Composite robot

Abstract

The embodiment of the utility model provides a composite robot. The composite robot comprises a collaborative robot, an adapter, a mounting plate and a clamping assembly, the clamping assembly is fixed to the mounting plate and connected with the adapter, the adapter comprises a first connecting part, and the clamping assembly is connected with the free end of the collaborative robot through the first connecting part; the clamping assembly comprises a power mechanism, two extension arms and two clamping pieces, the extension arms are parallel to the movement direction of the clamping pieces and are arranged at the two ends of the power mechanism in the movement direction of the clamping pieces, and the clamping pieces are connected with the power mechanism through the extension arms and are driven by the power mechanism to be used for clamping the material box; the adapter piece further comprises a second connecting part, the second connecting part is a guide rail which is arranged on the adapter piece and is parallel to the moving direction of the clamping pieces, the extension arms are connected with the guide rail in a sliding mode, and the power mechanism drives the extension arms to move on the guide rail in the opposite direction or the reverse direction so as to drive the two clamping pieces to conduct opening or clamping movement.

Description

Technical Field

[0001] The present application relates to the field of automation and robotics, and in particular to a composite robot. Background Art

[0002] The automation of mechanical equipment is an important development direction of industrial automation. Automated Guided Vehicle (AGV), also commonly known as AGV cart, refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path and has safety protection and various transfer functions. In the process of modern industrial production, AGV carts are usually used to realize automated handling operations.

[0003] During the handling process, the AGV cart will cooperate with the collaborative robot to clamp and grab the material box to be handled through the clamping assembly connected to the collaborative robot. The clamping assembly in the prior art can clamp a small load size, resulting in low handling efficiency. Utility Model Content

[0004] The purpose of the embodiment of the present application is to provide a composite robot to solve the problem of low handling efficiency of existing composite robots. The specific technical solution is as follows:

[0005] The embodiment of the present application provides a composite robot, including a collaborative robot, an adapter, a mounting plate and a clamping assembly; the clamping assembly is fixed on the mounting plate and connected to the adapter, the adapter includes a first connecting portion, and the clamping assembly is connected to the free end of the collaborative robot through the first connecting portion; the clamping assembly includes: a power mechanism, two extension arms and two clamping members, the extension arms are parallel to the movement direction of the clamping members, and are arranged at both ends of the power mechanism along the movement direction of the clamping members, the clamping members are connected to the power mechanism through the extension arms, and are used to clamp a material box under the drive of the power mechanism; the adapter also includes a second connecting portion, the second connecting portion is a guide rail provided on the adapter and parallel to the movement direction of the clamping members, the extension arms are slidably connected to the guide rail, and the power mechanism drives the extension arms to move toward or in the opposite direction on the guide rail, thereby driving the two clamping members to open or clamp.

[0006] In some embodiments, the clamping member includes a clamping arm and a clamping claw, one end of the clamping arm is connected to the extension arm, and the other end is connected to the clamping claw, along a first direction, the size of the clamping claw is larger than the size of the clamping arm, and the first direction is perpendicular to the movement direction of the clamping member.

[0007] In some embodiments, the clamp includes a first part and a second part, the first part is arranged along a first direction, the first direction is perpendicular to the movement direction of the clamping member, the second part is arranged at both ends of the first part along the first direction, the size of the second part along the second direction is larger than the size of the first part along the second direction, and the second direction is perpendicular to the movement direction of the clamping member and the first direction.

[0008] In some embodiments, the clamping arm includes a third part and a fourth part, the third part is parallel to the extension arm, one end of the third part is connected to the extension arm, and the other end is connected to the fourth part, the clamping claw is arranged at an end of the fourth part away from the third part, and a preset angle greater than or equal to 90° is formed between the third part and the fourth part.

[0009] In some embodiments, the second portion includes a clamping surface for clamping the material box, and at least one of the clamping surfaces is provided with a protrusion.

[0010] In some embodiments, at least one buffer is disposed on the clamping surface.

[0011] In some embodiments, the power mechanism includes a motor, a gear, and two racks meshing on both sides of the gear along the first direction, the two racks are respectively connected to the two extension arms, and the motor is connected to the gear to drive the gear to rotate, drive the two racks to move toward or in opposite directions, and then drive the two clamping members to move toward or in opposite directions.

