A function control terminal assembly for a collaborative robot

Abstract

The utility model discloses a function control terminal assembly for collaborative robot, including with the robot rear cover of collaborative robot end link and with the displacement function instrument of robot rear cover link, displacement function instrument is linked with this robot rear cover through rotatable structure set up on the robot rear cover, the rotation axis of displacement function instrument coincides with the axis of robot rear cover. The utility model exempts from needs to have the disadvantageous factor of programming ability to operate collaborative robot, and moreover higher reliability, installation maintenance are more convenient, can be widely used in industrial robot field.

Description

Technical Field

[0001] This utility model relates to the field of industrial robots, and in particular to a functional control terminal assembly for collaborative robots. Background Technology

[0002] Collaborative robots are increasingly used in industrial manufacturing. Their flexible production capabilities can accommodate different production scenarios, leading to a gradual increase in their proportion in production line design and single-station applications. Due to the unique nature of the welding field, its high dependence on operator skill levels, and the accompanying high-intensity work pressure, collaborative robots are becoming increasingly prevalent in welding.

[0003] Collaborative robots not only improve welding efficiency and optimize costs in welding operations, but also ensure operational safety. They can operate continuously 24 hours a day, achieving 2-3 times the efficiency of manual labor and significantly shortening production cycles. Furthermore, a single robot can replace 2-3 skilled welders, eliminating the need for workers in high-temperature, high-light, and hazardous gas environments. This significantly reduces labor costs and the risk of occupational diseases. Moreover, in confined spaces and high-risk work environments, they reduce the occurrence of accidents, solving the challenges of high-risk work scenarios.

[0004] On the other hand, the core advantages of collaborative robots in the welding field lie in their flexibility, ease of use, and high precision, making them particularly suitable for complex environments and small-batch production scenarios. However, the current application of collaborative robots usually requires the use of teach pendants or computer programming to achieve a high degree of matching with the production scenario. This places high demands on the comprehensive skills of operators and requires a long time to train workers, thus extending the training time for operators and increasing the labor costs for enterprises. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a functional control terminal assembly for collaborative robots, which eliminates the disadvantage of needing programming ability to operate collaborative robots, and is more reliable and easier to install and maintain.

[0006] This utility model provides a functional control terminal assembly for a collaborative robot, including a robot rear cover connected to the end of the collaborative robot and a displacement function device connected to the robot rear cover. The displacement function device is connected to the robot rear cover through a rotatable structure disposed on the robot rear cover, and the rotation axis of the displacement function device coincides with the axis of the robot rear cover.

[0007] In the above technical solution, the robot's rear cover end is provided with a connecting handle for connecting the end of the displacement function instrument, and the two ends of the connecting handle are fixedly connected to the rotatable structure of the robot's rear cover and the displacement function instrument, respectively.

[0008] In the above technical solution, one end of the connecting handle passes through the top of the robot's rear cover and enters the inner cavity of the robot's rear cover. The other end of the connecting handle is connected to the top of the displacement function instrument. The robot's rear cover has a bucket-shaped structure with a small opening at the top and a large opening at the bottom. The end of the connecting handle is inserted into the top of the robot's rear cover and engages with the rotatable structure. The bottom of the robot's rear cover serves as a fixed end connected to the end of the collaborative robot.

[0009] In the above technical solution, the end of the connecting handle that enters the inner cavity of the robot's rear cover has a structure of three coaxial sleeves. The outer diameter of the three coaxial sleeves increases sequentially from bottom to top. The rotatable structure is a bearing. The inner ring of the bearing is interference-fitted with the middle second sleeve, and the outer ring is connected to the corresponding snap ring on the inner wall of the robot's rear cover. The bottom end of the bearing is provided with a bearing retainer that abuts against it. The outer ring of the bearing retainer is fixedly connected to the corresponding snap ring on the inner wall of the robot's rear cover.

