Collaborative robot assisted support

Abstract

The utility model relates to industrial robot technical field, concretely relates to a kind of collaborative robot auxiliary support. Including: guide rail, two, along the circulation direction of the component to be handled extension;Portal, slidingly set on two guide rails;Slide table assembly, slidingly set on the portal;Collaborative robot, bottom end position is provided with electromagnet, suitable for through magnetic force and the slide table assembly detachable connection.In the present application, the magnetic force connection of electromagnet can quickly realize the fixing and separation of collaborative robot and slide table assembly, avoid the cumbersome operation of traditional manual handling or disassembly robot base, reduce the labor intensity, reduce the problems such as robot movement joint damage, accessory wear or loss caused by frequent handling.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to an auxiliary support for collaborative robots. Background Technology

[0002] With the widespread application of collaborative robots in assembly, welding, and material handling, their flexibility and safety have become significant advantages. However, existing collaborative robots are typically fixed to a single workstation or rely on manual handling for movement, making it difficult to adapt to the needs of multi-workstation, large-scale operations. Especially in complex scenarios such as steel structure workshops, frequent adjustments to the robot's position require a large amount of manpower, and since the base of a typical collaborative robot is fixed to the ground, operators must manually disassemble the robot's base before moving it, increasing labor intensity. Utility Model Content

[0003] In view of this, the present invention provides an auxiliary support for collaborative robots to solve the mobility problem of existing collaborative robots.

[0004] This utility model provides an auxiliary support for collaborative robots, comprising:

[0005] There are two guide rails, which extend along the flow direction of the component to be processed;

[0006] The gantry is slidably mounted on two guide rails;

[0007] A slide assembly is slidably mounted on the gantry;

[0008] The collaborative robot has an electromagnet at its bottom, which is suitable for detachable connection to the slide assembly via magnetic force.

[0009] In this application, the magnetic connection of the electromagnet enables rapid fixation and separation of the collaborative robot and the slide assembly, avoiding the tedious operations of traditional manual handling or disassembly of the robot base. This reduces labor intensity and minimizes problems such as damage to robot joints, wear and tear or loss of parts caused by frequent handling. Simultaneously, the stability of the magnetic connection ensures that the collaborative robot is not easily displaced during operation, guaranteeing the precision of welding and other tasks. This application also allows the collaborative robot to flexibly move to different workstations, meeting the needs of multi-workstation, multi-process collaborative operations without occupying overhead cranes or forklifts, optimizing workshop equipment scheduling, improving production continuity and efficiency, and better adapting to the operational requirements of complex scenarios such as steel structure workshops.

[0010] In one alternative implementation, the component to be processed is located between two guide rails.

[0011] In this application, placing the component between guide rails allows the collaborative robot on the gantry to get closer to the component to be processed, shortening the robot's working radius and reducing the robot's travel distance in the X / Y directions, thereby improving work efficiency. Simultaneously, the collaborative robot can operate from the sides or around the component, which is particularly suitable for scenarios with narrow weld seams, avoiding the problem of limited robot operation caused by component misalignment.

[0012] In one alternative implementation, the gantry is slidably connected to the guide rail via self-locking pulleys.

[0013] In this application, the self-locking pulley ensures that the gantry can slide smoothly along the guide rail to meet the needs of multi-position adjustment, and can also reliably lock after the gantry has moved to the designated position to prevent accidental sliding of the gantry during operation, thereby improving operational safety. The operator can easily push the gantry to the target position as needed without relying on complex power equipment, reducing equipment costs and energy consumption.

[0014] In one alternative implementation, the slide assembly includes:

[0015] There are two slide rails, which extend in a direction perpendicular to the guide rail;

[0016] The sliders are set on the two slide rails respectively;

[0017] A slide platform, connected to two sliders, is on which the collaborative robot is mounted.

