Multi-robot cooperative shared walking axle device

Abstract

The utility model belongs to industrial automation equipment technical field especially, it is a kind of shared walking axle device of multi-robot cooperation. Including horizontal moving mechanism, robot base, mechanical linkage mechanism, movement limit block, anti-collision block and position sensor, reduce equipment floor area by sharing walking axle, by high rigidity compound track design, make three robots share same group basic walking axle, actual measurement reduces floor area 40%-60%, especially suitable for the flexible production line layout of space limited. Save the hardware and driving cost of multiple walking axle, simplify installation debugging process (shared axle only needs once calibration), reduce later maintenance point (lubrication / wear detection concentrates in single axle), life cycle maintenance cost reduces by more than 20%. Synchronous drive design can also reduce energy consumption, actual measurement peak power consumption reduces 30%.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation equipment technology, and in particular to a shared walking axis device for multi-robot collaboration. Background Technology

[0002] In the field of industrial automation, the application of traditional industrial robots was once a key force driving improvements in production efficiency. Traditional industrial robots mostly exist as independent units, and to meet the operational needs of different workstations, each robot typically needs to be equipped with its own walking axis. This model was adequate in relatively simple early production scenarios, but as industrial production has become more complex and integrated, its drawbacks have become increasingly apparent.

[0003] Because each robot is equipped with an independent walking axis, the space occupied by the entire production system increases significantly. Moreover, the independent configuration of multiple walking axes means that more parts need to be purchased and more manpower needs to be invested in installation and debugging, resulting in high overall costs. In addition, in multi-robot collaborative operation scenarios, the walking axes of different robots are prone to overlap in spatial layout. The duplicated walking axes are very likely to cause interference, affecting the normal operation of the robots and even causing safety accidents, while also resulting in a serious waste of equipment resources. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a shared walking axis device for multi-robot collaboration.

[0005] The technical solution adopted by this invention to solve its technical problem is: A shared walking axis device for multi-robot collaboration, the device being capable of detachably mounting multiple robots, the device comprising a horizontal movement mechanism, a robot base, a mechanical linkage mechanism, a motion limiting block, an anti-collision block, and a position sensor; The robot base is mounted on the mechanical linkage mechanism, and the robot is detachably connected to the robot base for easy installation. At least three mechanical linkage mechanisms are spaced apart horizontally. These mechanisms are sequentially mounted on the horizontal moving mechanism. Both the anti-collision block and the motion limiting block are horizontally positioned. The anti-collision block is mounted on one horizontal side of the mechanical linkage mechanism, and the motion limiting block is mounted on the other horizontal side. The anti-collision block and the motion limiting block are aligned along the same straight line. The anti-collision block and motion limiting block on two horizontally adjacent mechanical linkage mechanisms can be detachably contacted horizontally. A position sensor is installed below the mechanical linkage mechanism to detect its position.

[0006] Furthermore, rubber heads are provided at the ends of the motion limiting block and the anti-collision block that are away from the mechanical linkage mechanism to further enhance the buffering effect.

[0007] Furthermore, the horizontal movement mechanism includes a walking axis, a walking robot, and a walking robot cable. The walking axis is arranged horizontally. The number of walking robots and walking robot cables is the same as the number of mechanical linkage mechanisms. Each walking robot is connected to one mechanical linkage mechanism, and each walking robot is installed in conjunction with one walking robot cable. The walking robot cable is installed on the walking axis and can drive the walking robot to move back and forth along the walking axis in the horizontal direction, ensuring the movement path of the walking robot. The robot base and the mechanical linkage mechanism are installed above the walking robot, enabling the walking robot to drive the robot installed on the robot base to perform horizontal movement operations.

[0008] Furthermore, the different walking robot cable chains are installed in an interleaved manner.

[0009] Furthermore, the mechanical linkage mechanism includes a base plate, a servo drive motor, and a lubrication device. The base plate is arranged horizontally, and the servo drive motor and lubrication device are installed on one horizontal side of the base plate. A robot base is installed above the other horizontal side of the base plate. Both the servo drive motor and the lubrication device are arranged vertically. The servo drive motor is connected to the horizontal movement mechanism via gears, and the servo drive motor can drive the horizontal movement mechanism to move. The lubrication device is connected to the horizontal movement mechanism and can lubricate the horizontal movement mechanism. An anti-collision block is installed on the base plate on the horizontal side near the servo drive motor and the lubrication device.

[0010] Furthermore, the mechanical linkage mechanism also includes a base through hole and a base protrusion. The base through hole is installed on the horizontal side of the base plate away from the servo drive motor and the lubrication device. The base protrusion is evenly distributed and spaced along the circumferential direction on the base plate outside the base through hole. The base protrusion can guide and limit the installation of the robot base, and the base through hole can provide cable inlet and outlet for the robot base.

