 121 when adjusted to the initial state.

[0060] Specifically, the number of the mounting protrusions 1211 is two. The two mounting protrusions 1211 are arranged in a spaced manner and are in a strip shape. The mounting protrusions 1211 extend along the x-axis direction. The mounting plate 180 can be fixed on the two mounting protrusions 1211 by screws.

[0061] In an embodiment of the present embodiment, please refer to Figure 1 and Figure 5 The work robot 100 comprises a first camera 140. The first camera 140 is connected with the lifting assembly 112. The first camera 140 is used for collecting first position information of target objects. The rotating wheel 122 drives the mobile chassis 121 to move according to the first position information. In this way, the rotating wheel 122 can drive the mobile chassis 121 to accurately move to a work position corresponding to the target objects, so as to facilitate the clamping assembly 111 to clamp the target objects.

[0062] Specifically, the first camera 140 can be selected as a wide-angle camera. The wide-angle camera can obtain images with a larger field of view, so as to facilitate continuous automatic work. The first camera 140 is electrically connected with the controller 130. The first camera 140 sends the obtained image information (first position information) to the controller 130. The controller 130 controls the moving mechanism 120 to drive the work mechanism 110 to move to the work position according to the first position information.

[0063] In this embodiment, the first camera 140 is arranged on the lifting assembly 112, and the first camera 140 and the clamping assembly 111 can be lifted synchronously. Since the first camera 140 is arranged on the lifting assembly 112, the lifting assembly 112 can drive the first camera 140 to move relative to the chassis 121 to lift the first camera 140 to a suitable height for photographing.

[0064] In this embodiment, please refer to Figure 8 , Figure 8 is Figure 5 a perspective view of the first camera 140 and the gimbal structure 150. The working robot 100 comprises the gimbal structure 150, which is arranged on the lifting assembly 112, and the first camera 140 is arranged on the gimbal structure 150. The worker can adjust the shooting angle of the first camera 140 through the gimbal structure 150, so that the first camera 140 can obtain images of a suitable field of view.

[0065] Specifically, the gimbal structure 150 comprises a base 151, a first support 152 and a second support 153 connected in sequence. The base 151 is fixed on the lifting assembly 112, the first support 152 can rotate relative to the base 151 about an axis parallel to the z-axis direction, the second support 153 can rotate relative to the first support 152 about an axis parallel to the y-axis direction, and the first camera 140 is arranged on the second support 153. In this way, multi-angle adjustment of the first camera 140 can be achieved.

[0066] In one embodiment of this embodiment, please refer to Figure 5 and Figure 7 , Figure 7 is Figure 5 a perspective view of the clamping assembly 111 and the mechanical arm 113. The working mechanism 110 comprises the mechanical arm 113, which is arranged on the lifting assembly 112 and connected with the clamping assembly 111, and the mechanical arm 113 can drive the clamping assembly 111 to move relative to the lifting assembly 112. By arranging the mechanical arm 113 between the lifting assembly 112 and the clamping assembly 111, the mechanical arm 113 can drive the clamping assembly 111 to approach the target object, so that the clamping assembly 111 can clamp the target object.

[0067] Specifically, please refer to Figure 4, the structure of the mechanical arm 113 and the clamping assembly 111 corresponds to the structure of the teaching mechanism 210. The mechanical arm 113 comprises a first working arm 1311, a second working arm 1312, a third working arm 1313 and a fourth working arm 1314 connected in sequence. Among them, the first working arm 1311 is installed on the lifting assembly 112, the second working arm 1312 can rotate relative to the first working arm 1311 about two axes parallel to the y-axis direction and the z-axis direction, the third working arm 1313 can rotate relative to the second working arm 1312 about an axis parallel to the y-axis direction, and the fourth working arm 1314 can rotate relative to the third working arm 1313 about an axis parallel to the y-axis direction. The clamping assembly 111 comprises a connecting seat 1111 and two clamping blocks 1112, the connecting seat 1111 can rotate about an axis parallel to the x-axis direction relative to the fourth working arm 1314. The two clamping blocks 1112 are both slidingly connected to the connecting seat 1111, and the two clamping blocks 1112 can approach each other to clamp the target object. That is, the first working arm 1311 corresponds to the first teaching arm 211, the second working arm 1312 corresponds to the second teaching arm 212, the third working arm 1313 corresponds to the third teaching arm 213, the fourth working arm 1314 corresponds to the fourth teaching arm 214, the connecting seat 1111 corresponds to the mounting seat 215, and the two clamping blocks 1112 correspond to the two push blocks 216, so that the teaching can be realized.

[0068] In one embodiment of the embodiment, referring to Figure 5 and Figure 7 , the mechanical arm 113 comprises a first part 113a and a second part 113b, the first part 113a is connected with the lifting assembly 112, one end of the second part 113b is rotatably connected with the second part 113b, and the other end of the second part 113b is connected with the clamping assembly 111. When the working mechanism 110 is in the initial state, the first part 113a and the second part 113b are folded, the extension direction of the first part 113a and the extension direction of the second part 113b are both parallel to the advancing direction, and at least part of the clamping assembly 111 is located on the front side of the mobile chassis 121. In this way, the mechanical arm 113 can cooperate with the mobile chassis 121 to drive the clamping assembly 111 to move in a larger range, so that the clamping assembly 111 can clamp target objects in a large range in front, and the applicability of the working robot 100 in complex environment is improved.

