Work robot and teaching device

Abstract

The embodiment of the utility model provides an operation robot and teaching equipment, and the operation robot comprises a moving mechanism which is arranged on a supporting surface and can move along the supporting surface; the controller is arranged on the moving mechanism and is used for communicating with the teaching control device; and the operating mechanism is arranged on the moving mechanism and electrically connected with the controller, when the operating mechanism is in an initial state, the operating mechanism extends to the front side of the moving mechanism in the advancing direction of the moving mechanism, and when the operating mechanism is in a working state, the operating mechanism moves relative to the moving mechanism and clamps a target object. By means of the arrangement, the operation mechanism can move in a large range relative to the moving mechanism so as to be matched with the moving mechanism to clamp the target object in a large range, and the operation efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the field of robot teaching technology, and in particular to a working robot and a teaching device. Background Technology

[0002] With the rapid development of automation technology, work robots are being used more and more widely. These robots are used to replace workers in performing simple, tedious, and repetitive tasks, thereby improving efficiency. Before a work robot is put into use, workers need to teach and program it so that it can complete various tasks.

[0003] Workers typically use a teach pendant control device to teach the work robot. The teach pendant control device sends instructions to the work robot to guide it to perform a series of operations. The work robot stores these instructions in the controller so that they can be executed automatically later.

[0004] In related technologies, the gripping range of industrial gripping robots is relatively small, resulting in low operating efficiency. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a work robot and teaching device capable of gripping a wide range of target objects with high work efficiency.

[0006] In a first aspect, this utility model provides a work robot, comprising: a mobile mechanism for being mounted on a support surface and movable along the support surface; a controller mounted on the mobile mechanism and for communicating with a teaching control device; and a work mechanism mounted on the mobile mechanism and electrically connected to the controller. When the work mechanism is in an initial state, it extends to the front of the mobile mechanism in the direction of travel of the mobile mechanism. When the work mechanism is in a working state, it moves relative to the mobile mechanism and grips a target object.

[0007] The work robot provided by the first aspect of this utility model has at least the following beneficial effects:

[0008] With this configuration, the working mechanism can move a wide range of motion relative to the moving mechanism, so as to cooperate with the moving mechanism to grasp a wide range of target objects, which helps to improve work efficiency.

[0009] In one embodiment of this implementation, the moving mechanism includes a mobile chassis with a mounting surface on the top side. The working mechanism and the controller are both disposed on the mounting surface, with the working mechanism located on the side of the controller facing away from the teaching control device.

[0010] In one embodiment of this implementation, the working mechanism includes a clamping component and a lifting component. The lifting component is disposed on the mounting surface and connected to the clamping component. The lifting component can drive the clamping component to rise and fall relative to the mobile chassis.

[0011] In one embodiment of this implementation, the moving mechanism includes a rotating wheel disposed on the bottom side of the moving chassis, the working robot includes a first camera connected to the lifting assembly, the first camera is used to collect first position information of the target object, and the rotating wheel drives the moving chassis to move according to the first position information.

[0012] In one embodiment of this implementation, the working mechanism includes a robotic arm, which is mounted on the lifting assembly and connected to the gripping assembly. The robotic arm is used to move the gripping assembly closer to the target object.

[0013] In one embodiment of this implementation, the working robot includes a second camera connected to the gripping component. The second camera is used to collect second position information of the target object, and the robotic arm drives the gripping component to move according to the second position information.

[0014] In one embodiment of this implementation, the robotic arm includes a first part and a second part. The first part is connected to the lifting assembly, one end of the second part is rotatably connected to the first part, and the other end of the second part is connected to the gripping assembly. When the working mechanism is in the initial state, the first part and the second part are folded, the extension direction of the first part and the extension direction of the second part are both parallel to the travel direction, and at least a portion of the gripping assembly is located on the front side of the mobile chassis.

[0015] In one embodiment of this implementation, the working robot includes a mounting plate, the mobile chassis is provided with mounting protrusions, the lifting assembly is disposed on the mounting plate, and the mounting plate and the mounting protrusions have multiple mounting positions in the direction of travel.

[0016] In one embodiment of this implementation, there are two mounting protrusions, which are spaced apart and extend along the travel direction. The mounting plate is mounted on the two mounting protrusions.

[0017] Secondly, this utility model provides a teaching device, which includes a teaching control device and a work robot as described in any embodiment of the first aspect of the embodiment, wherein the teaching control device communicates with the controller of the work robot.

