A collaborative robot

Abstract

The utility model relates to robot technical field discloses a kind of collaborative robots, including base, swing arm, total port is equipped on base, the upper end of base is equipped with the first joint seat of horizontal rotation, the lower end of swing arm is equipped with second joint seat, the upper end of swing arm is equipped with third joint seat, first motor is equipped in base, first speed reducer, transmission shaft in first speed reducer is equipped with lead channel, and first motor is connected with transmission shaft staggered;Second joint seat and first joint seat between are equipped with second speed reducer, and second joint seat is equipped with second motor;Third joint seat is equipped with third motor, third speed reducer;First joint seat side and swing arm side between are equipped with first wiring tube;The data line of third motor, second motor sequentially passes swing arm, first wiring tube, lead channel and is connected with total electric port.The utility model has the beneficial effect that reducer selection is more flexible, and the installation of reducer and motor is more convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a collaborative robot. Background Technology

[0002] A palletizing robot is a collaborative industrial robot specifically designed for palletizing (cargo stacking) tasks. It combines the high efficiency and automation capabilities of traditional industrial robots with the flexibility and safety of collaborative robots, enabling it to complete tasks such as handling, stacking, and piling of goods in a human-robot collaborative environment.

[0003] The joints of the main body of existing palletizing collaborative robots typically use a transmission structure of motors and reducers, and all of them use internal wiring. Internal wiring is not conducive to maintenance, and wiring channels need to be set on the reducer shaft, which greatly limits the selection of reducers and the installation of reducers and motors. Utility Model Content

[0004] In order to solve the above-mentioned problems in the prior art, this utility model provides a collaborative robot that improves the selection space of reducers and makes the installation of reducers and motors more convenient by using external wiring.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A collaborative robot includes a base and a hollow swing arm. The base has a main port. A first joint seat with horizontal rotation is located at the upper end of the base. A second joint seat with vertical rotation is located at the lower end of the swing arm. A third joint seat is located at the upper end of the swing arm. The base contains a first motor and a first reducer connected to the first joint seat. A lead wire channel is located within the drive shaft of the first reducer. The first motor is offset from the drive shaft. A second reducer is located between the second joint seat and the first joint seat. A second motor connected to the second reducer is located within the second joint seat. The third joint seat contains a third motor and a third reducer connected to the third motor. A first wiring conduit is located between the side of the first joint seat and the side of the swing arm. The lower end of the first wiring conduit is rotatably connected to the first joint seat, and the upper end of the first wiring conduit communicates with the internal space of the swing arm.

[0007] The data lines of the third motor and the second motor pass through the swing arm, the first cable tray, and the lead wire channel in sequence before connecting to the main power port.

[0008] By adopting the above technical solution, a first cable tray is set between the first joint seat and the swing arm, so that the connection lines (power lines, data lines, etc.) of the third motor and the second motor can be connected to the main wiring port on the base through the first cable tray. This eliminates the need to run the cables through the second reducer and the third reducer, making the selection space for the second reducer and the third reducer more flexible and convenient. At the same time, the connection between the second motor and the second reducer, and between the third motor and the third reducer, is also more flexible and convenient.

[0009] Preferably, the end face of the third joint seat is provided with a fourth joint seat, which is connected to the third reducer. An expansion joint is provided on the side of the fourth joint seat. A second cable tray is provided between the outer end of the fourth joint seat and the swing arm. The upper end of the second cable tray is rotatably connected to the fourth joint seat, and the lower end of the second cable tray communicates with the internal space of the swing arm. The expansion joint can be used to connect other different types of robotic arms. The motor connection wires inside the robotic arm are directly connected to the main wiring port on the base via the second cable tray and the first cable tray.

[0010] Preferably, the fourth joint seat and the first joint seat are located on the same side of the swing arm, and the first wiring conduit and the second wiring conduit are also located on the same side of the swing arm. This arrangement makes the robot's overall center of gravity more stable and the structure more compact.

[0011] Preferably, the output shaft of the second motor is coaxially connected to the input end of the second reducer, and the output shaft of the third motor is coaxially connected to the input end of the third reducer. With the motors and corresponding reducers coaxially connected, no additional transmission mechanism is required, resulting in a compact and stable overall structure, minimal space occupation, and more stable power transmission.

[0012] Preferably, the upper end of the first cable conduit is detachably connected to the swing arm, and the lower end of the first cable conduit is connected to the first joint seat via a rotating assembly.

[0013] Preferably, the upper end of the first cable tray is provided with a first connecting seat, and the side of the swing arm is provided with a second connecting seat. The first connecting seat and the second connecting seat are connected by fasteners to form the detachable connection. After loosening the fasteners, the upper end of the first cable tray can be pulled out from the swing arm, thereby exposing the connection wires of the second motor and the third motor, which is convenient for inspection and testing.