[0012] In some embodiments, the adapter includes a transverse portion and a longitudinal portion, the longitudinal portion is connected to the transverse portion, and the adapter is an inverted "T"-shaped structure, the first connecting portion is arranged on the longitudinal portion; the guide rail is arranged on the transverse portion, and the clamping assembly also includes an outer shell, the outer shell is arranged on both ends of the transverse portion, and the guide rail and the extension arm are both located inside the outer shell.

[0013] In some embodiments, the compound robot further includes a camera, which is disposed on one side of the power mechanism, and a field of view of the camera is the same as a direction in which the clamping member takes in and places the material box.

[0014] In some embodiments, at least one of the clamping arms is provided with at least one first photoelectric sensor for detecting whether a material box is clamped between the two clamping jaws.

[0015] In some embodiments, it is characterized in that the composite robot also includes an AGV trolley, a control cabinet arranged on the upper surface of the AGV trolley, a collaborative robot located on the top surface of the control cabinet, and at least two storage devices and shock-absorbing components arranged in a one-to-one correspondence with the storage devices; the storage device includes a bearing surface, the bearing surface is inclined, and a baffle is provided on the lower side of the bearing surface; the shock-absorbing component includes a guide shaft, an elastic member sleeved on the guide shaft, and a linear bearing, the storage device is hollow inside, the guide shaft partially extends into the storage device, the bottom of the storage device is sleeved on the guide shaft through the linear bearing, the elastic member is located on the outside of the storage device, and one end is connected to the bottom of the storage device, and the other end is connected to the top of the control cabinet.

[0016] In some embodiments, there are two storage devices, and the two storage devices are arranged in point symmetry with the collaborative robot as the center.

[0017] In some embodiments, at least one first positioning block is disposed on the bearing surface, and a buffer block and at least one second positioning block are disposed on a side of the baffle facing the bearing surface.

[0018] In some embodiments, the composite robot further includes a vibrator, which is located in the storage device and connected to the bottom of the storage device.

[0019] In some embodiments, the composite robot further includes a press-type sensor and a second photoelectric sensor; the press-type sensor is arranged on the carrying surface of the storage device; a through hole is provided on the carrying surface, and the second photoelectric sensor is arranged inside the storage device and is arranged corresponding to the through hole.

[0020] In the embodiment of the present application, the collaborative robot is connected to the clamping assembly. After the material box is clamped by the clamping member of the clamping assembly, the collaborative robot can be controlled to drive the clamping assembly to move to realize the transportation of the material box. When the material box needs to be clamped, the power mechanism drives the two extension arms to move in opposite directions on the guide rail, so that the two clamping members are opened. After aligning the material box, the power mechanism drives the two extension arms to move toward each other on the guide rail, so that the two clamping members are clamped to achieve the clamping of the material box. The adapter includes a guide rail, which is parallel to the movement direction of the clamping member, and can provide guidance for the movement of the extension arm. The guide rail is slidably connected to the extension arm. The guide rail setting can also improve the stability of the extension arm during the movement process, and share the force for the connection between the extension arm and the power mechanism. The extension arm is arranged at both ends of the power mechanism along the movement direction of the clamping member, and the clamping member is connected to the power mechanism through the extension arm. Therefore, the setting of the extension arm increases the distance between the two clamping members, so that the clamping member can clamp a larger material box, thereby improving the handling efficiency of the composite robot.

[0021] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0023] Figure 1 An overall schematic diagram of a composite robot provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the coordination of a clamping assembly, a mounting plate and an adapter in a composite robot provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the coordination of a clamping assembly, a mounting plate, an adapter, and a housing in a composite robot provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a storage device in a composite robot provided in an embodiment of the present application;

[0027] Figure 5 A partial cross-sectional view of a storage device in a composite robot provided in an embodiment of the present application.

[0028] Reference numerals:

[0029] Collaborative robot 10; adapter 20; first connecting portion 21; transverse portion 22; longitudinal portion 23; second connecting portion 24; slider 241; mounting plate 30; clamping assembly 40; power mechanism 41; extension arm 42; clamping member 43; clamping arm 431; third portion 4311; fourth portion 4312; fifth portion 4312a; sixth portion 4312b; first photoelectric sensor 4313; clamping claw 432; first portion 4321; second portion 4322; clamping surface 4323; protrusion 4324; buffer 4325; housing 44; Camera 50; mounting seat 51; AGV trolley 60; control cabinet 70; storage device 80; upper plate 801; lower plate 802; side plate 803; data cable through hole 804; bottom plate 805; bearing surface 81; through hole 811; baffle 82; first positioning block 83; buffer block 84; second positioning block 85; vibrator 86; press sensor 87; second photoelectric sensor 88; positioning pin 89; shock absorbing assembly 90; guide shaft 91; elastic member 92; linear bearing 93; material box A; movement direction X of the clamping member; first direction Y; second direction Z. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0031] The present application embodiment provides a composite robot, such as Figure 1 As shown, the composite robot includes a collaborative robot 10, an adapter 20, a mounting plate 30 and a clamping assembly 40; the clamping assembly 40 is fixed on the mounting plate 30 and connected to the adapter 20, as shown in FIG. Figure 1 and Figure 2 As shown, the adapter 20 includes a first connecting portion 21, and the clamping assembly 40 is connected to the free end of the collaborative robot 10 through the first connecting portion 21; the clamping assembly 40 includes: a power mechanism 41, two extension arms 42 and two clamping members 43, the extension arms 42 are parallel to the movement direction X of the clamping members, and are arranged at both ends of the power mechanism 41 along the movement direction X of the clamping members, the clamping members 43 are connected to the power mechanism 41 through the extension arms 42, and are used to clamp the material box A under the drive of the power mechanism 41; the adapter 20 also includes a second connecting portion 24, the second connecting portion 24 is a guide rail provided on the adapter 20 and parallel to the movement direction X of the clamping member, the extension arm 42 is slidably connected to the guide rail, and the power mechanism 41 drives the extension arm 42 to move toward or in the opposite direction on the guide rail, thereby driving the two clamping members 43 to open or clamp.

[0032] In the present application embodiment, Figure 1 and Figure 2As shown, the collaborative robot 10 is connected to the clamping assembly 40. After the material box A is clamped by the clamping member 43 of the clamping assembly 40, the collaborative robot 10 can be controlled to drive the clamping assembly 40 to move to realize the transportation of the material box A. When the material box A needs to be clamped, the power mechanism 41 drives the two extension arms 42 to move in opposite directions on the guide rail, so that the two clamping members 43 are opened. After aligning the material box A, the power mechanism 41 drives the two extension arms 42 to move toward each other on the guide rail, so that the two clamping members 43 are clamped to realize the clamping of the material box A. The adapter 20 includes a guide rail, which is parallel to the movement direction X of the clamping member, and can provide guidance for the movement of the extension arm 42. The guide rail is slidably connected to the extension arm 42. The setting of the guide rail can also improve the stability of the extension arm 42 during the movement process, and share the force for the connection between the extension arm 42 and the power mechanism 41. The extension arms 42 are arranged at both ends of the power mechanism 41 along the movement direction X of the clamping member, and the clamping member 43 is connected to the power mechanism 41 through the extension arms 42. Therefore, the arrangement of the extension arms 42 increases the distance between the two clamping members 43, so that the clamping member 43 can clamp a larger material box A, thereby improving the handling efficiency of the composite robot. In addition, the clamping assembly 40 has a simple structure and a compact structure. While ensuring the reliability of clamping and handling, it greatly reduces the dead weight of the clamping assembly 40, increases the effective handling load of the collaborative robot 10, and reduces the material cost of the entire clamping assembly 40.

[0033] Specifically, the collaborative robot 10 may be a multi-axis robotic arm.

[0034] Among them, Figure 2 and Figure 3 As shown, the extension arm 42 can be slidably connected to the guide rail through the slider 241. More specifically, an intermediate connecting piece can be provided between the extension arm 42 and the slider 241.

[0035] In some embodiments of the present application, Figure 2 and Figure 3 As shown, the clamping member 43 includes a clamping arm 431 and a clamping claw 432. One end of the clamping arm 431 is connected to the extension arm 42, and the other end is connected to the clamping claw 432. Along the first direction Y, the size of the clamping claw 432 is larger than the size of the clamping arm 431. The first direction Y is perpendicular to the movement direction X of the clamping member.

[0036] In the embodiment of the present application, along the movement direction X perpendicular to the clamping member, the size of the clamping claw 432 is larger than the size of the clamping arm 431, so that the clamping claw 432 can clamp a material box A with a larger size along the movement direction X perpendicular to the clamping member, and the clamping arm 431 occupies a smaller space along the movement direction X perpendicular to the clamping member, so that the overall weight of the clamping member 43 is lower. Under the condition that the clamping weight of the collaborative robot 10 is certain, the lower the weight of the clamping member 43, the greater the weight of the material box A that can be clamped, thereby increasing the effective handling load and improving the handling efficiency of the composite robot.