[0018] The teaching device provided in the second aspect of this utility model has at least the following beneficial effects:

[0019] By incorporating the work robot provided in the first aspect of this utility model into the teaching device, the teaching device can perform work teaching with a wide range of gripping capabilities, which is beneficial to improving work efficiency.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a three-dimensional structural diagram of a teaching device according to one embodiment of the present invention;

[0023] Figure 2 yes Figure 1 A three-dimensional structural diagram of the teaching equipment from another perspective;

[0024] Figure 3 yes Figure 1 A three-dimensional structural diagram of the teaching control device of the teaching equipment;

[0025] Figure 4 yes Figure 3 A three-dimensional structural diagram of the teaching institution;

[0026] Figure 5 yes Figure 1 A three-dimensional structural diagram of the teaching equipment's operating robot;

[0027] Figure 6 yes Figure 5 A partial structural diagram of the work robot;

[0028] Figure 7 yes Figure 5 A three-dimensional structural diagram of the gripping components and the robotic arm;

[0029] Figure 8 yes Figure 5 A three-dimensional structural diagram of the first camera and gimbal structure.

[0030] Figure label:

[0031] Teaching device 1000; Working robot 100; Working mechanism 110; Gripping assembly 111; Connecting seat 1111; Gripping block 1112; Lifting assembly 112; Mechanical arm 113; First part 113a; Second part 113b; First working arm 1311; Second working arm 1312; Third working arm 1313; Fourth working arm 1314; Moving mechanism 120; Moving chassis 121; Mounting surface 1201; Mounting protrusion 1211; Rotating wheel 122; Controller 130; First camera 140; Gimbal structure 150; Base 151; First bracket 152; Second bracket 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 base 215; Handle 2151; Pulse 216; Support frame 220; Roller 221; Charging platform 300. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0033] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0035] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0036] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] Please see Figure 1 and Figure 2 , Figure 1 This is a three-dimensional structural schematic diagram of the teaching device 1000 according to one embodiment of the present utility model; Figure 2 yes Figure 1 A three-dimensional structural diagram of the teaching pendant 1000 from another perspective. This embodiment of the invention provides a teaching pendant 1000, which includes a work robot 100 and a teaching control device 200, and the work robot 100 and the teaching control device 200 communicate with each other. By incorporating the work robot 100 provided in this embodiment of the invention into the teaching pendant 1000, the teaching pendant 1000 can perform large-range gripping operation teaching, which is beneficial to improving work efficiency.

[0038] In one embodiment of this implementation, please refer to Figure 1 and Figure 2 The robot 100 includes a working mechanism 110 and a moving mechanism 120. The working mechanism 110 is mounted on the moving mechanism 120, which is positioned on a support surface. A teaching control device 200 communicates with both the moving mechanism 120 and the working mechanism 110. The teaching control device 200 can control the moving mechanism 120 to move the working mechanism 110 along the support surface relative to the teaching control device 200, and can teach the working mechanism 110.

[0039] Specifically, the working mechanism 110 can perform operations such as handling, welding, spraying, coating, and clamping. The moving mechanism 120 can be mounted on the ground, the surface of other equipment, or other supporting surfaces. The teaching control device 200 can communicate with the working mechanism 110 and the moving mechanism 120 wirelessly via Bluetooth, local area network, near field communication (NFC), mobile network, or other wireless methods. The teaching control device 200 can also communicate with the working mechanism 110 and the moving mechanism 120 via cable.

[0040] It is understandable that the teaching control device 200 can be set in a safe position away from the work position. The worker can operate the teaching control device 200 from the safe position, first controlling the moving mechanism 120 to drive the working mechanism 110 to move along the support surface to the work position, and then controlling the working mechanism 110 to perform the work.

[0041] By setting up a 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 relative to the teaching control device 200 along the support surface, so that the working mechanism 110 can reach the working position. Also, by setting up a 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. During the teaching process, the worker does not need to go to the working position, the teaching difficulty is low, and it is relatively safe.

[0042] In one embodiment of this implementation, please refer to Figure 1 and Figure 2 The teaching device 1000 includes a charging station 300, which is electrically connected to the work robot 100 to charge the work robot 100. This configuration is designed to support the work robot 100 in long-term operation.

[0043] Specifically, the charging platform 300 is mounted on the support surface and can communicate with the working robot 100. The working robot 100 is equipped with a battery that powers the moving mechanism 120 and the working mechanism 110. When the battery is low, the moving mechanism 120 can locate the charging platform 300 and move to it to charge the battery.

