CN223981823U - Gantry self-propelled cooperative robot - Google Patents

Abstract

The utility model relates to the technical field of aerospace machinery, in particular to a gantry self-propelled cooperative robot. When the existing aerospace part products are produced, the truss is inconvenient, and the KBK structure cannot be suitable for the production of products with other structures. Some old workshops have smaller spaces, and the distance between production stations is narrower, so that various workshops need to be replaced to run in different workshops. The self-propelled gantry type cooperative robot is characterized in that an electric control cabinet is arranged above the self-propelled gantry type cooperative robot, a reverse-hanging type cooperative robot is arranged below the electric control cabinet, 6 shafts are arranged on the cooperative robot, 6 degrees of freedom of workpiece grabbing can be achieved, a wheel set is arranged below a frame body, multiple moving modes including forward movement, backward movement and in-situ rotation are achieved, and a tool base and clamping jaw assemblies on two sides of the tool base can be freely disassembled and assembled on the cooperative robot to grab workpieces. The utility model has reasonable structure, is not limited by the field when the workpiece is carried, and can cross the gantry structure vehicles of the product stacking points and stations.

Description

Gantry self-propelled cooperative robot

Technical Field

The utility model relates to the technical field of aerospace machinery, in particular to a gantry self-propelled cooperative robot.

Background

When the existing aerospace part products are produced, the product structure is complex. The working condition that the truss is inconvenient to use and the KBK structure cannot be suitable for production of products with other structures often exists. Some companies have smaller space in old workshops, but have narrower distances between production stations, and require replacement of various tools and operation in different workshops. If some accessories are required to be assembled, the weight is slightly larger, and the volume is slightly larger. If a single device is used, there are a series of problems, mainly as follows:

when only truss is used:

The truss car cannot be taken, products on the workshop/factory building wall cannot be taken, the truss car is occupied for a long time, the weight of the products is not necessary to use the truss car, but the products are manually taken and not moved, if the truss car is used for hoisting and matched assembly, the truss car is required to be taken for a long time, and the truss car is inconvenient to use and cannot be used in other workshops.

When only RGVs are used, they cannot be moved to other workshops due to the influence of rails, cables, etc.

When the AGV is only used, the carrying flexibility is good, but the requirements on ground channels are high (the channels are wide, but the workshop channels are small) when the AGV is used by a common structure, and the AGV is inconvenient to use. The grabbing of the product is inconvenient.

When only manual or mechanical personnel are used:

when the manual tool is used, the weight of the matching part is heavy, and the manual work can not assist in long-time production

When the 6-axis robot is used, the teaching and debugging of the 6-axis robot are complex, and the requirement on the consistency of products is high (the point location precision requirement is higher). However, the actual product quantity is not large, the precision is not high, and the common 6-axis mechanical arm is not suitable for the situation

Disclosure of utility model

The utility model aims to overcome the defects of the prior art and provides a gantry self-propelled cooperative robot which is not limited by a field.

The gantry self-propelled cooperative robot comprises a frame body, wherein an electric control cabinet is arranged above the frame body, an inverted cooperative robot is arranged below the electric control cabinet, 6 shafts are arranged on the cooperative robot, 6 degrees of freedom of grabbing workpieces can be achieved, a wheel set for moving is arranged below the frame body, multiple moving modes including forward, backward and in-situ rotation can be achieved, and a tool base and clamping jaw assemblies on two sides of the cooperative robot can be freely disassembled and assembled to grab the workpieces.

The utility model has the advantages of reasonable structure, no limit of the place when the workpiece is carried, and the utility model can directly cross the gantry structure vehicles of the product stacking points and stations. The application range is wide, and the device is particularly suitable for carrying aerospace products.

As a further refinement and addition to the above solution, the utility model also comprises the following additional technical features:

The 6 shafts on the cooperative robot comprise an A shaft used for fixing, a B shaft perpendicular to the A shaft, a C shaft oblique to the B shaft, a D shaft oblique to the C shaft, an E shaft connected with the D shaft, an F shaft connected with the E shaft, and the joints of the shafts can be rotationally arranged, and the demonstrator can also be used for drag operation. Convenient to use.

The clamping jaw assembly comprises clamping jaws, clamping jaw seats, an electric cylinder and a connector, wherein the upper part of the connector is connected with the electric cylinder, connecting rods are arranged on two sides of the connector, one side of each connecting rod is rotatably connected with the clamping jaw, the clamping jaw is driven by the electric cylinder to realize telescopic action of the clamping jaw to grip, the other part of each clamping jaw is rotatably connected to the clamping jaw seats, when the electric cylinder stretches out, the connecting rod is downwards moved, the clamping jaw outwards rotates around the connecting rod, the clamping jaw is in a loosening state, and when the electric cylinder is restored, the connecting rod is horizontally arranged with the connector and is in a clamping state and self-locking. Clamping and loosening, and reliable action.

The wheel set comprises a driven wheel and a horizontal steering wheel. Can realize the functions of self-locking, rotation, movement and the like.

