CN-122008154-A - Multi-degree-of-freedom industrial robot collaborative operation device

CN122008154ACN 122008154 ACN122008154 ACN 122008154ACN-122008154-A

Abstract

The application mainly relates to the technical field of track robots, in particular to a multi-degree-of-freedom industrial robot collaborative operation device which comprises a top rail, a robot connected to the top rail through a movable seat, a walking rail wheel connected to the movable seat through a walking rotating shaft, a driving and controlling assembly, a rotation limiting assembly, an actuating assembly and a sliding limiting assembly, wherein the driving and controlling assembly is in transmission coupling with the walking rotating shaft at a coupling position to drive the walking rotating shaft to rotate, the driving and coupling is released at a decoupling position, the rotation limiting assembly can be releasably clamped with the walking rotating shaft, the actuating assembly drives the rotation limiting assembly to be clamped with the walking rotating shaft, the sliding limiting assembly moves to the coupling position to release the clamping, extends out of the movable seat and is propped against the top rail in response to the driving and controlling assembly moving to the decoupling position, and is stored in the movable seat and separated from the top rail to release the sliding limitation.

Inventors

LIU GUANMING
He Xuzirui
ZENG YUTONG
GAO YUAN
CHEN FENG
ZANG ZHAOLIANG
LIN ZHENWEI
SONG GAOZHI
ZHU JIANGHUI
GAO JIANLIN
WANG XURUI
WANG XIAN
Yan shiyang
YU CHENGHANG

Assignees

上海海事大学

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. The utility model provides a multi freedom industrial robot cooperation device, includes the sky rail and passes through the robot that removes the seat and connect on this sky rail, remove and be connected with the walking rail wheel through the walking pivot on the seat, its characterized in that, the device still includes: The driving and controlling assembly is arranged on the movable seat in a reciprocating manner between a coupling position and a decoupling position, the coupling position is used for driving and coupling the walking rotating shaft to rotate so as to drive the walking rotating shaft, and the decoupling position is used for decoupling the driving and coupling with the walking rotating shaft; the rotation limiting assembly is arranged on the movable seat and can be used for releasably clamping the walking rotating shaft so as to releasably limit the walking rotating shaft to rotate; The actuating assembly is arranged on the movable seat, is connected with the driving and controlling assembly and the rotation limiting assembly, drives the rotation limiting assembly to clamp the walking rotating shaft in response to the driving and controlling assembly moving to the disengaging position and moves to the coupling position to release the clamping, and And the sliding limiting assembly is arranged on the movable seat and is in transmission connection with the driving and controlling assembly, and responds to the driving and controlling assembly to move to the disengaging position, extends out of the movable seat and is propped against the top rail to limit the sliding of the movable seat, and moves to the coupling position to be stored in the movable seat and separated from the top rail to release the sliding limitation.
2. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 1, wherein a driving and controlling rack is fixedly arranged on the movable base, the driving and controlling assembly comprises a sliding seat, a driving and controlling motor, a driving and controlling gear, a driving and controlling member, a support and a sliding column, the sliding seat is horizontally and slidably arranged on the movable base, the driving and controlling motor is fixedly arranged on the sliding seat, one side of the sliding seat is connected with the sliding limiting assembly, the driving and controlling gear and the driving and controlling member are respectively fixedly arranged at the output end of the driving and controlling motor, the driving and controlling gear is rigidly meshed with the driving and controlling rack, a rotating member in transmission coupling with the driving and controlling member is arranged on the walking rotating shaft, the support is fixedly arranged on the sliding seat, and the sliding column in sliding fit with the actuating assembly is fixedly arranged on one side of the support.
3. The multi-degree-of-freedom industrial robot cooperative working device according to claim 2, wherein an elastic rack is provided on the moving seat, the elastic rack is slidably disposed at one end side of the driving rack and is arranged in parallel, the elastic rack and the driving rack are connected through a spring, when the driving assembly moves toward the coupling position, the driving gear rotates forward until the driving gear rotates onto the elastic rack and keeps elastic reciprocating engagement, one end of the elastic rack away from the spring is initially abutted against the moving seat, and when the driving gear rotates reversely, the elastic rack keeps rigid engagement with the driving gear until the driving gear rotates from the elastic rack back to the driving rack.
4. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 3, wherein the actuation assembly comprises a sleeve, a conical sleeve and a connecting sleeve, the sleeve is sleeved outside the walking rotating shaft, the inner wall of the sleeve is in spline connection with the walking rotating shaft, the conical sleeve and the connecting sleeve are respectively fixed at two ends of the sleeve, the conical sleeve is in sliding contact fit with the rotation limiting assembly, an annular groove is formed in the connecting sleeve, and the annular groove is in sliding contact fit with the sliding column along the circumferential direction but in limiting fit along the axial direction.
5. The multi-degree-of-freedom industrial robot collaborative operation apparatus according to any one of claims 1-4, wherein the rotational limit assembly comprises a fixed seat, a sliding block, a first limit spring, a connecting piece, an L-shaped side frame and a limit wheel, the fixed seat is fixed on a movable seat, the limit wheel is located at one side of a conical sleeve and fixedly connected with a traveling rotating shaft, two sliding blocks are slidably mounted on the movable seat, the two sliding blocks are distributed at two radial sides of the conical sleeve, the two sliding blocks are mutually connected through the first limit spring, the connecting piece which is slidably matched with the outer wall of the conical sleeve is fixed at one side opposite to the two sliding blocks, the L-shaped side frame is fixed on the two sliding blocks, and one end of the L-shaped side frame is close to the limit wheel and is matched with a limit groove which is circumferentially distributed on the limit wheel.
6. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 3, wherein the sliding limiting assembly comprises a first limiting rack, a limiting gear, a second limiting rack and a limiting plate, the limiting gear is horizontally rotatably installed on the moving seat, the first limiting rack and the second limiting rack are distributed on two sides of the limiting gear and are meshed with the two limiting gears, the first limiting rack is fixedly connected with one side of the sliding seat, and one end of the second limiting rack is provided with the limiting plate for being in abutting contact with the inner wall of the top rail.
7. The multi-degree-of-freedom industrial robot collaborative operation device according to claim 5, wherein the sliding limiting assembly further comprises an L-shaped block, a guide post and a limiting spring II, the L-shaped block is horizontally and slidably mounted on the movable seat, the limiting rack II is fixedly connected with the L-shaped block, one end of the L-shaped block is parallel to the inner wall of the head rail and horizontally and slidably distributed with the guide post, one end of the guide post is fixedly provided with the limiting plate, and the limiting spring II is mounted between the limiting plate and the L-shaped block.
8. The multi-degree of freedom industrial robot collaborative operation apparatus according to claim 4, wherein the tapered sleeve has a first stop collar and a second stop collar along an axial direction, and the connector is in sliding contact engagement with the tapered sleeve and is located between the first stop collar and the second stop collar along an axial upper limit.
9. The multi-degree of freedom industrial robot cooperative working apparatus of claim 4 wherein the sleeve, the conical sleeve and the connecting sleeve are cast by an integral molding process in the axial direction, and are divided into two half cylinders in the radial direction, and the two half cylinders are detachably assembled into a whole.
10. The multi-degree of freedom industrial robot cooperative work device of claim 1 wherein the first and second racks are driven by the first rack gear to move toward opposite sides in a set direction orthogonal to a track extending direction of the head rail and a height direction of the device.