[0037] Specifically, along the direction perpendicular to the movement direction X of the clamping member, the size of the clamping claw 432 is 5-7 times the size of the clamping arm 431 .

[0038] In some embodiments of the present application, the clamp 432 includes a first part 4321 and a second part 4322, the first part 4321 is arranged along a first direction Y, the first direction Y is perpendicular to the movement direction X of the clamping member, the second part 4322 is arranged at both ends of the first part 4321 along the first direction Y, the size of the second part 4322 along the second direction Z is greater than the size of the first part 4321 along the second direction Z, and the second direction Z is perpendicular to the movement direction X of the clamping member and the first direction Y.

[0039] In the embodiment of the present application, the clamp 432 includes a first part 4321 and a second part 4322, and the size of the second part 4322 along the second direction Z is larger than the size of the first part 4321 along the second direction Z. The clamp 432 is an "I"-shaped structure as a whole, which increases the contact area between the clamp 432 and the material box A, thereby increasing the clamping ability of the clamp 432.

[0040] In some embodiments of the present application, Figure 2 and Figure 3 As shown, the clamping arm 431 includes a third part 4311 and a fourth part 4312, the third part 4311 is parallel to the extension arm 42, one end of the third part 4311 is connected to the extension arm 42, and the other end is connected to the fourth part 4312, the clamping jaw 432 is arranged at one end of the fourth part 4312 away from the third part 4311, and a preset angle greater than or equal to 90° is formed between the third part 4311 and the fourth part 4312.

[0041] In the present application embodiment, Figure 2 and Figure 3As shown, the third part 4311 is parallel to the extension arm 42 and one end is connected to the extension arm 42, the fourth part 4312 is connected to the third part 4311, and a preset angle greater than or equal to 90° is formed between the third part 4311 and the fourth part 4312. The setting of the third part 4311 can increase the distance between the fourth part 4312, thereby further increasing the distance between the two clamping jaws 432, and further increasing the size of the clampable material box A.

[0042] Specifically, Figure 2 and Figure 3 As shown, the fourth part 4312 includes a fifth part 4312a and a sixth part 4312b, the fifth part 4312a is connected to the third part 4311, one end of the sixth part 4312b is connected to the end of the fifth part 4312a away from the third part 4311, and the other end of the sixth part 4312b is connected to the clamping jaw 432. The above-mentioned preset angle is the angle between the fifth part 4312a and the third part 4311, and the angle between the fifth part 4312a and the sixth part 4312b is also greater than 90°, so that the distance between the clamping jaws 432 connected to the sixth part 4312b is further expanded, and the size of the material box A that can be clamped is further increased.

[0043] In some embodiments of the present application, Figure 2 and Figure 3 As shown, the second part 4322 includes a clamping surface 4323 for clamping the material box A, and at least one clamping surface 4323 is provided with a protrusion 4324.

[0044] In the present application embodiment, Figure 2 and Figure 3 As shown, a protrusion 4324 is provided on the clamping surface 4323 of the second part 4322, and the protrusion 4324 can cooperate with the preset groove on the material box A, so that the clamping claw 432 can be more stable when clamping the material box A and is not easy to fall.

[0045] In some embodiments of the present application, Figure 2 and Figure 3 As shown, at least one buffer member 4325 is provided on the clamping surface 4323 .

[0046] The composite robot provided in the embodiment of the present application can be applied to the fields of photovoltaic, wafer or silicon wafer handling, and has a good effect in handling valuable and easily damaged products. In the embodiment of the present application, when the clamping jaw 432 clamps the material box A, the buffer 4325 can buffer the material box A to prevent damage to the valuable products in the material box A.

[0047] In some embodiments of the present application, the power mechanism 41 includes a motor (not shown), a gear (not shown) and two racks (not shown) meshed on both sides of the gear along a first direction Y, the two racks are respectively connected to two extension arms 42, and the motor is connected to the gear to drive the gear to rotate, drive the two racks to move toward or in opposite directions, and then drive the two clamping members 43 to move toward or in opposite directions.