[0018] In this application, two parallel slide rails cooperate with the slider to provide stable guidance for the movement of the slide table, ensuring smoother movement of the slide table perpendicular to the guide rails and improving the accuracy of the collaborative robot's movement in the Y-axis direction. The design of the slide table connecting the two sliders enhances the rigidity of the overall structure, effectively supporting the weight of the collaborative robot and preventing deformation during robot operation, thus ensuring long-term stability. Furthermore, the slide rail and slider structure facilitates maintenance and replacement; when components wear out, damaged slide rails or sliders can be replaced individually, reducing maintenance costs. It also adapts to the high-intensity operation requirements of complex environments such as steel structure workshops, contributing to extending the equipment's service life.

[0019] In one alternative embodiment, the slide assembly further includes:

[0020] A lead screw is disposed between two slide rails, and the slide table is screwed to the lead screw;

[0021] A support is mounted on the bracket, and the lead screw is rotatably connected to the support.

[0022] In this application, the screw connection between the lead screw and the slide table enables precise transmission of the slide table. The rotation of the lead screw drives the slide table to move smoothly along the slide rails, ensuring the accuracy of the slide table's movement in the Y-axis direction and meeting the precise positioning requirements of collaborative robots for different weld seam locations. The support's rotational support for the lead screw prevents radial runout during rotation, enhancing the stability of the lead screw transmission and improving the quality of welding and other operations. Simultaneously, the lead screw's location between the two slide rails makes the slide table assembly more compact, saving installation space and adapting to the densely packed, space-constrained working environment of steel structure workshops, thus improving the equipment's space utilization rate.

[0023] In one alternative implementation, the lead screw is driven by a motor.

[0024] In this application, the motor drive achieves automated control of the lead screw rotation, replacing the traditional manual pushing method. This reduces manual intervention, lowers the labor intensity of operators, and avoids errors that may occur during manual operation, ensuring the consistency and precision of the slide movement. The motor drive can cooperate with the control system of the collaborative robot to achieve coordinated linkage between the slide movement and robot operations. For example, it can automatically adjust the sliding distance and speed according to the weld length, improving the automation level and production efficiency of the operation.

[0025] In one optional embodiment, a speed regulating component is connected between the motor and the lead screw, the speed regulating component comprising:

[0026] The first speed regulating gear is connected to the output shaft of the motor;

[0027] The second speed regulating gear is connected to the lead screw;

[0028] The first speed regulating gear meshes with the second speed regulating gear.

[0029] In this application, the rotational speed of the lead screw can be adjusted by the transmission ratio between the first speed regulating gear and the second speed regulating gear, thereby realizing the adjustment of the slide table movement speed.

[0030] In one alternative embodiment, a positioning tube is provided on the slide, and the bottom end of the collaborative robot is located inside the positioning tube.

[0031] In this application, the positioning tube serves to position the bottom of the collaborative robot, ensuring that the robot can quickly find the correct position when installed on the slide. This reduces the time and difficulty of manual alignment, allowing operators to quickly complete the installation or replacement of the robot and improving the efficiency of the work preparation phase. Simultaneously, the cooperation between the positioning tube and the robot's bottom restricts the robot's horizontal displacement, enhancing its stability during operation and preventing positional deviations caused by external vibrations or collisions, thus ensuring the precision of operations such as welding.

[0032] In one optional embodiment, the side wall of the positioning tube is provided with a positioning hole, and a positioning bolt is screwed into the positioning hole. The positioning bolt is adapted to fix the bottom end of the collaborative robot inside the positioning tube.

[0033] In this application, the positioning bolts securely lock the bottom of the collaborative robot into the positioning tube via a screw connection, forming a dual guarantee of mechanical and magnetic fixation. This effectively prevents the robot from loosening or shifting due to vibration, impact, or other factors during operation, ensuring operational safety and accuracy. The screw connection method allows the fixing force to be adjusted according to actual needs, ensuring both connection strength and avoiding damage to the robot or positioning tube caused by over-tightening, providing excellent flexibility. Furthermore, the positioning bolts have a simple structure and are easy to operate, allowing operators to quickly tighten or loosen them, facilitating daily maintenance, repair, and workstation changes for the collaborative robot, thus improving the ease of operation of the equipment. Attached Figure Description