[0010] In the above technical solution, the first sleeve sidewall at the top of the three coaxial sleeves is coaxially clearance-fitted with the top opening of the robot's rear cover. The bottom end of the first sleeve is an annular stop surface connected to the top of the bearing. The third sleeve sidewall at the bottom of the three coaxial sleeves is provided with an inner ring that is engaged with a nut. The outer ring of the nut is hexagonal and the outer ring diagonally is interference-fitted with the inner ring of the bearing retaining ring.

[0011] In the above technical solution, the top of the first sleeve is provided with a top cover that is coaxially connected to it and has an outer diameter larger than the outer diameter of the first sleeve. The connecting handle includes a horizontal structure and a structure of three coaxial sleeves as a vertical structure. The top cover is fixedly connected to the horizontal structure. A damping rubber ring is provided between the bottom surface of the top cover and the top of the robot's rear cover.

[0012] In the above technical solution, the horizontal structure has an inner cavity that communicates with the structural through holes of the three coaxial sleeves, the top of the displacement instrument has an opening that communicates with the inner cavity of the horizontal structure, the inner cavity of the horizontal structure has a wire harness with two ends that pass through the structural through holes of the three coaxial sleeves and the opening at the top of the displacement instrument respectively, and the bottom of the inner cavity of the horizontal structure has a pressure plate that closes the inner cavity.

[0013] In the above technical solution, the displacement function instrument has a box body with its top connected to the connecting handle. The box body contains interconnected silicone buttons and button circuit boards. The button circuit boards are electrically connected to the wiring harness. The back of the box body is provided with a back cover.

[0014] In the above technical solution, the upper part of the button circuit board is provided with a screen, and the front of the box body is provided with a window corresponding to the screen.

[0015] In the above technical solution, both the silicone button and the button circuit board are provided with 23 travel buttons.

[0016] This utility model is used for a functional control terminal assembly for collaborative robots, and has the following beneficial effects: By setting standard travel buttons on the displacement instrument and inputting a standard coordinate system into it, the various displacement operations of the collaborative robot are simplified to 23 travel buttons. Simple operation of these buttons enables effective displacement of the robot's components in all directions. This not only facilitates manual operation by the operator, eliminating the need for lengthy programming training required to operate welding robots, but also removes the disadvantage of requiring programming skills. Furthermore, by rotating the robot's rear cover to adjust its rotation angle, the button panel of the displacement instrument always faces the operator, facilitating accurate observation of the operation steps, reducing errors caused by "blind pressing," minimizing unnecessary inspection time, and significantly improving the efficiency of collaborative robot welding. Based on mature electromechanical technology, this invention offers higher reliability, easier installation and maintenance, and effectively solves the dependence on programming technology in robot welding operations, providing inspiration for the research and development of small and medium-sized enterprises. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating an application scenario of the functional control terminal assembly of this utility model for collaborative robots. Figure 2 This is a schematic diagram of the overall structure of the functional control terminal assembly for collaborative robots according to this utility model; Figure 3 This is a cross-sectional view of the robot rear cover, displacement function instrument, and connecting handle in the functional control terminal assembly for collaborative robots according to this utility model. Figure 4 for Figure 3 Enlarged view of the structure of the robot's rear cover and connecting handle; Figure 5 This is an exploded view of the robot rear cover and connecting handle in the functional control terminal assembly for collaborative robots according to this utility model; Figure 6 This is an exploded view of the internal structure of the displacement function instrument in the functional control terminal assembly for collaborative robots according to this utility model. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0019] See Figures 1 to 6The present invention relates to a functional control terminal assembly for a collaborative robot, comprising a robot rear cover 2 connected to the end of a collaborative robot 1 and a displacement function device 3 connected to the robot rear cover 2. The displacement function device 3 is connected to the robot rear cover 2 via a rotatable structure disposed on the robot rear cover 2, and the rotation axis of the displacement function device 3 coincides with the axis of the robot rear cover 2.

[0020] The robot's rear cover 2 is provided with a connecting handle 4 at one end, which connects to the end of the displacement function instrument 3. The two ends of the connecting handle 4 are fixedly connected to the rotatable structure of the robot's rear cover 2 and the displacement function instrument 3, respectively.

