A collaborative robot

Abstract

The utility model discloses a kind of collaborative robots, by at least two can be independently controlled in a small arm seat component The mode of small arm component, at least two small arms can be realized the cooperative work of cooperation, it can simultaneously grab the product on a line, it can also simultaneously grab product from two station lines, it can also grab product from different direction, with flexible action, the advantage of high work efficiency.The utility model includes: sequentially arranged pedestal, large arm component, small arm seat component and at least two small arm components;Large arm component is installed on pedestal, and can be multidirectional motion on pedestal;Small arm seat component includes small arm connecting seat, at least one sliding seat and sliding power component, small arm connecting seat is installed on large arm component, sliding seat is movably installed on small arm connecting seat, small arm component is installed on small arm connecting seat and / or sliding seat, and sliding power component is used to control the position of sliding seat on small arm connecting seat.

Description

Technical Field

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

[0002] Collaborative robots, as the name suggests, are robots that work alongside humans on the production line, fully leveraging the efficiency of the robots and the intelligence of humans. These robots eliminate barriers to human-robot collaboration, freeing them from the constraints of fences or cages.

[0003] Existing collaborative robots mainly consist of a base, a large arm, and a small arm, with one small arm corresponding to one large arm. This means that a collaborative robot typically only has one small arm for operation, such as grasping products. Because this type of collaborative robot only has one small arm for operation, it suffers from relatively simple movements and slightly lower work efficiency. For example, when palletizing, this type of collaborative robot cannot grasp products from different directions, has a limited working range, and cannot grasp products from two different workstations simultaneously.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a collaborative robot that, by setting at least two independently controllable forearm components on a forearm base assembly, enables the collaborative work of at least two forearms. It can simultaneously grasp products on one line, simultaneously grasp products from two workstations, and grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of the existing technology.

[0006] The collaborative robot provided by this utility model includes: a base, a large arm assembly, a forearm base assembly, and at least two forearm assemblies arranged sequentially.

[0007] The boom assembly is mounted on the base and can move in multiple directions on the base;

[0008] The forearm mount assembly includes a forearm connecting seat, at least one sliding seat, and a sliding power component. The forearm connecting seat is mounted on the boom assembly, the sliding seat is movably mounted on the forearm connecting seat, the forearm assembly is mounted on the forearm connecting seat and / or the sliding seat, and the sliding power component is used to control the position of the sliding seat on the forearm connecting seat.

[0009] Preferred,

[0010] The boom assembly includes a boom power unit, a boom and forearm base power unit arranged sequentially;

[0011] The boom is mounted on the base via the boom power unit;

[0012] The forearm mount assembly is mounted on the boom via the forearm mount power unit.

[0013] Preferred,

[0014] The boom power unit includes a first power unit, a second power unit, and a boom mounting base;

[0015] The first power source is used to drive the boom mounting base to rotate on the base;

[0016] The second power source is used to drive the boom to rotate on the boom mounting base.

[0017] Preferred,

[0018] The forearm power unit includes a third power source and a joint seat;

[0019] The joint seat is installed on the upper arm, and the forearm connector is installed on the joint seat.

[0020] The third power source is installed on the joint seat or the upper arm and is used to drive the joint seat to rotate on the upper arm.

[0021] Preferred,

[0022] The forearm power unit also includes a fourth power source, which is mounted on the joint seat and is used for the forearm connector to rotate on the joint seat.

[0023] Preferred,

[0024] The forearm connector is provided with a slide rail and at least one fixed seat, and at least one forearm assembly is mounted on the fixed seat;

[0025] The sliding seat mates with the slide rail.

[0026] Preferred,

[0027] The sliding power component includes a sliding power source, a transmission component, and a connecting seat, wherein the sliding power source drives the connecting seat to move through the transmission component.

[0028] The connecting seat is fixed on the sliding seat;

[0029] The sliding seat is also equipped with a slider that cooperates with the slide rail.