[0069] Specifically, the first part 113a and the second part 113b are folded in the z-axis direction, the extension direction of the first part 113a and the extension direction of the second part 113b are both parallel to the x-axis direction, the first part 113a extends towards the rear side, and the second part 113b extends towards the front side. The first part 113a comprises the second working arm 1312, and the second part 113b comprises the third working arm 1313 and the fourth working arm 1314.

[0070] In one embodiment of the embodiment, referring to Figure 5 and Figure 7 The work robot 100 comprises a second camera 160 connected with the clamping assembly 111, and the second camera 160 is used to collect second position information of the target object, and the mechanical arm 113 drives the clamping assembly 111 to move according to the second position information. In this way, the mechanical arm 113 can drive the clamping assembly 111 to move to the target object, so that the clamping assembly 111 can accurately clamp the target object.

[0071] Specifically, the second camera 160 can be a binocular camera, so as to obtain the accurate position of the target object. The second camera 160 is installed on the top side of the connecting seat 1111, so as to take a photo of the target object. The second camera 160 is electrically connected with the controller 130, and the second camera 160 sends the taken image (second position information) to the controller 130, and the controller 130 controls the mechanical arm 113 to drive the clamping assembly 111 to move to the target object to clamp the target object according to the second position information.

[0072] In one embodiment of the embodiment, referring to Figure 1 and Figure 5 The work robot 100 comprises a detection module 170 arranged on the mobile chassis 121, and the detection module 170 is used to detect obstacles. By arranging the detection module 170, the detection module can detect obstacles, so as to reduce the risk of collision when the work robot 100 moves.

[0073] Specifically, the detection module 170 is electrically connected with the controller 130, and when the mobile chassis 121 moves, the detection module 170 detects the obstacles around, and sends a detection signal to the controller 130, and the controller 130 controls the rotating wheel 122 to drive the mobile chassis 121 to move along a path that can avoid the obstacles, so as to realize obstacle avoidance.

[0074] Specifically, the detection module 170 comprises a laser radar and a third camera which are both electrically connected with the controller 130, and the laser radar and the third camera can cooperate to realize obstacle detection, and the laser radar can provide a real-time obstacle avoidance navigation path.

[0075] The embodiments of the utility model are described in detail above combined with the drawings, but the utility model is not limited to the above-embodiments, and within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the utility model. In addition, the embodiments and the features in the embodiments of the utility model can be combined with each other without conflict.

Claims

1. A split master device (1000), characterized in that, The application relates to a work robot (100) comprising a work mechanism (110) and a moving mechanism (120), the work mechanism (110) is arranged on the moving mechanism (120), and the moving mechanism (120) is arranged on a support surface; a teaching control device (200) is in communication with the moving mechanism (120) and the work mechanism (110), the teaching control device (200) can control the moving mechanism (120) to drive the work mechanism (110) to move along the support surface relative to the teaching control device (200), and the teaching control device (200) can teach the work mechanism (110). The work robot (100) comprises a controller (130), the controller (130) is arranged on the moving mechanism (120) and is electrically connected with the work mechanism (110) and the moving mechanism (120), and the controller (130) is in communication with the teaching control device (200). The teaching control device (200) comprises a teaching mechanism (210) and a support frame (220), the teaching mechanism (210) is arranged on the support frame (220) and is in communication with the controller (130), the support frame (220) is arranged on the support surface and can move along the support surface.

2. The split teaching device (1000) according to claim 1, characterized in that The moving mechanism (120) comprises a moving chassis (121) and a rotating wheel (122), the work mechanism (110) is arranged on the moving chassis (121), and the rotating wheel (122) is connected with the moving chassis (121) and can drive the moving chassis (121) to move along the support surface.

3. The split teaching device (1000) according to claim 2, characterized in that The work mechanism (110) comprises a clamping assembly (111) and a lifting assembly (112), the lifting assembly (112) is arranged on the moving chassis (121) and is connected with the clamping assembly (111), the lifting assembly (112) can drive the clamping assembly (111) to lift relative to the moving chassis (121), and the clamping assembly (111) is used for clamping a target object.

4. The split demonstrator device (1000) according to any one of claims 1 to 3, characterized in that The work robot (100) comprises a first camera (140), the first camera (140) is connected with the lifting assembly (112), the first camera (140) is used for collecting first position information of the target object, and the rotating wheel (122) drives the moving chassis (121) to move according to the first position information.

5. The split teaching device (1000) according to claim 4, characterized in that The work mechanism (110) comprises a mechanical arm (113), the mechanical arm (113) is arranged on the lifting assembly (112) and is connected with the clamping assembly (111), and the mechanical arm (113) can drive the clamping assembly (111) to move relative to the lifting assembly (112).

6. The split teaching device (1000) according to claim 5, characterized in that ​ 7. The split teaching device (1000) according to claim 5, characterized in that ​ 8. The split teaching device (1000) according to claim 7, characterized in that The work robot (100) comprises a second camera (160) connected with the clamping assembly (111), and the second camera (160) is used to collect second position information of the target object, and the mechanical arm (113) drives the clamping assembly (111) to move according to the second position information.

9. The split teaching device (1000) according to claim 4, characterized in that The work robot (100) comprises a detection module (170) arranged on the mobile chassis (121), and the detection module (170) is used to detect obstacles.

10. The split teaching device (1000) according to claim 1, characterized in that The split teaching device (1000) comprises a charging table (300) which can be electrically connected with the work robot (100) to charge the work robot (100).

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