[0014] Preferably, a lower limiting plate is provided inside the swing arm at the lower side of the upper end of the first cable routing tube, and an upper limiting plate is provided inside the swing arm at the upper side of the lower end of the second cable routing tube. A large number of connecting cables will pass through the area between the upper and lower limiting plates. The upper and lower limiting plates provide initial support and positioning for the connecting cables, reducing the downward pulling caused by gravity.

[0015] Preferably, the output shaft of the first motor is provided with a driving gear, and the input end of the transmission shaft of the first reducer is provided with a driven gear that meshes with the driving gear. The gear transmission is more stable; and because the outer diameter of the base is large, there is enough space to accommodate the gear transmission.

[0016] Therefore, the present invention has the following beneficial effects: (1) The external wiring is adopted, which eliminates the need for the central wiring of the second reducer and the third reducer, making the selection and installation of the second reducer and the third reducer more flexible; (2) The connection between the second motor, the third motor and the reducer is more flexible; (3) The size of the second joint seat and the third joint seat can be set smaller. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0018] Figure 2 for Figure 1 The front view.

[0019] Figure 3 for Figure 1 A schematic diagram of the internal structure.

[0020] Figure 4 This is a schematic diagram of the internal wiring of this utility model.

[0021] Figure 5 for Figure 2 Sectional view at point AA.

[0022] Figure 6 One implementation method for connecting an external robotic arm to the expansion interface. Detailed Implementation

[0023] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0024] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0025] like Figures 1-5The illustrated collaborative robot includes a base 1 and a hollow swing arm 2. The base 1 has a main wiring port 12. The upper end of the base 1 has a horizontally rotating first joint seat 3. The lower end of the swing arm 2 has a second joint seat 4 vertically rotatably connected to the first joint seat 3. The upper end of the swing arm 2 has a third joint seat 5. The base 1 contains a first motor 10 and a first reducer 11 connected to the first joint. The drive shaft 110 of the first reducer 11 has a lead wire channel 111. The first motor 10 is misaligned with the drive shaft 110. The output shaft of the first motor 10 has a drive gear 100. The input end of the drive shaft 110 of the first reducer 11 has a drive gear 100 connected to the main joint. A driven gear 112 meshes with a driven gear 100; a second reducer 40 is provided between the second joint seat 4 and the first joint seat 3, and a second motor 41 connected to the second reducer 40 is provided inside the second joint seat 4; a third motor 50 and a third reducer 51 connected to the third motor 50 are provided inside the third joint seat 5; a first cable conduit 6 is provided between the first joint seat 3 and the side of the swing arm 2, the lower end of the first cable conduit 6 is rotatably connected to the first joint seat 3, and the upper end of the first cable conduit 6 is connected to the internal space of the swing arm 2; the connecting wires of the third motor 50 and the second motor 41 pass through the swing arm 2, the first cable conduit 6, and the lead wire channel 111 in sequence and are connected to the main power connection port 12.

[0026] The end face of the third joint seat 5 is provided with a fourth joint seat 7, which is connected to the third reducer 51. An expansion joint 70 is provided on the side of the fourth joint seat 7. A second cable tray 8 is provided between the outer end of the fourth joint seat 7 and the swing arm 2. The upper end of the second cable tray 8 is rotatably connected to the fourth joint seat 7, and the lower end of the second cable tray 8 communicates with the internal space of the swing arm 2. Figure 6 As shown, the extension connector 70 is connected to the extension robot 9. The motor connection wire inside the extension robot 9 is guided to the base after passing through the second cable tray, the swing arm, the first cable tray, and the lead wire channel, and is connected to the main wiring port.

[0027] In some embodiments, the fourth joint seat 7 and the first joint seat 3 are distributed on the same side of the swing arm 2, and the first cable conduit 6 and the second cable conduit 8 are distributed on the same side of the swing arm 2.

[0028] In some embodiments, the second motor and the second reducer (or the third motor and the third reducer) can be directly coaxially connected, or they can be connected using a set of transmission gears; in this embodiment, the output shaft of the second motor 41 is coaxially connected to the input end of the second reducer 40, and the output shaft of the third motor 50 is coaxially connected to the input end of the third reducer 51.