[0034] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0036] Figure 2 This is a partial structural diagram of embodiment A of the present utility model;

[0037] Figure 3 This is a schematic diagram of the structure of an embodiment of the present utility model.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Guide rail; 2. Gantry; 3. Collaborative robot; 4. Self-locking pulley; 5. Slide rail; 6. Slider; 7. Slide table; 8. Lead screw; 9. Support; 10. First speed regulating gear; 11. Second speed regulating gear; 12. Motor; 13. Positioning tube; 14. Positioning bolt; 17. Embedded parts in workshop floor; 18. Components to be processed. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0041] With the widespread application of collaborative robots in assembly, welding, and material handling, their flexibility and safety have become significant advantages. However, existing collaborative robots are typically fixed to a single workstation or rely on manual handling for movement, making it difficult to adapt to the needs of multi-workstation, large-scale operations. Especially in complex scenarios such as steel structure workshops, frequent adjustments to robot positions require substantial manpower, and the narrow space at weld seams of on-site components makes it impossible to fix the robot's base, resulting in low movement accuracy and limited efficiency, thus hindering the large-scale application of collaborative robots.

[0042] Traditional collaborative robot mobility solutions primarily rely on manual handling or simple trolley transport. Operators must manually disassemble the robot base, manually transport it or use a crane to lift it to the target location, reinstall it, and calibrate the coordinates. This increases the workload of operators and consumes a significant amount of crane waiting time. Furthermore, frequent and prolonged handling of the collaborative robot body can lead to damage to the robot's moving joints, decreased precision, and wear, damage, or loss of robot-related accessories or components.

[0043] The drawbacks of the aforementioned traditional technical solutions are:

[0044] 1) Manual handling is inefficient and unsafe, and can easily cause equipment damage or personnel injury;

[0045] 2) Fixed guide rails lack flexibility and are difficult to adapt to multi-station and multi-process collaborative operations;

[0046] 3) The robot coordinate system needs to be recalibrated after the movement, which takes a long time and affects the production cycle.

[0047] 4) It occupies overhead crane or forklift resources, increasing the complexity of workshop equipment scheduling.

[0048] The following is combined with Figures 1 to 3 The following describes embodiments of the present invention.

[0049] According to an embodiment of the present invention, a collaborative robot auxiliary support is provided, comprising:

[0050] There are two guide rails 1, which extend along the flow direction of the component 18 to be processed. The guide rail 1 may include a rectangular steel pipe and a track. There are two rectangular steel pipes, which are fixed along the flow direction of the workshop component. The length can be 8 meters. They can be welded and fixed to the embedded part 17 on the workshop floor. The track can be laid on the rectangular steel pipe. The track on the old machine tool can be used, and a traveling pulley is provided. The distance between the tracks can be 3.3 meters.

[0051] The gantry 2 is slidably mounted on two guide rails 1. The gantry 2 can connect the rails and pulleys on both sides, so that the entire gantry 2 can slide smoothly on the rails without obstruction. The gantry 2 can be powered without output and can be locked by the operator after being pushed to the designated position.

[0052] The slide assembly is slidably mounted on the gantry 2;

[0053] The collaborative robot 3 has an electromagnet located at its bottom end, which can be positioned internally at the bottom end and is suitable for detachable connection to the slide assembly via magnetic force. The slide assembly has a magnetic component capable of connecting to the electromagnet.

[0054] In this application, the magnetic connection of the electromagnet enables the collaborative robot 3 to be quickly fixed and separated from the slide assembly, avoiding the tedious operations of traditional manual handling or disassembly of the robot base, reducing labor intensity, and minimizing problems such as damage to robot joints, wear or loss of parts caused by frequent handling. Simultaneously, the stability of the magnetic connection ensures that the collaborative robot 3 is not easily displaced during operation, guaranteeing the precision of welding and other tasks. This application also allows the collaborative robot 3 to move flexibly to different workstations, meeting the needs of multi-workstation, multi-process collaborative operations without occupying overhead cranes or forklifts, optimizing workshop equipment scheduling, improving production continuity and efficiency, and better adapting to the operational requirements of complex scenarios such as steel structure workshops.