[0048] In the embodiment of the present application, two racks are meshed on both sides of the gear. When the motor drives the gear to rotate, the gear can drive the two racks to move toward or in the opposite direction. Only one motor is needed to drive the two racks to move simultaneously, which can save energy and make the composite robot provided in the embodiment of the present application more environmentally friendly. The gear transmission makes the power mechanism 41 more compact, with high transmission efficiency and accurate transmission ratio, so that when the two racks drive the clamping member 43 to move, the movement process of the clamping member 43 is more accurate.

[0049] In some embodiments of the present application, Figure 3 and Figure 4 As shown, the adapter 20 includes a transverse portion 22 and a longitudinal portion 23, the longitudinal portion 23 is connected to the transverse portion 22, and the adapter 20 is an inverted "T"-shaped structure, and the first connecting portion 21 is arranged on the longitudinal portion 23; the guide rail is arranged on the transverse portion 22, and the clamping assembly 40 also includes a shell 44, the shell 44 is sleeved on both ends of the transverse portion 22, and the guide rail and the extension arm 42 are both located inside the shell 44.

[0050] In the embodiment of the present application, the transverse portion 22 and the longitudinal portion 23 of the adapter 20 are in an inverted "T"-shaped structure, and the transverse portion 22 is connected to the guide rail, and the first connecting portion 21 is provided at the longitudinal portion 23, so that the structure of the adapter 20 is more compact and the mass of the adapter 20 is reduced. The guide rail and the extension arm 42 are both located inside the housing 44, and the housing 44 can protect the guide rail and the extension arm 42 from dust and water.

[0051] In some embodiments of the present application, Figures 3 to 5 As shown, the composite robot further includes a camera 50 , which is disposed on one side of the power mechanism 41 , and the field of view of the camera 50 is the same as the direction in which the clamping member 43 takes in and places the material box A.

[0052] In the embodiment of the present application, the camera 50 has a shooting function, which is convenient for the composite robot to perform visual positioning, and provides the composite robot with the relative coordinate data of the collaborative robot 10 and the position to be grasped, thereby realizing a high-precision grasping and handling function, and improving the accuracy of the composite robot grasping the material box A. The field of view of the camera 50 is the first direction Y, that is, perpendicular to the movement direction X of the clamping member. The collaborative robot 10 can complete the coordinate calibration with the position to be grasped and the action of grasping the material box A without a large range of posture changes, which reduces the image data processing amount of the composite robot main controller, significantly improves the response speed and stability of the robot arm, and thus improves the handling efficiency of the composite robot.

[0053] Specifically, the camera 50 is an intelligent camera that does not need to be equipped with a separate light source and controller, and can independently process image data, greatly reducing the processing time of the main controller of the composite robot. Figure 4 As shown, the camera 50 is mounted on the side of the mounting plate via an L-shaped mounting seat 51 .

[0054] In some embodiments of the present application, Figures 3 to 5 As shown, at least one clamping arm 431 is provided with at least one first photoelectric sensor 4313 for detecting whether the material box A is clamped between the two clamping jaws 432 .

[0055] In the embodiment of the present application, the setting of the first photoelectric sensor 4313 can realize real-time monitoring of whether there is material between the clamping parts 43. The collaborative robot 10 can determine whether it needs to clamp the material box A based on this data, thereby improving the intelligence and automation level of the composite robot.

[0056] Specifically, there may be a plurality of first photoelectric sensors 4313 , which are arranged in parallel on the clamping arm 431 along the extending direction of the clamping arm 431 . Alternatively, a plurality of first photoelectric sensors 4313 may be arranged on two clamping arms 431 at the same time.

[0057] In some embodiments of the present application, Figure 1 , Figure 5As shown, the composite robot also includes an AGV (Automated Guided Vehicle, AGV for short) trolley 60, a control cabinet 70 arranged on the upper surface of the AGV trolley 60, and a collaborative robot 10 located on the top surface of the control cabinet 70 and at least two storage devices 80 and shock-absorbing components 90 arranged one-to-one with the storage devices 80; the storage device 80 includes a bearing surface 81, the bearing surface 81 is inclined, and a baffle 82 is provided on the lower side of the bearing surface 81; the shock-absorbing component 90 includes a guide shaft 91, an elastic member 92 and a linear bearing 93 sleeved on the guide shaft 91, the storage device 80 is hollow inside, the guide shaft 91 partially extends into the storage device 80, the bottom of the storage device 80 is sleeved on the guide shaft 91 through the linear bearing 93, the elastic member 92 is located on the outside of the storage device 80, and one end is connected to the bottom of the storage device 80, and the other end is connected to the top of the control cabinet 70.