[0011] Furthermore, the traveling shaft also includes a fixed-side limiting block and a leveling screw. The fixed-side limiting block is installed at both horizontal ends of the traveling shaft and its length is greater than that of the moving limiting block and the anti-collision block. It can also be in contact with the mechanical linkage mechanism. The fixed-side limiting block can hard limit the mechanical linkage mechanism. The leveling screw is installed at the bottom of the traveling shaft, and the traveling shaft can be made parallel in the horizontal direction by adjusting the leveling screw at the bottom.

[0012] The advantages and positive effects of this invention are as follows: 1. Space optimization: This device reduces the equipment footprint by sharing the walking axis. Through the high-rigidity composite track design, three robots can share the same set of basic walking axes, which reduces the footprint by 40%-60% in actual tests. It is particularly suitable for flexible production line layouts with limited space.

[0013] 2. Cost Reduction: This device saves on hardware and drive costs for multiple traveling axes, simplifies the installation and commissioning process (shared axes only require one calibration), and reduces subsequent maintenance points (lubrication / wear detection is concentrated on a single axis), resulting in a lifecycle maintenance cost reduction of over 20%. The synchronous drive design also reduces energy consumption, with measured peak power consumption reduced by 30%.

[0014] 3. High collaborative efficiency: The mechanical linkage mechanism of this device ensures that multiple robots move synchronously, avoiding waiting delays. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of a structural connection according to the present invention (the horizontal moving mechanism is omitted). Figure 2 for Figure 1 A three-dimensional schematic diagram of the structural connection of the mechanical linkage mechanism; Figure 3 This is a three-dimensional schematic diagram of another structural connection of the horizontal moving mechanism of this utility model; Figure 4 This is a three-dimensional schematic diagram of another structural connection of this utility model (robot base omitted); Figure 5 for Figure 1 A three-dimensional schematic diagram of a structural connection for a robot base; Figure 6 This is a three-dimensional schematic diagram of the structural connection of three walking robots in the horizontal movement mechanism of this utility model. Figure 7 for Figure 6 A three-dimensional schematic diagram of the structural connection of the central traveling shaft; Figure 8 This is a three-dimensional schematic diagram of one usage state of the present invention (the third walking robot and the third walking robot cable are omitted). Detailed Implementation

[0016] The present invention will be further described below with reference to the embodiments. The following embodiments are descriptive and not limiting, and should not be used to limit the scope of protection of the present invention.

[0017] The various experimental operations involved in the specific embodiments are all conventional techniques in the field. For parts not specifically annotated in this document, those skilled in the art can refer to various commonly used reference books, scientific and technological documents or related instructions and manuals prior to the filing date of this invention to carry out the operations.

[0018] A shared walking axis device for multi-robot collaboration, such as Figures 1 to 8 As shown, the device can detachably mount multiple robots 114 (such as welding robots). The device includes a horizontal moving mechanism 1, a robot base 2, a mechanical linkage mechanism 3, a motion limiting block 4, an anti-collision block 5, and a position sensor 6. The robot base is mounted on the mechanical linkage mechanism, and the robot is detachably connected to the robot base for easy installation. At least three mechanical linkage mechanisms are spaced apart horizontally and sequentially mounted on the horizontal moving mechanism. The horizontal moving mechanism allows the device to drive the robot horizontally for processing. Anti-collision blocks and motion limiting blocks are both horizontally positioned. Anti-collision blocks are mounted on one horizontal side of the mechanical linkage mechanism, and motion limiting blocks are mounted on the other horizontal side. The anti-collision blocks and motion limiting blocks are aligned along the same straight line. Two horizontally adjacent anti-collision blocks... The anti-collision blocks and motion limit blocks on the mechanical linkage mechanism can be detachably connected in the horizontal direction, so that the anti-collision blocks and motion limit blocks on adjacent mechanical linkage mechanisms can fit together to buffer each other and prevent collisions between mechanical linkage mechanisms. At the same time, the motion limit blocks can prevent mechanical linkage mechanisms located at the horizontal ends of the horizontal moving mechanism from hitting the sides of the horizontal moving mechanism when they move beyond their travel range, thus avoiding damage to the equipment. The position sensor is installed below the mechanical linkage mechanism. The position sensor can detect the position of the mechanical linkage mechanism, so as to understand the position information of the mechanical linkage mechanism in real time, which is convenient for subsequent related operations. It also facilitates the operation of the robot and prevents collisions between mechanical linkage mechanisms.