[0055] In one alternative embodiment, the component to be processed 18 is located between two guide rails 1.

[0056] In this application, placing the component between the guide rails 1 allows the collaborative robot 3 on the gantry 2 to get closer to the component 18 to be processed, shortening the robot's working radius and reducing the robot's movement distance in the X / Y directions, thereby improving work efficiency. At the same time, the collaborative robot 3 can operate from both sides or around the component, which is especially suitable for scenarios with narrow weld seam spaces, avoiding the problem of limited robot operation caused by component position deviation.

[0057] In one alternative embodiment, the gantry 2 is slidably connected to the guide rail 1 via a self-locking pulley 4.

[0058] In this application, the self-locking pulley 4 ensures that the gantry 2 can slide smoothly along the guide rail 1 to meet the needs of multi-position adjustment, and can also reliably lock after the gantry 2 moves to the designated position to prevent accidental sliding of the gantry 2 during operation, thereby improving the safety of operation. The operator can easily push the gantry 2 to the target position as needed without relying on complex power equipment, thus reducing equipment costs and energy consumption.

[0059] In one alternative implementation, the slide assembly includes:

[0060] There are two slide rails 5, which extend in a direction perpendicular to guide rail 1;

[0061] Slider 6 is set on the two slide rails 5 respectively;

[0062] A slide 7 is connected to two sliders 6, and the collaborative robot 3 is mounted on the slide 7. The slide 7 is made of magnetic material.

[0063] In this application, two parallel slide rails 5 cooperate with sliders 6 to provide stable guidance for the movement of the slide table 7, ensuring smoother movement of the slide table 7 in the direction perpendicular to the guide rail 1 and improving the accuracy of the collaborative robot 3's movement in the Y-axis direction. The design of the slide table 7 connecting the two sliders 6 enhances the rigidity of the overall structure, effectively supporting the weight of the collaborative robot 3, and is less prone to deformation during robot operation, ensuring long-term stability. Furthermore, the slide rail 5 and slider 6 structure facilitates maintenance and replacement. When components wear out, the damaged slide rail 5 or slider 6 can be replaced individually, reducing maintenance costs. It also adapts to the high-intensity operation requirements in complex environments such as steel structure workshops, helping to extend the equipment's service life. The extension direction of the gantry 2 is the Y-axis direction, and the extension direction of the guide rail 1 is the X-axis direction.

[0064] In one alternative embodiment, the slide assembly further includes:

[0065] A lead screw 8 is disposed between two slide rails 5, and the slide table 7 is screwed to the lead screw 8; a protrusion that is screwed to the lead screw 8 may be provided on the slide table 7.

[0066] A support 9 is mounted on the bracket, and the lead screw 8 is rotatably connected to the support 9. There can be two supports 9, respectively located at both ends of the lead screw 8.

[0067] In this application, the screw connection between the lead screw 8 and the slide table 7 enables precise transmission of the slide table 7. The rotation of the lead screw 8 drives the slide table 7 to move smoothly along the slide rail 5, ensuring the accuracy of the slide table 7's movement in the Y-axis direction and meeting the precise positioning requirements of the collaborative robot 3 for different weld seam positions. The support 9 provides rotational support for the lead screw 8, preventing radial runout during rotation and enhancing the stability of the lead screw 8's transmission, which is beneficial for improving the quality of welding and other operations. Simultaneously, the layout of the lead screw 8 between the two slide rails 5 makes the slide table assembly structure more compact, saving installation space and adapting to the densely packed, space-constrained working environment of steel structure workshops, thus improving the space utilization rate of the equipment.

[0068] In one alternative embodiment, the lead screw 8 is driven by a motor 12. The motor 12 may be a servo motor 12. The motor 12 may be connected to the gantry 2.