[0030] Preferred,

[0031] The transmission components include a driving wheel, a driven wheel, a timing belt, and a connecting shaft mounted on a sliding power source. The timing belt connects the driving wheel and the driven wheel. The driven wheel is fixedly mounted on the connecting shaft. When the connecting shaft rotates, the position of the connecting seat on the connecting shaft is adjusted.

[0032] Preferred,

[0033] The forearm assembly includes a first forearm power unit, a forearm, and a second forearm power unit arranged sequentially.

[0034] The forearm is mounted on the forearm base assembly via a first forearm power component, and the first forearm power component is used to control the rotation of the forearm.

[0035] The second forearm power unit is installed at one end of the forearm and is used to connect to and drive the robotic arm.

[0036] Preferred,

[0037] The first forearm power unit includes a first forearm power unit and a forearm mounting base. The forearm is mounted on the forearm base assembly via the forearm mounting base.

[0038] The first forearm power unit is mounted on the forearm mounting base and is used to control the rotation of the forearm.

[0039] The second forearm power unit includes a second forearm power unit and a robot arm mounting base, with the robot arm mounting base fixed to one end of the forearm;

[0040] The second forearm power unit is mounted on the robot arm mount and is used to drive the robot arm mounted on the robot arm mount.

[0041] This invention relates to a collaborative robot comprising: a base, a large arm assembly, a forearm base assembly, and at least two forearm assemblies arranged sequentially; the large arm assembly is mounted on the base and can move in multiple directions on the base; the forearm base assembly includes a forearm connecting seat, at least one sliding seat, and a sliding power component; the forearm connecting seat is mounted on the large arm assembly, the sliding seat is movably mounted on the forearm connecting seat, and the forearm assembly is mounted on the forearm connecting seat and / or the sliding seat; the sliding power component controls the position of the sliding seat on the forearm connecting seat. By setting at least two independently controllable forearm assemblies on a forearm base assembly, this invention enables the collaborative work of at least two forearms, allowing it to simultaneously grasp products on one workline, simultaneously grasp products from two workstations, and grasp products from different directions. It offers advantages such as flexible movement and high work efficiency, overcoming the shortcomings of existing technologies. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of a collaborative robot according to an embodiment of the present invention;

[0043] Figure 2 This is another structural schematic diagram of the collaborative robot according to an embodiment of the present invention;

[0044] Figure 3 This is another structural schematic diagram of the collaborative robot according to an embodiment of the present utility model;

[0045] Figure 4 This is an exploded view of the collaborative robot according to an embodiment of the present invention;

[0046] Figure 5 Another perspective view of part A in the exploded view of the collaborative robot of this utility model embodiment. Detailed Implementation

[0047] This utility model discloses a collaborative robot. By setting at least two independently controllable forearm components 4 on a forearm base component 3, it can achieve the collaborative work of at least two forearms. It can simultaneously grasp products on one line, grasp products from two workstations at the same time, or grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of the existing technology.

[0048] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 5 The collaborative robot provided by this utility model includes: a base 1, a large arm assembly 2, a small arm base assembly 3 and at least two small arm assemblies 4 arranged in sequence.

[0049] The boom assembly 2 is mounted on the base 1 and can move in multiple directions on the base 1;

[0050] Forearm support assembly 3 includes forearm connecting seat 31, at least one sliding seat 32 and sliding power component 33. Forearm connecting seat 31 is mounted on upper arm assembly 2, sliding seat 32 is movably mounted on forearm connecting seat 31, forearm assembly 4 is mounted on forearm connecting seat 31 and / or sliding seat 32, and sliding power component 33 is used to control the position of sliding seat 32 on forearm connecting seat 31.