[0021] One end of the connecting handle 4 passes through the top of the robot rear cover 2 and enters the inner cavity of the robot rear cover 2. The other end of the connecting handle 4 is connected to the top of the displacement function instrument 3. The robot rear cover 2 has a bucket-shaped structure with a small opening at the top and a large opening at the bottom. The end of the connecting handle 4 is inserted into the top of the robot rear cover 2 and is engaged with the rotatable structure. The bottom of the robot rear cover 2 serves as a fixed end connected to the end of the collaborative robot 1.

[0022] The end of the connecting handle 4 that enters the inner cavity of the robot rear cover 2 presents a structure of three coaxial sleeves 5. The outer diameter of the three coaxial sleeves 5 increases sequentially from bottom to top. The rotatable structure is a bearing 6. The inner ring of the bearing 6 is interference-fitted with the middle second sleeve 52, and the outer ring is connected to the corresponding snap ring on the inner wall of the robot rear cover 2. The bottom end of the bearing 6 is provided with a bearing retainer 7 that abuts against it. The outer ring of the bearing retainer 7 is fixedly connected to the corresponding snap ring on the inner wall of the robot rear cover 2.

[0023] The first sleeve 51 at the top of the structure 5 of the three coaxial sleeves is coaxially clearance-fitted with the top opening of the robot rear cover 2. The bottom end of the first sleeve 51 is an annular stop surface connected to the top of the bearing 6. The side wall of the third sleeve 53 at the bottom of the structure 5 of the three coaxial sleeves is provided with an inner ring and a nut 8 that is engaged with it. The outer ring of the nut 8 is hexagonal and the outer ring diagonally is interference-fitted with the inner ring of the bearing retaining ring 7.

[0024] The top of the first sleeve 51 is provided with a top cover 9 that is coaxially connected to it and has an outer diameter larger than the outer diameter of the first sleeve 51. The connecting handle 4 includes a horizontal structure 10 and a structure 5 consisting of three coaxial sleeves as a vertical structure. The top cover 9 is fixedly connected to the horizontal structure 10. A damping rubber ring 11 is provided between the bottom surface of the top cover 9 and the top of the robot rear cover 2.

[0025] The horizontal structure 10 has an inner cavity that communicates with the through holes of the three coaxial sleeves 5. The top of the displacement instrument 3 has an opening that communicates with the inner cavity of the horizontal structure 10. The inner cavity of the horizontal structure 10 has a wire harness 12 that passes through the through holes of the three coaxial sleeves 5 and the top opening of the displacement instrument 3 at both ends. The bottom of the inner cavity of the horizontal structure 10 has a pressure plate 13 that closes the inner cavity.

[0026] The displacement function instrument 3 has a box 14 with its top connected to the connecting handle 4. The box 14 has a silicone button 15 and a button circuit board 16 connected to each other. The button circuit board 16 is electrically connected to the wiring harness 12. The back of the box 14 is provided with a back cover 17.

[0027] The button circuit board 16 has a screen 18 on its upper part, and the front of the box body 14 has a window corresponding to the screen 18.

[0028] Both the silicone button 15 and the button circuit board 16 are equipped with 23 travel buttons.

[0029] Figure 1 For the assembly of the displacement function device 3 with the collaborative robot 1, the robot rear cover 2 at the end of the collaborative robot 1 is removed, the displacement function device 3 is assembled with the robot rear cover 2, and then the robot rear cover 2 with the displacement function device 3 installed is installed on the end of the collaborative robot 1. When the end of the collaborative robot 1 rotates so that one side of the displacement function device 3 faces the operator, the connecting handle 4 can be turned by hand to make the panel of the displacement function device 3 face the operator. This avoids the operator moving left and right because they cannot see the panel of the displacement function device 3, which is inconvenient and may cause safety hazards. The smoothness of the rotation of the connecting handle 4 is adjusted by the degree of deformation of the compression damping rubber ring 11, which can achieve smooth rotation and stable stopping at the target position.