[0069] In this application, the motor 12 drive realizes automated control of the rotation of the lead screw 8, replacing the traditional manual pushing method, reducing manual intervention, lowering the labor intensity of operators, and avoiding errors that may occur during manual operation, thus ensuring the consistency and accuracy of the slide table 7's movement. The motor 12 drive can cooperate with the control system of the collaborative robot 3 to achieve coordinated linkage between the movement of the slide table 7 and the robot's operation. For example, it can automatically adjust the moving distance and speed of the slide table 7 according to the weld length, improving the automation level and production efficiency of the operation.

[0070] In one optional embodiment, a speed regulating component is connected between the motor 12 and the lead screw 8, the speed regulating component comprising:

[0071] The first speed regulating gear 10 is connected to the output shaft of the motor 12; specifically, the first speed regulating gear 10 can be mounted on the output shaft of the motor 12 or on the transmission shaft connected to the output shaft of the motor 12.

[0072] The second speed regulating gear 11 is connected to the lead screw 8; the second speed regulating gear 11 can be fitted onto the end of the lead screw 8.

[0073] The first speed regulating gear 10 meshes with the second speed regulating gear 11. The transmission ratio between the first speed regulating gear 10 and the second speed regulating gear 11 can be less than 1, making the speed regulating component a speed reduction component.

[0074] In this application, the rotational speed of the lead screw 8 can be adjusted by the transmission ratio of the first speed regulating gear 10 and the second speed regulating gear 11, thereby realizing the adjustment of the moving speed of the slide table 7.

[0075] In one alternative embodiment, a positioning tube 13 is provided on the slide 7, and the bottom end of the collaborative robot 3 is located inside the positioning tube 13.

[0076] In this application, the positioning tube 13 can position the bottom of the collaborative robot 3, ensuring that the collaborative robot 3 can quickly find the correct position when installed on the slide table 7. This reduces the time and difficulty of manual alignment, allowing operators to quickly complete the installation or replacement of the robot and improving the efficiency of the work preparation stage. At the same time, the cooperation between the positioning tube 13 and the bottom of the robot can limit the robot's horizontal displacement, enhance the robot's stability during operation, avoid robot position deviation caused by external vibration or collision, and ensure the accuracy of welding and other operations.

[0077] Two collaborative robots 3 are installed on the gantry 2. They are driven by high-precision linear guide rails 5 and sliders 6, equipped with servo motors 12 and reduction gears. The two collaborative robots 3 can be operated simultaneously to move in the Y-axis direction. The servo motors 12 are controlled by the collaborative robots 3 to supplement the working range of the collaborative robots 3 in the Y-axis direction. During the welding process, the slide table 7 can move according to the length of the weld. The reach of the collaborative robot 3 can reach the short weld, while the Y-axis servo mechanism is needed to move the long weld.

[0078] In one optional embodiment, a positioning hole is provided on the side wall of the positioning tube 13, and a positioning bolt 14 is screwed into the positioning hole. The positioning bolt 14 is adapted to fix the bottom end of the collaborative robot 3 inside the positioning tube 13.

[0079] In this application, the positioning bolt 14 securely locks the bottom of the collaborative robot 3 into the positioning tube 13 via a screw connection, forming a dual guarantee of mechanical and magnetic fixation. This effectively prevents the robot from loosening or shifting due to vibration, impact, or other factors during operation, ensuring operational safety and accuracy. The screw connection method allows the fixing force to be adjusted according to actual needs, ensuring both the strength of the connection and avoiding damage to the robot or positioning tube 13 caused by over-tightening, providing good flexibility. Furthermore, the positioning bolt 14 has a simple structure and is easy to operate, allowing operators to quickly complete the tightening or loosening operations. This facilitates the daily maintenance, repair, and workstation changes of the collaborative robot 3, improving the ease of operation of the equipment.

[0080] In this application, the starting point of the weld can be marked by dragging the robotic arm of the collaborative robot 3, and then the ending coordinates can be marked manually. No teach pendant programming is required, making it simple to learn and use; ordinary operators can quickly start working after a short training session.