The self-propelled gantry cooperative robot is powered by a rechargeable battery, and the battery can supply power to the wheel set and the cooperative robot at the same time. The power supply is reasonable in arrangement, and normal operation can be guaranteed.

The self-propelled gantry type cooperative robot is provided with a touch screen. The operation is convenient.

The frame body on be equipped with a plurality of strengthening strips. Effectively strengthen and have good strength.

The clamping jaw seat is covered with an upper cover. And effectively protecting parts.

The utility model has the following beneficial effects:

1. the utility model has reasonable structure and is not limited by the field;

2. The vehicle with a gantry structure has a large span and can directly cross product stacking points and stations.

3. The carrier can be operated in old workshops and narrow channels.

4. A cart of collaborative robots may be installed.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is an exploded view of the present utility model.

Fig. 3 is a front view of the present utility model.

Fig. 4 is a left side view of the present utility model.

Fig. 5 is a schematic view of the configuration of the cooperative robot 5 in the present utility model.

Fig. 6 is a schematic diagram of the cooperative robot 5 in the present utility model.

Fig. 7 is a schematic view of the structure of the jaw assembly 7 of the present utility model.

Fig. 8 is a front view of the jaw assembly 7 of the present utility model.

Fig. 9 is a top view (G-G cross section) of the jaw assembly 7 of the present utility model.

Fig. 10 is a left side view (H-H cross section) of the jaw assembly 7 of the present utility model.

Fig. 11 is a schematic view of the structure of the joint 75 in the present utility model.

Detailed Description

The following detailed description of specific embodiments of the utility model refers to the accompanying drawings.

As shown in fig. 1-11, the utility model is a gantry self-propelled collaborative robot.

The gantry self-propelled collaborative robot in the embodiment comprises a frame body 4, an electric control cabinet is arranged above the frame body, corresponding electric elements and chips are arranged in the electric control cabinet, and the whole robot is controlled by a program and a system. The machine frame body 4 is provided with a reverse-hanging type cooperative robot 5 below the electric appliance control cabinet, 6 shafts are arranged on the cooperative robot 5, the machine frame body 4 can grasp workpieces with 6 degrees of freedom, a wheel set for moving is arranged below the machine frame body 4, various moving modes including forward, backward and in-situ rotation can be realized, and the tool base 3 and clamping jaw assemblies 7 on two sides of the tool base can be freely disassembled and assembled on the cooperative robot 5 to grasp the workpieces.

Further, the 6 shafts on the cooperative robot 5 comprise an A shaft used for fixing, a B shaft perpendicular to the A shaft, a C shaft inclined to the B shaft, a D shaft inclined to the C shaft, an E shaft connected with the D shaft, an F shaft connected with the E shaft, a tool base 3, and all shaft connecting parts can be rotatably arranged, and the teaching device can be used or can be operated in a dragging mode. A first connecting pipe 51 for connection is arranged between the B axis and the C axis, and a second connecting pipe 51 is arranged between the C axis and the D axis.

Further, the clamping jaw assembly 7 comprises a clamping jaw 71, a clamping jaw seat 72, an electric cylinder 73 and a connector 75, wherein one side of the clamping jaw seat 72 is provided with an opening, the upper side of the connector 75 is connected with the electric cylinder 73, two sides of the connector are provided with connecting rods 74, one side of each connecting rod 74 is rotatably connected with the clamping jaw 71, the clamping jaw 71 is driven by the electric cylinder 73 to perform telescopic action for grabbing, the connector 75 is arranged in a 'word', and two sides of the lower end of the connector are provided with grooves 751 with openings for clamping the connecting rods 74. The other part of the clamping jaw 71 is rotatably connected to the clamping jaw seat 72, when the electric cylinder 73 extends out, the connecting rod 74 moves downwards, the two connecting rods 74 and the joint 75 are arranged in a V shape, meanwhile, the clamping jaw 71 rotates outwards around the pin shaft 76 fixed on the connecting rod 74, the clamping jaw 71 is in a loosening state, and when the electric cylinder 73 is restored, the connecting rod 74 and the joint 75 are horizontally arranged, are in a clamping state and are self-locking.

In this embodiment, the two clamping jaws 71 are provided with inward concave arc grooves, and two opposite arc grooves are used for gripping the workpiece. The connecting rod 74 is connected with the joint 75, the connecting rod 74 is connected with the clamping jaw 71, and the clamping jaw 71 is connected with the clamping jaw seat 72 through the pin 76 and is fixed through the clamp spring 77. Meanwhile, the connecting rod 74 and the joint 75 are positioned in the clamping jaw seat 72, one end of the clamping jaw 71 is positioned in the clamping jaw seat 72, and one end provided with an arc-shaped groove extends outwards of the clamping jaw seat 72.

Further, the wheel set comprises a driven wheel 1 and a horizontal steering wheel 2. The driven wheel 1 and the horizontal steering wheel 2 are prior art and are not unfolded here.

Further, the gantry self-propelled collaborative robot is powered by a rechargeable battery 6, and the battery can supply power to the wheel set and the collaborative robot 5 at the same time.