[0030] like Figure 2As shown, this utility model discloses a functional control terminal assembly for a collaborative robot. Its components include: a robot rear cover 2, a connecting handle 4, a bearing 6, a damping rubber ring 11, a housing 14, a rear cover 17, silicone buttons 15, a button circuit board 16, and a screen 18. It is divided into a rotating assembly connecting the collaborative robot 1 body and a displacement function device 3. The assembly connecting the collaborative robot 1 body consists of the robot rear cover 2 at the end of the collaborative robot 1 and the connecting handle 4. The connecting handle 4 is connected to the robot rear cover 2 via the bearing 6 and a nut 8, and can rotate around the axis at the end of the collaborative robot 1. Adjusting the nut 8 compresses the damping rubber ring 11, adjusting the tightness of the rotation. The displacement function device 3 can adjust the movement of the robotic arm of the collaborative robot 1 for rapid welding. The housing 14, silicone buttons 15, button circuit board 16, screen 18, and rear cover 17 together form the displacement function device 3, which is fixed to the axis at the end of the collaborative robot 1 via the robot rear cover 2. The operating functions are distributed on the panel of the displacement function instrument 3 using 23 travel buttons, which can complete the travel function operation without programming on a teach pendant (not shown in the figure) or a computer (not shown in the figure). During operation, X / Y / Z and RX / RY / RZ can be finely adjusted by operating the buttons on the panel of the displacement function instrument 3 to achieve the target position. When the end effector of the collaborative robot 1 is between the operator and the operating panel of the displacement function instrument 3, or when the side of the displacement function instrument 3 is facing the operator, the operator can pinch the displacement function instrument 3 and rotate the button panel of the displacement function instrument 3 around the central axis of the end effector of the collaborative robot 1, so that the button panel of the displacement function instrument 3 faces the operator, so as to achieve the purpose of observing the operation.

[0031] like Figures 3 to 5 The diagram shows the assembly of the robot's rear cover 2 and connecting handle 4. The robot's rear cover 2 is located at the end of the collaborative robot 1 and also serves as the fixed base for the displacement function device 3. The bearing 6 and bearing retainer 7 are installed in the robot's rear cover 2; the bearing 6 ensures smooth rotation of the displacement function device 3. The connecting handle 4 is then passed through the damping rubber ring 11 and the bearing 6, allowing the connecting handle 4 to rotate around the axis of the robot's rear cover 2. Next, the nut 8 is installed in the connecting handle 4 and tightened to compress the damping rubber ring 11. The tightening force of the nut 8 can be adjusted to regulate the pressure on the damping rubber ring 11, thereby adjusting the friction between the damping rubber ring 11 and the connecting handle 4, allowing the displacement function device 3 to stop at any position during rotation. Finally, the wire harness 12 is threaded through, and the wire clamping plate 13 is installed to secure the wire harness 12.

[0032] like Figure 6 The assembly diagram of the displacement function device 3 shows the process of installing the silicone button 15 into the housing 14, then installing the button circuit board 16, and finally closing the back cover 17. Pressing the silicone button 15 according to the button functions on the housing 14 will start the travel operation of the collaborative robot 1.

[0033] This invention arranges commonly used functions as buttons on the displacement instrument 3, making it convenient for operators to quickly master the control of the collaborative robot 1. Furthermore, when certain robot postures obstruct the operator's access to the button panel of the displacement instrument 3, the displacement instrument 3 can be rotated around the end flange axis of the collaborative robot 1 to facilitate its operation.

[0034] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

[0035] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A functional control terminal assembly for collaborative robots, characterized in that: It includes a robot back cover (2) connected to the end of the collaborative robot (1) and a displacement function device (3) connected to the robot back cover (2). The displacement function device (3) is connected to the robot back cover (2) through a rotatable structure set on the robot back cover (2). The rotation axis of the displacement function device (3) coincides with the axis of the robot back cover (2).