[0019] This device restricts and guides the movement direction of the mechanical linkage mechanism through a horizontal moving mechanism. The robot base is installed on the mechanical linkage mechanism to facilitate the disassembly and installation of different robots for production and processing. During movement, the motion limit block and anti-collision block can prevent collisions between the mechanical linkages and buffer the motion collision. At the same time, the position sensor installed at the bottom of the mechanical linkage mechanism can perform real-time position monitoring to facilitate the motion control of the mechanical linkage mechanism on the device. In this way, multiple robots can share the walking axis without conflict.

[0020] Preferably, the ends of the motion limiting block 4 and the anti-collision block 5 away from the mechanical linkage mechanism are both provided with rubber heads to further enhance the buffering effect.

[0021] In this embodiment, the horizontal movement mechanism includes a walking axis 100, a walking robot 11, and a walking robot cable 12. The walking axis is arranged in a horizontal direction. The number of walking robots and walking robot cables is the same as the number of mechanical linkage mechanisms. Each walking robot is connected to a mechanical linkage mechanism, and each walking robot is installed in conjunction with a walking robot cable. The walking robot cable is installed on the walking axis and can drive the walking robot to move back and forth along the walking axis in a horizontal direction, ensuring the movement path of the walking robot. The robot base and the mechanical linkage mechanism are installed above the walking robot, so that the walking robot can drive the mechanical linkage mechanism and the robot installed on the robot base to perform horizontal movement operations.

[0022] Ideally, the cable chains of different walking robots are installed in an alternating manner to avoid travel conflicts between the cable chains.

[0023] In this embodiment, the mechanical linkage mechanism includes a base plate 301, a servo drive motor 110, and a lubrication device 111. The base plate is arranged horizontally, and the servo drive motor and lubrication device are installed on one horizontal side of the base plate. A robot base is installed above the other horizontal side of the base plate. The servo drive motor and lubrication device are both arranged vertically. The servo drive motor is connected to the horizontal movement mechanism via gears. The servo drive motor can drive the horizontal movement mechanism to move. The lubrication device is connected to the horizontal movement mechanism and can lubricate the horizontal movement mechanism, making the device easy to move. Anti-collision blocks are installed on the base plate on the horizontal side near the servo drive motor and lubrication device.

[0024] Using a base plate as a substrate, servo drive motors and lubrication devices are mounted on the floor, enabling individual mechanical linkage mechanisms to operate independently. The servo drive motors provide the power source for movement, while the lubrication devices provide lubrication during movement, ensuring smooth operation and preventing mechanical failures caused by wear and tear from long-term operation. At the same time, the detachable connection between the base plate and the robot base allows the device to be adapted to various robots. By simply changing the base, multiple robots can be installed and used, improving the device's scalability.

[0025] Preferably, the mechanical linkage mechanism further includes a base through hole 302 and a base protrusion 303. The base through hole is installed on the horizontal side of the base plate away from the servo drive motor and the lubrication device. The base protrusion is evenly distributed and spaced along the circumferential direction on the base plate outside the base through hole. The base protrusion can guide and limit the installation of the robot base, which facilitates the installation of the robot base and limits the inertial movement of the robot during the follow-up process. The base through hole can provide cable inlet and outlet for the robot base, which facilitates the installation of the robot base.

[0026] The connection between the servo drive motor and lubrication device and the walking robot and its cable chain adopts a traditional connection method, which is convenient for the staff to install.

[0027] Preferably, the traveling shaft further includes a fixed-side limiting block 112 and a leveling screw 113. The fixed-side limiting block is installed at both horizontal ends of the traveling shaft, and its length is greater than that of the moving limiting block and the anti-collision block, so that the moving limiting block and the anti-collision block will not be damaged by hard contact impact with the horizontal ends of the traveling shaft, and can be in contact with the mechanical linkage mechanism. The fixed-side limiting block can hard limit the mechanical linkage mechanism, which is convenient for the initial position installation and reset of the mechanical linkage mechanism. The leveling screw is installed at the bottom of the traveling shaft, and the traveling shaft can be made parallel in the horizontal direction by adjusting the leveling screw at the bottom, which is convenient for the installation and maintenance of the traveling shaft.

[0028] Example 1 Taking three robots sharing a walking axis as an example: like Figures 6 to 8 As shown, the walking shaft 100 is fixed to the production line floor and leveled using the leveling screw 113. The first walking robot 101, the first walking robot cable 102, the second walking robot 103, the second walking robot cable 104, the third walking robot 105, and the third walking robot cable 106 are respectively installed on the walking shaft. The first and third walking robots are respectively installed at the horizontal ends of the walking shaft and are hard-limited by the fixed side limit blocks 112 on both sides of the horizontal movement mechanism. Then, the robot base 2 is installed on the base plate 301 by engaging with the base protrusion 303 and connecting the cable through the base through hole 302. Finally, the three robots are installed on their respective robot bases.