Description

Multi-degree-of-freedom industrial robot collaborative operation device Technical Field The invention relates to the technical field of industrial robots, in particular to a multi-degree-of-freedom industrial robot collaborative operation device. Background The multi-degree-of-freedom industrial robot collaborative operation device has become one of core equipment in the scenes of automobile welding, engineering machinery loading and unloading, high-altitude material handling and the like by virtue of the advantages of high-altitude operation, heavy load and flexible collaboration. The typical structure is a combined structure of a top rail, a walking structure and a robot, the position of the robot is adjusted by walking along the top rail through the walking structure, and complex procedures of welding, carrying and the like are achieved through cooperation of multiple robots. The existing device relies on the friction between the walking structure and the top rail to realize static limit, or adopts single rotation limit, such as brake block braking walking structure, in the actual use process, the robot scheme still has certain defects: firstly, when the walking structure is excessively loaded and is positioned in a region with a larger gradient on the top rail, the walking structure can not effectively limit the walking structure by only depending on the friction between the walking structure and the top rail, the friction limit is easy to lose efficacy, and the walking structure slides along the top rail, so that the robot high-altitude falling or equipment collision accident is caused; secondly, the single rotation limit can only limit the rotation of the walking structure, and the sliding component force of the walking structure cannot be resisted, and particularly under heavy load, the risk that the wheels do not rotate but slide integrally still exists, so that the position adjustment precision of the robot is poor, and the efficiency and the quality of the collaborative operation of multiple robots are reduced. The prior art provides a track robot with a power driving device, which comprises an I-shaped track, a travelling mechanism and a limiting mechanism. In the travelling mechanism, a double-shaft motor is adopted to drive a bevel gear to rotate, and a vertical rail wheel and a lateral rail wheel are synchronously driven to rotate, so that a robot is driven to travel along a track. In stop gear, drive through electric putter and remove the frame and remove, and then drive the locating plate rotation on the movable seat through rack and pinion structure, through the friction between locating plate and the track, realize the slip spacing to the movable seat. In this solution, although the anti-skid limit of the mobile seat is achieved, it is not mentioned how the travelling mechanism is limited. In the conventional situation, the double-shaft motor can adopt a braking motor to realize braking limit of the travelling mechanism. Therefore, the brake limit of the running mechanism is realized, the anti-skidding limit of the robot moving seat is realized, the position adjustment precision of the robot on the track can be improved to a certain extent, and even so, the scheme still has the following problems, for example, the running mechanism, the running brake mechanism and the anti-skidding limit mechanism at least need to be controlled by adopting two independent driving sources and respectively transmit power through independent driving mechanisms, the structure is complex, the equipment cost is high, the weight is large, and the position adjustment is required to be controlled for a plurality of cooperative units formed by a plurality of robots, so that the system robustness and the real-time performance are poor. Disclosure of Invention The technical problem to be solved by the invention is to overcome the defects of the prior art, and provide the multi-degree-of-freedom industrial robot collaborative operation device which has the advantages of simple transmission structure and high position adjustment precision. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The device comprises a top rail, a robot connected to the top rail through a moving seat, a driving component and a sliding limiting component, wherein the driving component is mounted on the moving seat in a reciprocating manner between a coupling position and a decoupling position, the driving component is used for driving the walking rotating shaft to rotate in a transmission mode, the driving component is used for decoupling the transmission coupling with the walking rotating shaft in the decoupling position, the rotating limiting component is mounted on the moving seat and used for releasably clamping the walking rotating shaft to releasably limit the rotation of the walking rotating shaft, the actuating component is mounted on the moving seat, the driving component is connected wi