Gantry self-propelled collaborative robot

Abstract

The utility model relates to the technical field of aerospace machinery, in particular to a gantry self-propelled collaborative robot. When an existing aerospace part product is produced, a joist barrow is inconvenient to use, and a KBK structure cannot adapt to production of products of other structures. Some old workshops are small in space, the distance between production stations is narrow, and various tools need to be replaced to operate in different workshops. An electric appliance control cabinet is arranged above the gantry self-propelled collaborative robot, an inverted collaborative robot is arranged below the electric appliance control cabinet, and six shafts are arranged on the collaborative robot, so that workpieces can be grabbed at six degrees of freedom; a wheel set is arranged below the rack body, so that various moving modes including advancing, retreating and in-situ rotation are realized; workpieces are grabbed through the tool base capable of being freely disassembled and assembled on the collaborative robot and the clamping jaw assemblies on the two sides. The device is reasonable in structure, and workpieces are not limited by sites when being carried; the utility model discloses a gantry structure vehicle capable of crossing product stacking points and stations.

Description

TECHNICAL FIELD

[0001] The utility model relates to aerospace machinery technical field, more specifically relates to a gantry self -walking type collaborative robot. BACKGROUND

[0002] The product structure is complex when producing the existing aerospace products, and the following working conditions often exist: it is inconvenient to use the truss car, and the KBK structure cannot adapt to the production of other structure products. The space of some old factory buildings of some companies is small, but the distance between production stations is narrow, and multiple toolings need to be replaced and run in different workshops. If some accessories need to be assembled, the product is slightly heavy; the product is slightly large in size. If a single device is used, there will be a series of problems, mainly as follows:

[0003] Only using the truss car:

[0004] The truss car cannot be taken: the product between workshops / wall of the factory building cannot be taken, and the truss car is occupied for a long time: the product weight is not necessary to use the truss car, but manual cannot move it, and if the truss car is used for hoisting to cooperate with assembly, the truss car needs to be occupied for a long time; it is inconvenient to use and cannot go to other workshops.

[0005] Only using RGV: cannot move to other workshops due to track and cable influence.

[0006] Only using AGV: good carrying flexibility, but the commonly used structure has high requirements for the ground passage (wide passage, but the factory building passage is small), and is inconvenient to use. It is not convenient to grasp the product.

[0007] Only using manual or robot:

[0008] Using manual assembly: the accessory is heavy, and manual cannot assist production for a long time

[0009] Using 6-axis robot: 6-axis robot teaching and debugging is complex, and has high consistency requirements for products (high point precision requirement). But the actual product quantity is not large, and the precision is not high, so the ordinary 6-axis robot is not suitable for this case UTILITY MODEL CONTENT

[0010] The utility model aims at the deficiency of the prior art, and provides a gantry self -walking type collaborative robot which can not be limited by the site.

[0011] A gantry self-walking collaborative robot, comprising a rack body, an electrical control cabinet is arranged above the rack body, a hanging type collaborative robot is arranged below the electrical control cabinet, a 6-axis is arranged on the collaborative robot, and the 6-axis can realize 6 degrees of freedom of workpiece grabbing; a wheel set for movement is arranged below the rack body, and various movement modes including forward movement, backward movement and in-place rotation can be realized; a tool base and two side jaw assemblies which can be freely disassembled and assembled on the collaborative robot are arranged, and the workpiece is grabbed.

[0012] The utility model has reasonable structure, realizes workpiece carrying, is not limited by site, and can directly cross the vehicle of the gantry structure of product stacking points and stations.

[0013] As further improvement and supplement to the above scheme, the utility model further comprises the following additional technical features:

[0014] The 6-axis on the collaborative robot comprises an A-axis for fixation, a B-axis arranged perpendicularly to the A-axis, a C-axis arranged at an angle to the B-axis, a D-axis arranged at an angle to the C-axis, an E-axis connected at an angle to the D-axis, and an F-axis connected at an angle to the E-axis, and each axis connection is arranged to be rotatable; a teach pendant can be used or a drag type operation can be used. Convenient to use.

[0015] The jaw assembly comprises a jaw, a jaw base, an electric cylinder and a joint, the joint is connected to the electric cylinder, two connecting rods are arranged on the sides, the jaw is rotatably connected to one side of the connecting rod, the electric cylinder drives the jaw to realize extension and retraction, and the jaw is used for grabbing; the other part of the jaw is rotatably connected to the jaw base, when the electric cylinder extends, the connecting rod moves downward, the jaw rotates outward around the connecting rod, and the jaw is in a loosened state; when the electric cylinder returns to the original position, the connecting rod and the joint are arranged horizontally, and the jaw is in a clamped state and is self-locked. The clamping and loosening are reliable.

[0016] The wheel set comprises a driven wheel and a horizontal rudder wheel, and can realize self-locking, rotation and movement and other functions.

[0017] The gantry self-walking collaborative robot is powered by a rechargeable battery, the battery can simultaneously supply power to the wheel set and the collaborative robot, the power supply is reasonably arranged, and normal operation can be ensured.

[0018] The gantry self-walking collaborative robot is provided with a touch screen, and is convenient to operate.