[0029] The starting device and mechanical linkage mechanism 3 are connected to a gear and rack via a servo drive motor 110 to drive the walking robot to move, and three robots follow the movement. Collisions are prevented between the base plates by motion limit blocks and anti-collision blocks. When a collision occurs, the motion limit blocks and anti-collision blocks contact each other to buffer the collision and prevent hard collisions between the base plates, thus avoiding damage to the base plates.

[0030] By designing the robot's process trajectory, an external controller can be set up for actual use. This external controller receives the process trajectories from the robots (first, second, and third robots) and adjusts the spacing between the mechanical linkages by receiving and releasing interlock signals in the interference zones between the robots. For example, when the first robot moves forward, the second robot moves backward synchronously, and the third robot determines whether to move forward or backward based on the position of the second robot. This achieves a shared walking axis among the three robots.

[0031] Although embodiments of the invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations, and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the scope of the invention is not limited to the contents disclosed in the embodiments.

Claims

1. A shared walking axle apparatus for multi-robot collaboration, characterized by: The device can detachably install multiple robots, and the device includes a horizontal moving mechanism, a robot base, a mechanical linkage mechanism, a motion limiting block, an anti-collision block, and a position sensor. The robot base is mounted on the mechanical linkage mechanism, and the robot is detachably connected to the robot base. At least three mechanical linkage mechanisms are spaced apart horizontally. The mechanical linkage mechanisms are sequentially mounted on the horizontal moving mechanism. The horizontal moving mechanism is horizontally positioned. Anti-collision blocks and motion limiting blocks are both horizontally positioned. The anti-collision blocks are mounted on one horizontal side of the mechanical linkage mechanism, and the motion limiting blocks are mounted on the other horizontal side of the mechanical linkage mechanism. The anti-collision blocks and motion limiting blocks are aligned along the same straight line. The anti-collision blocks and motion limiting blocks on two horizontally adjacent mechanical linkage mechanisms can be detachably contacted horizontally. A position sensor is mounted below the mechanical linkage mechanism and can detect the position of the mechanical linkage mechanism.

2. The apparatus of claim 1, wherein: Both the motion limiting block and the anti-collision block have rubber heads at their ends away from the mechanical linkage mechanism.

3. The apparatus of claim 1, wherein: The horizontal movement mechanism includes a walking axis, a walking robot, and a walking robot cable. The walking axis is arranged in a horizontal direction. The number of walking robots and walking robot cables is the same as the number of mechanical linkage mechanisms. Each walking robot is connected to one mechanical linkage mechanism, and each walking robot is installed in conjunction with one walking robot cable. The walking robot cable is installed on the walking axis and can drive the walking robot to move back and forth in the horizontal direction along the walking axis. The robot base and the mechanical linkage mechanism are installed above the walking robot.

4. The apparatus of claim 3, wherein: Different walking robot cable chains are installed and arranged in an interlaced manner.

5. The apparatus of claim 1, wherein: The mechanical linkage mechanism includes a base plate, a servo drive motor, and a lubrication device. The base plate is arranged horizontally, with the servo drive motor and lubrication device installed on one horizontal side of the base plate, and a robot base installed above the other horizontal side of the base plate. Both the servo drive motor and the lubrication device are arranged vertically. The servo drive motor is connected to the horizontal movement mechanism via gears, and the servo drive motor can drive the horizontal movement mechanism to move. The lubrication device is connected to the horizontal movement mechanism and can lubricate the horizontal movement mechanism. Anti-collision blocks are installed on the base plate on the horizontal side near the servo drive motor and the lubrication device.

6. The apparatus of claim 1, wherein: The mechanical linkage mechanism also includes a base through hole and a base protrusion. The base through hole is installed on the horizontal side of the base plate away from the servo drive motor and the lubrication device. The base protrusion is evenly distributed and spaced along the circumference on the base plate outside the base through hole. The base protrusion can guide and limit the installation of the robot base, and the base through hole can provide cable inlet and outlet for the robot base.

7. The apparatus of claim 3, wherein: The traveling shaft also includes a fixed side limit block and a leveling screw. The fixed side limit block is installed at both horizontal ends of the traveling shaft and its length is greater than that of the moving limit block and the anti-collision block. It can also be in contact with the mechanical linkage mechanism. The fixed side limit block can provide a hard limit to the mechanical linkage mechanism. The leveling screw is installed at the bottom of the traveling shaft, and the traveling shaft can be made parallel in the horizontal direction by adjusting the leveling screw at the bottom.

Images