[0044] For ease of description, when the work robot 100 is charging at the charging platform 300, the arrangement direction of the work robot 100, the charging platform 300, and the teaching control device 200 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.

[0045] The teaching control device 200 in the teaching device 1000 provided in the present invention will be described below.

[0046] In one embodiment of this implementation, please refer to Figure 3 , Figure 3 yes Figure 1A three-dimensional structural diagram of the teaching control device 200 of the teaching equipment 1000 is shown. The teaching control device 200 includes a teaching mechanism 210 and a support frame 220. The teaching mechanism 210 is mounted on the support frame 220 and communicates with the working mechanism 110. The support frame 220 is used to mount on the support surface and can move along the support surface. It can be understood that by mounting 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 spacious position for teaching, which helps to reduce the difficulty of teaching and improve safety. At the same time, it allows the teaching control device 200 to be used in different teaching work scenarios.

[0047] In this embodiment, the bottom side of the support frame 220 is provided with multiple 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, there are four rollers 221, which are located 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.

[0048] In one embodiment of this implementation, please refer to Figure 3 and Figure 4 , Figure 4 yes Figure 3 A three-dimensional structural diagram of the teaching mechanism 210. 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 base 215, and a lever 216 that are rotatably connected in sequence. The system comprises the following components: a first teaching arm 211 fixedly mounted on a support frame 220; a second teaching arm 212 rotatable relative to the first teaching arm 211 about two axes parallel to the y-axis and the z-axis; a third teaching arm 213 rotatable relative to the second teaching arm 212 about an axis parallel to the y-axis; a fourth teaching arm 214 rotatable relative to the third teaching arm 213 about an axis parallel to the y-axis; a mounting base 215 rotatable relative to the fourth teaching arm 214 about an axis parallel to the x-axis; and two levers 216, each located on the side of the mounting base 215 facing away from the fourth teaching arm 214 and rotatable relative to the mounting base 215 about an axis parallel to the x-axis. Drive motors are provided between the first and second teaching arms 211 and 212, between the second and third teaching arms 212 and 213, and between the fourth teaching arm 214 and the mounting base 215. Mounting base 215 is provided with handle 2151, which the worker can hold and use his fingers to move dial 216 to teach the clamping action to the working mechanism 110.

[0049] It should be noted that the above description of the rotational connection relationships between the various components in the teaching pendant 210 is based on the current state (initial state) of the teaching pendant 210 shown in the figure. As the worker operates, the axis around which the relevant teaching arms rotate relative to each other will change. It can be understood that the structure of the working mechanism 110 corresponds to the structure of the teaching pendant 210, which will be explained in detail later.

[0050] In other embodiments, the teaching mechanism 210 may also have other structures, and the present invention does not limit the specific structure of the teaching mechanism 210.

[0051] The following describes the work robot 100 in the teaching device 1000 provided in the embodiments of this utility model.

[0052] In one embodiment of this implementation, please refer to Figure 1 and Figure 5 , Figure 5 yes Figure 1 A three-dimensional structural diagram of the working robot 100 of the teaching device 1000 is shown. The working robot 100 includes a controller 130, which is mounted on the moving mechanism 120 and electrically connected to the working mechanism 110 and the moving mechanism 120. The controller 130 communicates with the teaching control device 200. With this configuration, the teaching control device 200 can send signals to the controller 130, and the controller 130 can drive the moving mechanism 120 to move along the support surface and / or drive the working mechanism 110 to perform operations according to the signals.

[0053] Specifically, the controller 130 communicates with the teaching device 210. The worker operates the teaching device 210 to perform a series of operations. The teaching device 210 sends signals to the controller 130. The controller 130 controls the working mechanism 110 to reproduce the operation according to the signals and records the relevant data.

[0054] In one embodiment of this implementation, please refer to Figure 1 and Figure 2 When the working mechanism 110 is in its initial state, it extends to the front of the moving mechanism 120 in the direction of travel of the moving mechanism 120. When the working mechanism 110 is in its working state, it moves relative to the moving mechanism 120 and grips the target object. It can be understood that the direction of travel is the direction in which the moving mechanism 120 drives the working mechanism 110 to move towards the working position, which is also the direction in which the working mechanism 110 performs its work (i.e., the positive x-axis direction in this embodiment). With this configuration, the working mechanism 110 can cooperate with the moving mechanism 120 to grip a wide range of target objects, which helps improve work efficiency.