Further, the self-propelled gantry type cooperative robot is provided with the touch screen 8, and the operation is convenient by using the touch screen 8.

Further, the frame body 4 is provided with a plurality of reinforcing strips 41, which are arranged in a triangle shape for effective reinforcement. The legs of the utility model are triangular in each direction, so that the rigidity of the legs of the utility model is improved.

Further, the jaw seat 72 is covered with an upper cover 78 to close the opening.

When the gantry self-propelled collaborative robot is used,

The preparation stage mainly comprises the following steps:

1. checking the charging condition of the battery 6, and ensuring the full state of the battery;

2. checking whether the information set on the touch screen 8 corresponds to a task to be executed;

3. Checking whether the horizontal steering wheel 2 brakes normally or not, and checking whether the driven wheel 1 is flexible or not;

4. checking whether the tool base 3 is firmly installed and the clamping jaw 71 is in a loose state;

5. checking whether the cooperative robot 5 is normal or not and is at a zero position or not;

6. A program (drag teaching) of the cooperative robot is prepared.

And (3) feeding:

Causing it to run to the initial position of the setup function. Then the gantry frame body 4 is driven by the wheel group (driven wheel 1 plus horizontal steering wheel 2) to start moving (can perform actions such as front and back, left and right, in-situ rotation, and the like). The gantry drives the reverse-hanging type cooperative robot 5 to run above the product stacking area, the clamping jaw on the reverse-hanging type cooperative robot 5 is used for grabbing products to be carried, then the gantry runs to a using station, and the clamping jaw is opened to put down the products.

And (3) blanking:

The gantry frame body 4 is driven by the wheel group (driven wheel 1+horizontal steering wheel 2) to start to move to the position above the product station. The arm is put down to a designated position by the reverse-hanging type cooperative robot 5, then the clamping jaw on the cooperative robot 5 clamps the product, the robot clamps the product to the highest position after grabbing the product, then the whole vehicle moves out with the product, and the finished product is carried to the designated position.

And (3) a transportation process:

The full trolley (containing products) of the gantry trolley is started from the cargo roadway/production station and runs (moves forward, moves backward, turns or rotates in situ) according to the working condition of the actual field.

The above description is not intended to limit the scope of the utility model, but is intended to cover modifications and improvements made by those skilled in the art in light of the present teachings.

Claims (8)

1. The gantry self-propelled cooperative robot comprises a frame body (4), an electric control cabinet is arranged above the frame body, and is characterized in that the frame body (4) is provided with a reverse-hanging cooperative robot (5) below the electric control cabinet, 6 shafts are arranged on the cooperative robot (5) and can be used for grabbing workpieces with 6 degrees of freedom, a wheel set used for moving is arranged below the frame body (4), various moving modes including forward movement, backward movement and in-situ rotation can be achieved, and a tool base (3) and clamping jaw assemblies (7) on two sides of the cooperative robot (5) can be freely disassembled and assembled to grab the workpieces.

2. The self-propelled gantry type cooperative robot of claim 1, wherein the 6 axes of the cooperative robot (5) comprise an A axis for fixing, a B axis perpendicular to the A axis, a C axis obliquely angled to the B axis, a D axis obliquely angled to the C axis, an E axis connected with the D axis, an F axis connected with the E axis, and the joints of the axes are rotatably arranged.

3. The gantry self-propelled collaborative robot according to claim 1, wherein the clamping jaw assembly (7) comprises a clamping jaw (71), a clamping jaw seat (72), an electric cylinder (73) and a joint (75), wherein the upper part of the joint (75) is connected with the electric cylinder (73), connecting rods (74) are arranged on two sides of the joint, one side of each connecting rod (74) is rotationally connected with the clamping jaw (71), the clamping jaw (71) is driven by the electric cylinder (73) to stretch out and draw back, the other part of each clamping jaw (71) is rotationally connected to the clamping jaw seat (72), when the electric cylinder (73) stretches out, the connecting rods (74) are downwards moved, the clamping jaws (71) rotate outwards around the connecting rods (74), the clamping jaws (71) are in a loose state, and when the electric cylinder (73) is restored, the connecting rods (74) and the joint (75) are horizontally arranged and are in a clamping state and self-locking.

4. The gantry self-propelled collaborative robot according to claim 1, wherein the wheel set comprises a driven wheel (1) and a horizontal steering wheel (2).

5. The self-propelled gantry type cooperative robot as claimed in claim 1, wherein the self-propelled gantry type cooperative robot is powered by a rechargeable battery (6), and the battery can supply power to the wheel set and the cooperative robot (5) at the same time.

6. The gantry self-propelled collaborative robot according to claim 1 is characterized in that a touch screen (8) is arranged on the gantry self-propelled collaborative robot.

7. The self-propelled cooperation robot of any of claims 1-6, wherein a plurality of reinforcement bars (41) are provided on the frame body (4).

8. The self-propelled gantry type cooperative robot as set forth in claim 3, wherein the jaw base (72) is covered with an upper cover (78).