[0081] Collaborative robot auxiliary support operation process:

[0082] 1. The operator hoists the workpiece onto the welding platform, marks the target work position coordinates, and moves the gantry 2 along the X direction to the target position (the gantry 2 can be manually pulled to the welding position);

[0083] 2. Fix the collaborative robot 3 onto the slide table 7 using an electromagnet, and adjust the position of the collaborative robot 3 in the Y direction so that the collaborative robot 3 moves to the target position along the Y direction;

[0084] 3. After the collaborative robot 3 is powered on, it directly calls the calibrated coordinate system parameters without the need for manual calibration;

[0085] 4. The operator drags the collaborative robot 3 to the teaching point of the weld start point, records the coordinates, and can record 10 weld position information at the same time. After completion, welding begins.

[0086] 5. After completing the task at the current workstation, repeat the above process to switch to the next workstation. This application supports collaborative operation of multiple robots.

[0087] Beneficial effects:

[0088] 1. Improved movement efficiency: The X / Y sliding rail 5 system of this application enables the collaborative robot 3 to complete the workstation switch within 30 seconds, which is 80% more efficient than manual handling;

[0089] 2. Reduced labor costs: A single operator can manage multiple collaborative robots; 3. Mobility reduces labor requirements by 60%;

[0090] 3. Ensure positioning accuracy: Servo drive and high-precision slide rail ensure repeatability error ≤0.1mm, meeting the requirements of precision operation;

[0091] 4. Optimize resource usage: No need to rely on overhead cranes or forklifts, reducing equipment conflicts in the workshop and supporting 24-hour continuous production.

[0092] The dual-axis slide rail 5 system proposed in this application enables high-precision movement and rapid positioning of collaborative robots in the X / Y directions; the integrated magnetic locking device solves the technical problems of shaking and recalibration after movement during welding; the modular slide rail 5 structure is compatible with various collaborative robots 3, supporting rapid deployment and expansion in the workshop.

[0093] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A collaborative robot auxiliary support, characterized in that, include: There are two guide rails (1) that extend along the flow direction of the component (18) to be processed; The gantry (2) is slidably mounted on two guide rails (1); The slide assembly is slidably mounted on the gantry (2); The collaborative robot (3) has an electromagnet at its bottom end, which is suitable for detachable connection with the slide assembly by magnetic force.

2. The collaborative robot auxiliary support according to claim 1, characterized in that, The component to be processed (18) is located between two guide rails (1).

3. The collaborative robot auxiliary support according to claim 1, characterized in that, The gantry (2) is slidably connected to the guide rail (1) via a self-locking pulley (4).

4. The collaborative robot auxiliary support according to claim 1, characterized in that, The slide assembly includes: There are two slide rails (5), which extend in a direction perpendicular to the guide rail (1); Slider (6) is set on two slide rails (5); A slide (7) is connected to two sliders (6), and the collaborative robot (3) is mounted on the slide (7).

5. The collaborative robot auxiliary support according to claim 4, characterized in that, The slide assembly also includes: A lead screw (8) is disposed between two slide rails (5), and the slide table (7) is screwed to the lead screw (8); The support (9) is mounted on the bracket, and the lead screw (8) is rotatably connected to the support (9).

6. The collaborative robot auxiliary support according to claim 5, characterized in that, The lead screw (8) is driven by a motor (12).

7. The collaborative robot auxiliary support according to claim 6, characterized in that, A speed regulating component is connected between the motor (12) and the lead screw (8), the speed regulating component including: The first speed regulating gear (10) is connected to the output shaft of the motor (12); The second speed regulating gear (11) is connected to the lead screw (8); The first speed regulating gear (10) meshes with the second speed regulating gear (11).

8. The collaborative robot auxiliary support according to claim 4, characterized in that, The slide (7) is provided with a positioning tube (13), and the bottom end of the collaborative robot (3) is located inside the positioning tube (13).

9. The collaborative robot auxiliary support according to claim 8, characterized in that, The positioning tube (13) has a positioning hole on its side wall, and a positioning bolt (14) is screwed into the positioning hole. The positioning bolt (14) is suitable for fixing the bottom end of the collaborative robot (3) inside the positioning tube (13).

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