[0055] It should be noted that before the moving mechanism 120 drives the working mechanism 110 to the working position, the working mechanism 110 is in the initial state and is stationary relative to the moving mechanism 120. After the moving mechanism 120 drives the working mechanism 110 to the working position, the working mechanism 110 switches from the initial state to the working state, and the controller 130 controls the working mechanism 110 to move relative to the moving mechanism 120 and grasp the target object according to the position of the target object.

[0056] In one embodiment of this implementation, please refer to Figure 1 and Figure 5 The moving mechanism 120 includes a moving chassis 121 and rotating wheels 122. The working mechanism 110 is mounted on the moving chassis 121. The rotating wheels 122 are connected to the moving chassis 121 and can drive the moving chassis 121 to move along the supporting surface. With this configuration, the rotating wheels 122 can drive the moving chassis 121 and the working mechanism 110 to the working position along the supporting surface, facilitating the operation of the working mechanism 110.

[0057] Specifically, both the controller 130 and the working mechanism 110 are located on the top side of the mobile chassis 121. The battery is mounted on the mobile chassis 121, and a charging port is located on the rear side of the mobile chassis 121. The charging port is used to electrically connect to the charging platform 300 to charge the battery.

[0058] Specifically, there are multiple rotating wheels 122, all of which are located on the bottom side of the movable chassis 121. The rotating wheels 122 are configured to rotate relative to the movable chassis 121 around an axis parallel to the z-axis, so that the rotating wheels 122 can drive the movable chassis 121 to move in different directions, which helps to avoid obstacles.

[0059] In one embodiment of this implementation, please refer to Figure 1 and Figure 5 The mobile chassis 121 has a mounting surface 1201 on its top side. The working mechanism 110 and the controller 130 are both mounted on the mounting surface 1201, with the working mechanism 110 located on the side of the controller 130 facing away from the teaching control device 200. Specifically, the working mechanism 110, controller 130, and teaching control device 200 are arranged sequentially along the x-axis. This arrangement positions the working mechanism 110 in front of the controller 130, facilitating gripping and other operations. The rational arrangement of the working mechanism 110 and controller 130 on the mounting surface 1201 fully utilizes space and helps reduce the size of the mobile chassis 121.

[0060] In one embodiment of this implementation, please refer to Figure 1 and Figure 5The working mechanism 110 includes a clamping component 111 and a lifting component 112. The lifting component 112 is mounted on the movable chassis 121 and connected to the clamping component 111. The lifting component 112 can drive the clamping component 111 to rise and fall relative to the movable chassis 121. The clamping component 111 is used to clamp a target object. Specifically, the lifting component 112 is mounted on the mounting surface 1201. This configuration allows the lifting component 112 to drive the clamping component 111 to rise and fall to a position that is more convenient for clamping the target object, thereby improving clamping efficiency.

[0061] In one embodiment of this implementation, please refer to Figure 1 and Figure 6 , Figure 6 yes Figure 5 A partial structural schematic diagram of the work robot 100 is shown. The work robot 100 includes a mounting plate 180, a mounting protrusion 1211 on a movable chassis 121, and a lifting assembly 112 disposed on the mounting plate 180. In the direction of travel, the mounting plate 180 and the mounting protrusion 1211 have multiple mounting positions. This configuration allows the relative positions of the lifting assembly 112 and the movable chassis 121 in the direction of travel to be adjustable, so that when the gripping assembly 111 is adjusted to its initial state, it can protrude relative to the front of the movable chassis 121.

[0062] Specifically, there are two mounting protrusions 1211, which are spaced apart and are both strip-shaped. The mounting protrusions 1211 extend along the x-axis. The mounting plate 180 can be fixed to the two mounting protrusions 1211 by screws.

[0063] In one embodiment of this implementation, please refer to Figure 1 and Figure 5 The robot 100 includes a first camera 140 connected to the lifting assembly 112. The first camera 140 is used to collect first position information of the target object. The rotating wheel 122 drives the movable chassis 121 to move according to the first position information. With this configuration, the rotating wheel 122 can drive the movable chassis 121 to move accurately to the working position corresponding to the target object, so that the gripping assembly 111 can grip the target object.

[0064] Specifically, the first camera 140 can be a wide-angle camera, which can acquire images with a wider field of view to facilitate continuous automatic operation. The first camera 140 is electrically connected to the controller 130. The first camera 140 sends the captured image information (first position information) to the controller 130. The controller 130 controls the moving mechanism 120 to drive the working mechanism 110 to the working position according to the first position information.