[0051] In this invention, the collaborative robot may include multiple forearm assemblies 4. A more common and preferred approach is to include two forearm assemblies 4, with one forearm assembly 4 fixedly mounted on the forearm connecting seat 31 and the other fixedly mounted on the sliding seat 32. Alternatively, both forearm assemblies 4 may be mounted on the sliding seat 32 or both on the forearm connecting seat 31; this is not a limitation here. When there are more than two forearm assemblies 4, one forearm assembly 4 may be fixedly mounted on the sliding seat 32, and the remaining forearm assemblies 4 may also be fixedly mounted on the sliding seat 32. Generally, the distance between the forearm assemblies 4 is adjustable and is not limited here. During operation, the upper arm assembly 2 moves the lower arm base assembly 3 to a set position. The sliding power component 33 controls the position of the sliding seat 32, thereby controlling the distance between the lower arm assemblies 4. The lower arm assemblies 4 pick up and put down items. The above actions are not limited in sequence and can be performed sequentially or simultaneously. This allows at least two lower arms to work together, which can simultaneously grab products on one line, grab products from two workstations, or grab products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of existing technology.

[0052] The forearm connecting seat 31 can be a T-shaped structure, with the vertical part installed on the upper arm assembly 2 and the horizontal part provided with a sliding seat 32 and a sliding power component 33, that is, the forearm assembly 4 is installed on the horizontal part.

[0053] Preferred,

[0054] The boom assembly 2 includes a boom power unit 21, a boom 22, and a forearm base power unit 23 arranged sequentially.

[0055] The boom 22 is mounted on the base 1 via the boom power unit 21;

[0056] Forearm mount assembly 3 is mounted on boom 22 via forearm mount power component 23.

[0057] Preferred,

[0058] The boom power unit 21 includes a first power unit 211, a second power unit 212, and a boom mounting base 213;

[0059] The first power source 211 is used to drive the boom mounting base 213 to rotate on the base 1;

[0060] The second power source 212 is used to drive the boom 22 to rotate on the boom mounting base 213.

[0061] It should be noted that the boom 22 is mounted on the boom mounting base 213, and its position is changed by changing the position of the boom mounting base 213. That is, the boom power unit 21 enables multi-directional movement on the boom mounting base 213. Specifically, the first power unit 211 drives the boom mounting base 213 to rotate on the base 1, and the second power unit 212 drives the boom 22 to rotate on the boom mounting base 213. In addition, the first power unit 211 can be mounted on the boom mounting base 213 or on the base 1. In this utility model, the example of the first power unit 211 being mounted on the boom mounting base 213 is used for illustration. The second power unit 212 can be mounted on the boom mounting base 213 or on the boom 22. In this utility model, the example of the first power unit 211 being mounted on the boom mounting base 213 is used for illustration.

[0062] Preferred,

[0063] Forearm seat power component 23 includes a third power 231 and a joint seat 232;

[0064] The joint seat 232 is mounted on the upper arm 22, and the forearm connecting seat 31 is mounted on the joint seat 232.

[0065] The third power source 231 is mounted on the joint seat 232 or the upper arm 22 and is used to drive the joint seat 232 to rotate on the upper arm 22.

[0066] Preferred,

[0067] The forearm seat power unit 23 also includes a fourth power source, which is mounted on the joint seat 232 and is used to drive the forearm connecting seat 31 to rotate on the joint seat 232.

[0068] It should be noted that, depending on the requirements, the forearm seat power component 23 may include at least one power source, such as a third power source 231 for driving the joint seat 232 to rotate on the upper arm 22, or a fourth power source for driving the forearm connecting seat 31 to rotate on the joint seat 232, which is not limited here.

[0069] Preferred,

[0070] The forearm connecting seat 31 is provided with a slide rail and at least one fixed seat, and at least one forearm assembly 4 is mounted on the fixed seat;

[0071] The sliding seat 32 is engaged with the slide rail.

[0072] Preferred,

[0073] The sliding power component 33 includes a sliding power 331, a transmission component 332, and a connecting seat 333, wherein the sliding power 331 drives the connecting seat 333 to move through the transmission component 332.

[0074] Connector 333 is fixed on slide 32;

[0075] The sliding seat 32 is also provided with a slider 321 that cooperates with the slide rail.