[0058] In the embodiment of the present application, the AGV trolley 60 can drive the control cabinet 70 and the collaborative robot 10 to the designated area, and the collaborative robot 10 drives the clamping assembly 40 to grab the material box A from the position to be transported, and place the material box A on the bearing surface 81 of the storage device 80. Alternatively, the collaborative robot 10 can grab the material box A to be transported from the storage device 80 and place it on the docking device. The bearing surface 81 of the storage device 80 is inclined, and a baffle 82 is provided on the lower side of the bearing surface 81, and the opening of the material box A is directed toward the higher side of the bearing surface 81, so that the material box A has an inclined angle on the bearing surface 81, and the product in the material box A is not easy to fall. In addition, the baffle 82 can resist the frame of the material box A to prevent the material box A from falling. The guide shaft 91 partially extends into the storage device 80, one end of the elastic member 92 is connected to the bottom of the storage device 80, and the other end is connected to the top of the control cabinet 70, so that there is a gap between the storage device 80 and the top of the control cabinet 70 for the storage device 80 to move up and down. When the material box A is placed on the storage device 80 , the weight borne by the storage device 80 increases, exerting pressure on the elastic member 92 , which compresses the elastic member 92 , so that when the storage device 80 falls, it can be buffered by the elastic member 92 , thereby having a shock-absorbing effect on the storage device 80 .

[0059] Specifically, the AGV trolley 60 serves as the base of the whole vehicle structure, and is equipped with laser radars in the front and rear directions of the AGV trolley 60 to provide perception data for the walking direction of the composite robot. The control cabinet 70 serves as the support layer of the storage device 80 and the collaborative robot 10 and the layout layer of other hardware devices. The control cabinet 70 is also equipped with laser radars on both sides of the body to avoid obstacles for the whole vehicle structure and three-dimensional.

[0060] The main controller in the control cabinet 70 is connected to the collaborative robot 10 and the AGV trolley 60. The main controller is responsible for controlling the overall operation of the composite robot. The visual industrial computer in the control cabinet 70 assists the main controller in completing the control of the composite robot. The main controller is provided with a control program. The main controller controls the collaborative robot 10 and the AGV trolley 60 according to the control program. The visual industrial computer is responsible for processing the image information captured by the camera 50 and sending the processed image information to the main controller. The main controller can control the collaborative robot 10 according to the image information. The main controller can control the start and stop status of the AGV trolley 60. The AGV trolley 60 can realize automatic transportation through the automatic navigation system, and can efficiently transport materials. The AGV trolley 60 can automatically navigate by electromagnetic induction guidance, which improves the intelligence and automation level of the composite robot in the embodiment of the present application.

[0061] More specifically, Figure 5 As shown, the storage device 80 further includes an upper plate 801 and a lower plate 802 arranged opposite to each other, the upper surface of the upper plate 801 is a bearing surface 81, and a side plate 803 is connected to the upper plate 801 and the lower plate 802. The upper plate 801, the lower plate 802, and the side plate 803 enclose a cavity of the storage device 80. The side plate 803 is provided with a data line through hole 804 for the data line to pass through. A bottom plate 805 is also provided below the lower plate 802, and one end of the elastic member 92 is connected to the bottom of the storage device 80, and the other end is connected to the bottom plate 805.

[0062] In some embodiments of the present application, Figure 1 As shown, there are two storage devices 80, and the two storage devices 80 are arranged in a point-symmetrical manner with the collaborative robot 10 as the center.

[0063] In the embodiment of the present application, the two storage devices 80 are arranged in point symmetry with the collaborative robot 10 as the center. The collaborative robot 10 only needs to rotate the base to reach another storage device 80 from one storage device 80, and the free end does not need to perform coordinate transformation, which reduces the movement amplitude of the collaborative robot 10 during work and improves the handling efficiency of the composite robot.

[0064] In some embodiments of the present application, Figure 5 As shown, at least one first positioning block 83 is disposed on the bearing surface 81 , and a buffer block 84 and at least one second positioning block 85 are disposed on the side of the baffle 82 facing the bearing surface 81 .