[0065] In this embodiment, the first camera 140 is mounted on the lifting assembly 112, and the first camera 140 and the clamping assembly 111 can be raised and lowered synchronously. Since the first camera 140 is mounted on the lifting assembly 112, the lifting assembly 112 can drive the first camera 140 to rise and fall relative to the movable chassis 121, so that the first camera 140 can take pictures at a suitable height.

[0066] Please refer to the following in this embodiment: Figure 8 , Figure 8 yes Figure 5 A three-dimensional structural diagram of the first camera 140 and the gimbal structure 150 is shown. The work robot 100 includes the gimbal structure 150, which is mounted on the lifting assembly 112, and the first camera 140 is mounted 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 an image with a suitable field of view.

[0067] Specifically, the gimbal structure 150 includes a base 151, a first bracket 152, and a second bracket 153, which are rotatably connected in sequence. The base 151 is fixed to the lifting assembly 112. The first bracket 152 can rotate relative to the base 151 about an axis parallel to the z-axis. The second bracket 153 can rotate relative to the first bracket 152 about an axis parallel to the y-axis. The first camera 140 is mounted on the second bracket 153. This allows for multi-angle adjustment of the first camera 140.

[0068] In one embodiment of this implementation, please refer to Figure 5 and Figure 7 , Figure 7 yes Figure 5 A three-dimensional structural diagram of the gripping component 111 and the robotic arm 113 is shown. The working mechanism 110 includes a robotic arm 113, which is mounted on the lifting component 112 and connected to the gripping component 111. The robotic arm 113 can drive the gripping component 111 to move relative to the lifting component 112. By setting the robotic arm 113 between the lifting component 112 and the gripping component 111, the robotic arm 113 can drive the gripping component 111 closer to the target object, so that the gripping component 111 can grip the target object.

[0069] Please refer to the following for details. Figure 4The structures of the robotic arm 113 and the gripping assembly 111 correspond to the structure of the teaching mechanism 210. The robotic arm 113 includes a first working arm 1311, a second working arm 1312, a third working arm 1313, and a fourth working arm 1314, which are rotatably connected in sequence. The first working arm 1311 is mounted 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 and the z-axis. The third working arm 1313 can rotate relative to the second working arm 1312 about an axis parallel to the y-axis. The fourth working arm 1314 can rotate relative to the third working arm 1313 about an axis parallel to the y-axis. The gripping assembly 111 includes a connecting seat 1111 and two gripping blocks 1112. The connecting seat 1111 can rotate relative to the fourth working arm 1314 about an axis parallel to the x-axis. Both clamping blocks 1112 are slidably connected to the connecting seat 1111, and the two clamping blocks 1112 can move close to 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 levers 216, thus realizing teaching.

[0070] In one embodiment of this implementation, please refer to Figure 5 and Figure 7 The robotic arm 113 includes a first part 113a and a second part 113b. The first part 113a is connected to the lifting assembly 112, one end of the second part 113b is rotatably connected to the first part 113a, and the other end of the second part 113b is connected to the gripping assembly 111. When the working mechanism 110 is in its initial state, the first part 113a and the second part 113b are folded, with the extension directions of both the first part 113a and the second part 113b parallel to the direction of travel, and at least a portion of the gripping assembly 111 located on the front side of the mobile chassis 121. With this configuration, the robotic arm 113 can cooperate with the mobile chassis 121 to drive the gripping assembly 111 to move over a large range, enabling the gripping assembly 111 to grip target objects within a large area in front, thus improving the applicability of the working robot 100 in complex environments.

[0071] Specifically, the first part 113a and the second part 113b are folded in the z-axis direction. The extension directions of both the first part 113a and the second part 113b are parallel to the x-axis direction. The first part 113a extends rearward, and the second part 113b extends forward. The first part 113a includes a second working arm 1312, and the second part 113b includes a third working arm 1313 and a fourth working arm 1314.

[0072] In one embodiment of this implementation, please refer to Figure 5 and Figure 7 The robot 100 includes a second camera 160 connected to the gripping assembly 111. The second camera 160 is used to acquire second position information of the target object. The robotic arm 113 drives the gripping assembly 111 to move according to the second position information. With this configuration, the robotic arm 113 can move the gripping assembly 111 to the target object, so that the gripping assembly 111 can accurately grip the target object.