[0019] A plurality of reinforcing strips are arranged on the rack body, the reinforcing strips are effectively arranged, and the strength is good.

[0020] An upper cover is arranged on the jaw base, and the parts are effectively protected.

[0021] The utility model has the following beneficial effects:

[0022] 1. The utility model has reasonable structure, is not restricted by site;

[0023] 2. It has a large span and can directly cross the product stacking point and the gantry structure of the vehicle.

[0024] 3. The carrying vehicle can run in an old workshop or a narrow passage.

[0025] 4. The carrying vehicle can be installed with a collaborative robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the structural diagram of the utility model.

[0027] Figure 2 is the exploded view of the utility model.

[0028] Figure 3 is the front view of the utility model.

[0029] Figure 4 is the left view of the utility model.

[0030] Figure 5 is the structural diagram of the collaborative robot 5 in the utility model.

[0031] Figure 6 is the principle diagram of the collaborative robot 5 in the utility model.

[0032] Figure 7 is the structural diagram of the clamping jaw assembly 7 in the utility model.

[0033] Figure 8 is the front view of the clamping jaw assembly 7 in the utility model.

[0034] Figure 9 is the top view (G-G section) of the clamping jaw assembly 7 in the utility model.

[0035] Figure 10 is the left view (H-H section) of the clamping jaw assembly 7 in the utility model.

[0036] Figure 11 is the structural diagram of the joint 75 in the utility model. DETAILED DESCRIPTION

[0037] The specific embodiments of the utility model will be described in detail below with reference to the drawings.

[0038] As Figures 1-11 shown, the utility model is a gantry self-walking collaborative robot.

[0039] The gantry self-walking collaborative robot comprises a rack body 4, an electrical control cabinet is arranged above the rack body 4, corresponding electrical elements and chips are arranged in the electrical control cabinet, and the whole robot is controlled by a program and a system. The rack body 4 is provided with an inverted collaborative robot 5 below the electrical control cabinet, the collaborative robot 5 is provided with six shafts, and six degrees of freedom of the collaborative robot 5 can be achieved to grasp a workpiece; the rack body 4 is provided with a wheel set below for movement, and various movement modes including forward movement, backward movement and in-place rotation can be achieved; and a tool base 3 and two clamping jaw assemblies 7 which can be freely disassembled and assembled on the collaborative robot 5 are arranged to grasp the workpiece.

[0040] Further, the six shafts on the collaborative robot 5 comprise an A shaft for fixation, a B shaft which is arranged perpendicularly to the A shaft, a C shaft which is arranged at an angle to the B shaft, a D shaft which is arranged at an angle to the C shaft, an E shaft which is connected to the D shaft at an angle, and an F shaft which is connected to the E shaft at an angle, the F shaft is connected to the tool base 3, and each shaft connection is arranged to be rotatable; a teach pendant can be used or a drag type operation can be used. A first connecting pipe 51 is arranged between the B shaft and the C shaft, and a second connecting pipe 51 is arranged between the C shaft and the D shaft.

[0041] Further, the clamping jaw assembly 7 comprises a clamping jaw 71, a clamping jaw seat 72, an electric cylinder 73 and a joint 75, the clamping jaw seat 72 is provided with an opening on one side, the joint 75 is connected to the electric cylinder 73 above, two connecting rods 74 are arranged on both sides of the joint 75, the clamping jaw 71 is rotatably connected to one side of the connecting rod 74, the clamping jaw 71 is driven to realize the extension and retraction action by the electric cylinder 73 to grasp the workpiece; the joint 75 is arranged in the shape of a “n” and is provided with an open groove 751 on both sides of the lower end, which is used to clamp the connecting rod 74. The other part of the clamping jaw 71 is rotatably connected to the clamping jaw seat 72, when the electric cylinder 73 extends, the connecting rod 74 moves downward, the two connecting rods 74 and the joint 75 are arranged in the shape of a “V”, at the same time, the clamping jaw 71 rotates outward around the pin shaft 76 fixed on the connecting rod 74, and the clamping jaw 71 is in a loose state; when the electric cylinder 73 returns to the original position, the connecting rod 74 and the joint 75 are arranged horizontally, and the clamping jaw 71 is in a clamped state and is self-locked.

[0042] In the embodiment, the two clamping jaws 71 are provided with inwardly recessed arc-shaped grooves, and the two arc-shaped grooves are used to grasp the workpiece. The connecting rod 74, the joint 75, the connecting rod 74 and the clamping jaw 71, and the clamping jaw 71 and the clamping jaw seat 72 are all connected by pin shafts 76 and fixed by circlips 77. At the same time, the connecting rod 74 and the joint 75 are located in the clamping jaw seat 72, one end of the clamping jaw 71 is located in the clamping jaw seat 72, and one end of the arc-shaped groove extends outward from the clamping jaw seat 72.

[0043] Further, the wheel set comprises a driven wheel 1 and a horizontal rudder wheel 2. The driven wheel 1 and the horizontal rudder wheel 2 are prior art and will not be described here.

[0044] Furthermore, the gantry-type self-propelled collaborative robot is powered by a rechargeable battery 6, which can simultaneously power both the wheel assembly and the collaborative robot 5.