[0076] Preferred,

[0077] The transmission component 332 includes a driving wheel, a driven wheel, a timing belt, and a connecting shaft mounted on the sliding power 331. The timing belt connects the driving wheel and the driven wheel. The driven wheel is fixedly mounted on the connecting shaft. When the connecting shaft rotates, the position of the connecting seat on the connecting shaft is adjusted.

[0078] In this invention, the sliding power 331 drives the connecting shaft to rotate via a driving wheel, a driven wheel, and a synchronous belt. The connecting shaft is typically a screw. When the connecting shaft rotates, the position of the connecting seat on the connecting shaft is adjusted. Specifically, the connecting seat can be a nut seat, thereby adjusting the position of the sliding seat 32 and achieving adjustment of the distance between the forearm assemblies 4. The slider 321, in conjunction with the slide rail, mainly serves to improve the stability of the sliding seat 32's movement.

[0079] Preferred,

[0080] Forearm assembly 4 includes a first forearm power unit 41, forearm 42 and a second forearm power unit 43 arranged sequentially.

[0081] The forearm 42 is mounted on the forearm base assembly 3 via the first forearm power component 41, and the first forearm power component 41 is used to control the rotation of the forearm 42.

[0082] The second forearm power unit 43 is installed at one end of the forearm 42 and is used to connect to and drive the robotic arm.

[0083] Preferred,

[0084] The first forearm power unit 41 includes a first forearm power unit 411 and a forearm mounting base 412. The forearm 42 is mounted on the forearm base assembly 3 via the forearm mounting base 412.

[0085] The first forearm power unit 411 is mounted on the forearm mounting base 412 and is used to control the rotation of the forearm 42;

[0086] The second forearm power unit 43 includes a second forearm power unit 431 and a robot arm mounting base 432, with the robot arm mounting base 432 fixed to one end of the forearm 42.

[0087] The second forearm power unit 431 is mounted on the robot arm mounting base 432 and is used to drive the robot arm mounted on the robot arm mounting base 432.

[0088] It should be noted that the forearm mounting base 412 can be fixedly mounted on the forearm connecting base 31 and the sliding base 32. The first forearm power unit 411 is mounted on the forearm mounting base 412 and drives the rotation of the forearm 42 through a gear combination. A robot arm mounting base 432 is provided at the other end of the forearm 42. The robot arm mounting base 432 can be fixedly mounted on the forearm 42 or movably mounted on the forearm 42, which is not limited here. The robot arm mounting base 432 can be integrated with the forearm 42 or be a separate design. The specific solution can be selected according to actual needs, which is not limited here.

[0089] In this utility model, one or more of the first power 211, the second power 212, the third power 231, the fourth power, the first forearm power 411 and the second forearm power 431 can be selected from servo motors or other suitable drive elements, and no limitation is made here.

[0090] The collaborative robot of this invention includes: a base 1, a large arm assembly 2, a forearm base assembly 3, and at least two forearm assemblies 4 arranged sequentially. The large arm assembly 2 is mounted on the base 1 and can move in multiple directions on the base 1. The forearm base assembly 3 includes a forearm connecting seat 31, at least one sliding seat 32, and a sliding power component 33. The forearm connecting seat 31 is mounted on the large arm assembly 2, the sliding seat 32 is movably mounted on the forearm connecting seat 31, and at least two forearm assemblies 4 are respectively mounted on the forearm connecting seat 31 and the sliding seat 32. The sliding power component 33 is used to control the position of the sliding seat 32 on the forearm connecting seat 31. By setting at least two independently controllable forearm assemblies 4 on a forearm base assembly 3, the collaborative robot of this invention can achieve the coordinated work of at least two forearms. It can simultaneously grasp products on one line, simultaneously grasp products from two workstations, and grasp products from different directions. It has the advantages of flexible movement and high work efficiency, and can solve the defects of the prior art.