2. The functional control terminal assembly for collaborative robots according to claim 1, characterized in that: The robot's rear cover (2) has a connecting handle (4) at one end that connects to the end of the displacement function instrument (3). The two ends of the connecting handle (4) are fixedly connected to the rotatable structure of the robot's rear cover (2) and the displacement function instrument (3), respectively.

3. The functional control terminal assembly for collaborative robots according to claim 2, characterized in that: One end of the connecting handle (4) passes through the top of the robot back cover (2) and enters the inner cavity of the robot back cover (2). The other end of the connecting handle (4) is connected to the top of the displacement function instrument (3). The robot back cover (2) has a bucket-shaped structure with a small opening at the top and a large opening at the bottom. The end of the connecting handle (4) is inserted into the top of the robot back cover (2) and is engaged with the rotatable structure. The bottom of the robot back cover (2) serves as a fixed end connected to the end of the collaborative robot (1).

4. The functional control terminal assembly for collaborative robots according to claim 3, characterized in that: The end of the connecting handle (4) that enters the inner cavity of the robot rear cover (2) presents a structure of three coaxial sleeves (5). The outer diameter of the three coaxial sleeves (5) increases sequentially from bottom to top. The rotatable structure is a bearing (6). The inner ring of the bearing (6) is interference-fitted with the middle second sleeve (52), and the outer ring is connected to the corresponding bayonet ring on the inner wall of the robot rear cover (2). The bottom end of the bearing (6) is provided with a bearing retainer (7) that abuts against it. The outer ring of the bearing retainer (7) is fixedly connected to the corresponding bayonet ring on the inner wall of the robot rear cover (2).

5. The functional control terminal assembly for collaborative robots according to claim 4, characterized in that: The first sleeve (51) at the top of the structure (5) of the three coaxial sleeves is coaxially clearance-fitted with the top opening of the robot rear cover (2). The bottom end of the first sleeve (51) is an annular stop surface connected to the top of the bearing (6). The side wall of the third sleeve (53) at the bottom of the structure (5) of the three coaxial sleeves is provided with a nut (8) whose inner ring is engaged with it. The outer ring of the nut (8) is hexagonal and the outer ring is interfered with the inner ring of the bearing retainer (7) at opposite corners.

6. The functional control terminal assembly for collaborative robots according to claim 5, characterized in that: The top of the first sleeve (51) is provided with a top cover (9) that is coaxially connected to it and has an outer diameter larger than the outer diameter of the first sleeve (51). The connecting handle (4) includes a horizontal structure (10) and a structure (5) of three coaxial sleeves as a vertical structure. The top cover (9) is fixedly connected to the horizontal structure (10). A damping rubber ring (11) is provided between the bottom surface of the top cover (9) and the top of the robot rear cover (2).

7. The functional control terminal assembly for collaborative robots according to claim 6, characterized in that: The horizontal structure (10) has an inner cavity that communicates with the through holes of the structure (5) of the three coaxial sleeves. The top of the displacement instrument (3) has an opening that communicates with the inner cavity of the horizontal structure (10). The inner cavity of the horizontal structure (10) has a wire harness (12) that passes through the through holes of the structure (5) of the three coaxial sleeves and the top opening of the displacement instrument (3) at both ends. The bottom of the inner cavity of the horizontal structure (10) has a pressure plate (13) that closes the inner cavity.

8. The functional control terminal assembly for collaborative robots according to claim 7, characterized in that: The displacement function instrument (3) has a box (14) with the top connected to the connecting handle (4). The box (14) contains a silicone button (15) and a button circuit board (16) that are connected to each other. The button circuit board (16) is electrically connected to the wire harness (12). The back cover (17) is provided on the back of the box (14).

9. The functional control terminal assembly for collaborative robots according to claim 8, characterized in that: The button circuit board (16) has a screen (18) on its upper part, and the front of the box body (14) has a window corresponding to the screen (18).

10. The functional control terminal assembly for collaborative robots according to claim 9, characterized in that: Both the silicone button (15) and the button circuit board (16) are equipped with 23 travel buttons.

Images