[0045] Furthermore, the gantry-type self-propelled collaborative robot is equipped with a touch screen 8, which makes operation convenient.

[0046] Furthermore, the frame body 4 is provided with multiple reinforcing bars 41 arranged in a three-dimensional triangular shape for effective reinforcement. This makes the legs triangular in every direction, thereby improving the rigidity of the legs.

[0047] Furthermore, the gripper seat 72 is covered by an upper cover 78, which closes the opening.

[0048] When this gantry-type self-propelled collaborative robot is in use

[0049] The preparation stage mainly includes the following:

[0050] 1. Check the charging status of battery 6 to ensure it is fully charged;

[0051] 2. Check if the information set on touchscreen 8 corresponds to the task to be performed;

[0052] 3. Check the wheel assembly: Check if the brakes on the horizontal steering wheel 2 are working properly; check if the driven wheel 1 is flexible.

[0053] 4. Check whether the tooling base 3 is securely installed and whether the gripper 71 is in a relaxed state;

[0054] 5. Check if the collaborative robot 5 is functioning properly and is at the zero point position;

[0055] 6. Prepare the program for the collaborative robot (drag and drop teaching).

[0056] When loading materials:

[0057] The robot is then positioned to its initial function location. The wheel assembly (driven wheel 1 + horizontal steering wheel 2) then drives the gantry frame 4 to move (capable of forward / backward, left / right, and rotation in place). The gantry moves the inverted collaborative robot 5 above the product stacking area. The robot uses its grippers to pick up the products to be moved, then moves to the workstation, opens its grippers, and lowers the products.

[0058] When feeding:

[0059] The gantry frame body 4 is driven by the wheel assembly (driven wheel 1 + horizontal steering wheel 2) to move above the product's workstation. The inverted collaborative robot 5 lowers its arm to the designated position, and then the gripper on the collaborative robot 5 clamps the product. After picking up the product, the robot lifts the product to the highest position, and then the entire vehicle moves out with the product, transporting the finished product to the designated location.

[0060] Transportation process:

[0061] The gantry trolley, fully loaded with products, drives out of the cargo aisle / production station and operates according to the actual site conditions (forward, backward, turning, or rotating in place).

[0062] The above are preferred embodiments of the present utility model and do not limit the scope of protection of the present utility model. Any modifications and improvements made by those skilled in the art based on the design concept of the present utility model should be considered within the scope of protection of the present utility model.

Claims

1. A gantry self-walking collaborative robot, comprising a rack body (4) above which an electric control cabinet is arranged, characterized in that: The rack body (4) is provided with a downward hanging collaborative robot (5) below the electrical control cabinet, the collaborative robot (5) is provided with six axes, and six degrees of freedom of the workpiece can be realized; the rack body (4) is provided with a wheel set for movement below, and various movement modes including forward movement, backward movement and in-place rotation can be realized; the tool base (3) and the clamping jaw assembly (7) on the two sides of the collaborative robot (5) can be freely disassembled and assembled, and the workpiece is gripped.

2. The gantry self navigating collaborative robot of claim 1, wherein: The six axes on the collaborative robot (5) include an A-axis for fixing, a B-axis arranged perpendicularly to the A-axis, a C-axis arranged at an angle to the B-axis, a D-axis arranged at an angle to the C-axis, an E-axis connected at an angle to the D-axis, and an F-axis connected at an angle to the E-axis, and each axis connection is arranged to be rotatable.

3. The gantry self navigating collaborative robot of claim 1, wherein: The clamping jaw assembly (7) includes a clamping jaw (71), a clamping jaw seat (72), an electric cylinder (73) and a joint (75), the joint (75) is connected with the electric cylinder (73) above, two sides are provided with a connecting rod (74), one side of the connecting rod (74) is rotatably connected with the clamping jaw (71), the electric cylinder (73) is driven to realize the extension and retraction action of the clamping jaw (71) to grip; the other part of the clamping jaw (71) is rotatably connected to the clamping jaw seat (72), when the electric cylinder (73) is extended, the connecting rod (74) is moved downward, the clamping jaw (71) is rotated outward around the connecting rod (74), and the clamping jaw (71) is in a loose state; when the electric cylinder (73) is restored, the connecting rod (74) and the joint (75) are arranged horizontally, and are in a clamping state and self-locking.

4. The gantry self navigating collaborative robot of claim 1, wherein: The wheel set includes a driven wheel (1) and a horizontal steering wheel (2).

5. The gantry self navigating collaborative robot of claim 1, wherein: The gantry self-walking collaborative robot is powered by a rechargeable battery (6), and the battery can simultaneously power the wheel set and the collaborative robot (5).

6. The gantry self navigating collaborative robot of claim 1, wherein: The gantry self-walking collaborative robot is provided with a touch screen (8).

7. The gantry self navigating collaborative robot of any of claims 1-6, wherein: The rack body (4) is provided with a plurality of reinforcing strips (41).

8. The gantry self navigating collaborative robot of claim 3, wherein: The clamping jaw seat (72) is covered with an upper cover (78).

Images