[0029] In some embodiments, the upper end of the first cable conduit 6 is detachably connected to the swing arm 2, and the lower end of the first cable conduit 6 is connected to the first joint seat 3 via a rotating assembly 61. Specifically, the upper end of the first cable conduit 6 is provided with a first connecting seat 62, and the side of the swing arm 2 is provided with a second connecting seat 20. The first connecting seat 62 and the second connecting seat 20 are connected by fasteners 63 to form the detachable connection. The rotating assembly 61 includes a bearing seat and a bearing disposed in the bearing seat. The lower end of the first cable conduit passes through the bearing. The bearing seat and the first joint seat are connected by fasteners. To ensure smooth swing of the swing arm, the axis of the bearing is coaxial with the rotation axis of the second joint seat. Similarly, the upper end of the second cable conduit is also connected to the fourth joint seat via a rotating assembly.

[0030] In some embodiments, a lower limiting piece 60 is provided in the swing arm 2 at the lower side of the upper end of the first cable conduit 6, and an upper limiting piece 80 is provided in the swing arm 2 at the upper side of the lower end of the second cable conduit 8.

[0031] Referring to the accompanying drawings, the principle of this utility model is as follows: Due to the large internal space of the base, the first reducer adopts internal wiring, the first motor and the first reducer are driven by gears, and the second motor, the third motor and the extension manipulator are all driven by external wiring. This eliminates the need for internal wiring in the second and third reducers, making the selection and installation space of the second and third reducers larger. Furthermore, since there is no need for central wiring, the second reducer and the second motor, and the third reducer and the third motor can be coaxially connected, making the power transmission more stable and reliable. The volume of the second and third joint seats can also be designed to be smaller.

[0032] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0033] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A collaborative robot, comprising a base (1) and a hollow swing arm (2), wherein the base (1) is provided with a main wiring port (12), the upper end of the base (1) is provided with a horizontally rotating first joint seat (3), the lower end of the swing arm (2) is provided with a second joint seat (4) vertically rotatably connected to the first joint seat (3), and the upper end of the swing arm (2) is provided with a third joint seat (5), characterized in that, The base (1) is provided with a first motor (10) and a first reducer (11) connected to the first joint. The drive shaft (110) of the first reducer (11) is provided with a lead wire channel (111). The first motor (10) and the drive shaft (110) are connected in a misaligned manner. A second reducer (40) is provided between the second joint seat (4) and the first joint seat (3), and a second motor (41) connected to the second reducer (40) is provided inside the second joint seat (4); a third motor (50) and a third reducer (51) connected to the third motor (50) are provided inside the third joint seat (5); A first cable conduit (6) is provided between the first joint seat (3) and the side of the swing arm (2). The lower end of the first cable conduit (6) is rotatably connected to the first joint seat (3), and the upper end of the first cable conduit (6) is connected to the internal space of the swing arm (2). The connecting wires of the third motor (50) and the second motor (41) pass through the swing arm (2), the first cable tray (6), and the lead wire channel (111) in sequence before connecting to the main wiring port (12).

2. The collaborative robot according to claim 1, characterized in that, The end face of the third joint seat (5) is provided with a fourth joint seat (7), the fourth joint seat (7) is connected to the third reducer (51), the side of the fourth joint seat (7) is provided with an expansion joint (70), the outer end of the fourth joint seat (7) is provided with a second cable tube (8) between the outer end of the fourth joint seat (7) and the swing arm (2), the upper end of the second cable tube (8) is rotatably connected to the fourth joint seat (7), and the lower end of the second cable tube (8) is connected to the internal space of the swing arm (2).

3. A collaborative robot according to claim 2, characterized in that, The fourth joint seat (7) and the first joint seat (3) are located on the same side of the swing arm (2), and the first cable conduit (6) and the second cable conduit (8) are located on the same side of the swing arm (2).

4. A collaborative robot according to claim 1, 2, or 3, characterized in that, The output shaft of the second motor (41) is coaxially connected to the input end of the second reducer (40), and the output shaft of the third motor (50) is coaxially connected to the input end of the third reducer (51).

5. A collaborative robot according to claim 1, characterized in that, The upper end of the first cable conduit (6) is detachably connected to the swing arm (2), and the lower end of the first cable conduit (6) is connected to the first joint seat (3) through the rotating assembly (61).

6. A collaborative robot according to claim 5, characterized in that, The upper end of the first conduit (6) is provided with a first connecting seat (62), and the side of the swing arm (2) is provided with a second connecting seat (20). The first connecting seat (62) and the second connecting seat (20) are connected by fasteners (63) to form the detachable connection.

7. A collaborative robot according to claim 2, characterized in that, The swing arm (2) is provided with a lower limit plate (60) located at the lower side of the upper end of the first cable conduit (6), and the swing arm (2) is provided with an upper limit plate (80) located at the upper side of the lower end of the second cable conduit (8).

8. A collaborative robot according to claim 1, characterized in that, The first motor (10) has a drive gear (100) on its output shaft, and the first reducer (11) has a driven gear (112) at the input end of its transmission shaft (110) that meshes with the drive gear (100).

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