[0073] Specifically, the second camera 160 can be a binocular camera to obtain the accurate position of the target object. The second camera 160 is mounted on the top side of the connector 1111 to take pictures of the target object. The second camera 160 is electrically connected to the controller 130. The second camera 160 sends the captured image (second position information) to the controller 130. The controller 130 controls the robotic arm 113 to move the gripping assembly 111 to the target object and grip it according to the second position information.

[0074] In one embodiment of this implementation, please refer to Figure 1 and Figure 5 The work robot 100 includes a detection module 170, which is mounted on the mobile chassis 121 and is used to detect obstacles. By setting up the detection module 170, the detection module can detect obstacles, thereby reducing the risk of collisions when the work robot 100 moves.

[0075] Specifically, the detection module 170 is electrically connected to the controller 130. When the mobile chassis 121 moves, the detection module 170 detects surrounding obstacles and sends detection signals to the controller 130. The controller 130 controls the rotating wheel 122 to drive the mobile chassis 121 along a path that can avoid obstacles, so as to achieve obstacle avoidance.

[0076] Specifically, the detection module 170 includes a lidar and a third camera, both electrically connected to the controller 130. The lidar and the third camera can work together to detect obstacles, and the lidar can provide a real-time obstacle avoidance navigation path.

[0077] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A work robot (100), characterized in that, include: A moving mechanism (120) is provided on the support surface and is movable along the support surface; A controller (130) is disposed on the moving mechanism (120) and is used to communicate with the teaching control device (200); The working mechanism (110) is mounted on the moving mechanism (120) and electrically connected to the controller (130). When the working mechanism (110) is in the initial state, it extends to the front of the moving mechanism (120) in the direction of travel of the moving mechanism (120). When the working mechanism (110) is in the working state, it moves relative to the moving mechanism (120) and clamps the target object. The working mechanism (110) includes a gripping assembly (111) and a robotic arm (113). The robotic arm (113) is connected to the gripping assembly (111) and is used to drive the gripping assembly (111) closer to the target object.

2. The work robot (100) according to claim 1, characterized in that, The mobile mechanism (120) includes a mobile chassis (121) having a mounting surface (1201) on the top side. The working mechanism (110) and the controller (130) are both disposed on the mounting surface (1201), with the working mechanism (110) located on the side of the controller (130) facing away from the teaching control device (200).

3. The work robot (100) according to claim 2, characterized in that, The working mechanism (110) includes a lifting component (112), which is disposed on the mounting surface (1201) and connected to the clamping component (111). The lifting component (112) can drive the clamping component (111) to lift relative to the mobile chassis (121).

4. The work robot (100) according to claim 3, characterized in that, The moving mechanism (120) includes a rotating wheel (122) which is disposed on the bottom side of the moving chassis (121). The working robot (100) includes a first camera (140) which is connected to the lifting assembly (112). The first camera (140) is used to collect the first position information of the target object. The rotating wheel (122) drives the moving chassis (121) to move according to the first position information.

5. The work robot (100) according to claim 3, characterized in that, The robotic arm (113) is mounted on the lifting assembly (112).

6. The work robot (100) according to claim 5, characterized in that, The working robot (100) includes a second camera (160), which is connected to the gripping component (111). The second camera (160) is used to collect the second position information of the target object. The robotic arm (113) drives the gripping component (111) to move according to the second position information.

7. The work robot (100) according to claim 5, characterized in that, The robotic arm (113) includes a first part (113a) and a second part (113b). The first part (113a) is connected to the lifting assembly (112). One end of the second part (113b) is rotatably connected to the first part (113a), and the other end of the second part (113b) is connected to the gripping 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 travel direction, and at least a portion of the gripping assembly (111) is located on the front side of the mobile chassis (121).

8. The work robot (100) according to claim 3, characterized in that, The work robot (100) includes a mounting plate (180), the mobile chassis (121) is provided with a mounting protrusion (1211), the lifting assembly (112) is disposed on the mounting plate (180), and in the direction of travel, the mounting plate (180) and the mounting protrusion (1211) have multiple mounting positions.

9. The work robot (100) according to claim 8, characterized in that, The number of mounting protrusions (1211) is two, the two mounting protrusions (1211) are spaced apart and both extend along the travel direction, and the mounting plate (180) is mounted on the two mounting protrusions (1211).

10. A teaching device (1000), characterized in that, It includes a teaching control device (200) and a work robot (100) according to any one of claims 1 to 9, wherein the teaching control device (200) communicates with the controller (130) of the work robot (100).

Images