[0091] The collaborative robot provided by this utility model has been described in detail above. For those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A collaborative robot, characterized in that, include: The base (1), the boom assembly (2), the forearm base assembly (3), and at least two forearm assemblies (4) are arranged sequentially. The boom assembly (2) is mounted on the base (1) and can move in multiple directions on the base (1); The forearm mount assembly (3) includes a forearm connecting seat (31), at least one sliding seat (32), and a sliding power component (33). The forearm connecting seat (31) is mounted on the upper arm assembly (2), and the sliding seat (32) is movably mounted on the forearm connecting seat (31). The forearm assembly (4) is mounted on the forearm connecting seat (31) and / or the sliding seat (32). The sliding power component (33) is used to control the position of the sliding seat (32) on the forearm connecting seat (31).

2. The collaborative robot according to claim 1, characterized in that, The boom assembly (2) includes a boom power unit (21), a boom (22), and a forearm seat power unit (23) arranged sequentially. The boom (22) is mounted on the base (1) via the boom power unit (21); The forearm mount assembly (3) is mounted on the boom (22) via the forearm mount power unit (23).

3. The collaborative robot according to claim 2, characterized in that, The boom power unit (21) includes a first power unit (211), a second power unit (212), and a boom mounting base (213); The first power source (211) is used to drive the boom mounting base (213) to rotate on the base (1); The second power source (212) is used to drive the boom (22) to rotate on the boom mounting base (213).

4. The collaborative robot according to claim 2, characterized in that, The forearm seat power unit (23) includes a third power source (231) and a joint seat (232); The joint seat (232) is mounted on the upper arm (22), and the forearm connecting seat (31) is mounted on the joint seat (232). The third power source (231) is mounted on the joint seat (232) or the upper arm (22) and is used to drive the joint seat (232) to rotate on the upper arm (22).

5. The collaborative robot according to claim 4, characterized in that, The forearm power unit (23) also includes a fourth power unit, which is mounted on the joint seat (232) and is used to drive the forearm connecting seat (31) to rotate on the joint seat (232).

6. The collaborative robot according to claim 1, characterized in that, The forearm connecting seat (31) is provided with a slide rail and at least one fixed seat, and at least one forearm assembly (4) is mounted on the fixed seat; The sliding seat (32) engages with the slide rail.

7. The collaborative robot according to claim 6, characterized in that, The sliding power component (33) includes a sliding power source (331), a transmission component (332), and a connecting seat (333), wherein the sliding power source (331) drives the connecting seat (333) to move through the transmission component (332); The connecting seat (333) is fixed on the sliding seat (32); The sliding seat (32) is also provided with a slider (321) that cooperates with the slide rail.

8. The collaborative robot according to claim 7, characterized in that, The transmission component (332) includes a driving wheel, a driven wheel, a timing belt, and a connecting shaft mounted on a sliding power source (331), wherein the timing belt connects the driving wheel and the driven wheel, the driven wheel is fixedly mounted on the connecting shaft, and the position of the connecting seat (333) on the connecting shaft is adjusted when the connecting shaft rotates.

9. The collaborative robot according to claim 1, characterized in that, The forearm assembly (4) includes a first forearm power unit (41), a forearm (42) and a second forearm power unit (43) arranged sequentially. The forearm (42) is mounted on the forearm base assembly (3) via a first forearm power component (41), and the first forearm power component (41) is used to control the rotation of the forearm (42); The second forearm power unit (43) is installed at one end of the forearm (42) and is used to connect to and drive the robot.

10. The collaborative robot according to claim 9, characterized in that, The first forearm power unit (41) includes a first forearm power unit (411) and a forearm mounting base (412). The forearm (42) is mounted on the forearm base assembly (3) via the forearm mounting base (412). The first forearm power unit (411) is mounted on the forearm mounting base (412) and is used to control the rotation of the forearm (42); The second forearm power unit (43) includes a second forearm power unit (431) and a robot arm mounting base (432), which is fixed to one end of the forearm (42); The second forearm power unit (431) is mounted on the robot arm mounting base (432) and is used to drive the robot arm mounted on the robot arm mounting base (432).

Images