[0065] In the embodiment of the present application, when the collaborative robot 10 places the material box A on the carrying surface 81, the material box A can be positioned by the positioning block on the carrying surface 81, so that the material box A can be more accurately placed at the preset position on the carrying surface 81. Similarly, the second positioning block 85 can also play a positioning role for the material box A, further allowing the material box A to be more accurately placed on the carrying surface 81. When the material box A is placed on the carrying surface 81, the buffer block 84 can buffer the material box A to prevent the material box A from being damaged, and can also play a shock-absorbing role to prevent the product in the material box A from falling.

[0066] Specifically, the number and position of the first positioning blocks 83 can be set according to actual needs and the size of different material boxes A. For example, the number of the first positioning blocks 83 can be four, which are respectively arranged at the four corners of the bearing surface 81, and the number of the second positioning blocks 85 can be two, which are respectively arranged at both ends of the baffle 82, so as to better position the material box A. The bearing surface 81 can also be provided with a positioning pin 89, which cooperates with the material box A to assist in positioning the material box A.

[0067] More specifically, the first positioning block 83 , the second positioning block 85 and the positioning pin 89 may be made of non-metallic materials such as plastics and synthetic resins.

[0068] In some embodiments of the present application, Figure 5 As shown, the composite robot further includes a vibrator 86 , which is located in the storage device 80 and connected to the bottom of the storage device 80 .

[0069] In the embodiment of the present application, the vibrator 86 monitors the vibration data of the storage device 80 in real time to avoid the situation in which the storage device 80 vibrates violently due to unexpected circumstances and the products in the material box A fall and are damaged.

[0070] In some embodiments of the present application, Figure 5 As shown, the composite robot also includes a press sensor 87 and a second photoelectric sensor 88; the press sensor 87 is arranged on the carrying surface 81 of the storage device 80; a through hole 811 is provided on the carrying surface 81, and the second photoelectric sensor 88 is arranged inside the storage device 80 and is arranged corresponding to the through hole 811.

[0071] In the embodiment of the present application, when the material box A is placed on the carrying surface 81, the weight of the material box A and the product in the material box A will apply pressure to the press sensor 87, so that the press sensor 87 can detect whether the material box A is on the carrying surface 81. In addition, the second photoelectric sensor 88 sends a light signal through the through hole 811. When the material box A is placed on the carrying surface 81, the bottom plate 805 of the material box A blocks the through hole 811, and the second photoelectric sensor 88 receives the blocking signal, thereby also being able to detect the presence of the material on the carrying surface 81 in real time. The press sensor 87 and the second photoelectric sensor 88 are set at the same time to realize the dual monitoring of the presence of the material box A, ensuring that the presence of the material box A can be detected in real time, and preventing the situation where one of the sensors is damaged and cannot be monitored. In addition, the dual monitoring system composed of the press sensor 87 and the second photoelectric sensor 88 can also make the monitoring results more accurate.

[0072] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A composite robot, characterized in that: It comprises a collaborative robot (10), an adapter (20), a mounting plate (30) and a clamping assembly (40); The clamping assembly (40) is fixed on the mounting plate (30) and connected to the adapter (20), the adapter (20) includes a first connecting portion (21), and the clamping assembly (40) is connected to the free end of the collaborative robot (10) via the first connecting portion (21); The clamping assembly (40) comprises: a power mechanism (41), two extension arms (42) and two clamping members (43); the extension arms (42) are parallel to the movement direction (X) of the clamping members and are arranged at two ends of the power mechanism (41) along the movement direction (X) of the clamping members; the clamping members (43) are connected to the power mechanism (41) through the extension arms (42) and are used to clamp the material box under the drive of the power mechanism (41); The adapter (20) further comprises a second connection portion (24), wherein the second connection portion (24) is a guide rail provided on the adapter (20) and parallel to the movement direction (X) of the clamping member, the extension arm (42) is slidably connected to the guide rail, and the power mechanism (41) drives the extension arm (42) to move towards or in opposite directions on the guide rail, thereby driving the two clamping members (43) to perform an opening or clamping movement.

2. The composite robot according to claim 1, characterized in that: The clamping member (43) comprises a clamping arm (431) and a clamping claw (432), one end of the clamping arm (431) is connected to the extension arm (42), and the other end is connected to the clamping claw (432), along a first direction (Y), the size of the clamping claw (432) is larger than the size of the clamping arm (431), and the first direction (Y) is perpendicular to the movement direction (X) of the clamping member.

3. The composite robot according to claim 2, characterized in that: The clamping jaw (432) includes a first part (4321) and a second part (4322), the first part (4321) is arranged along the first direction (Y), the second part (4322) is arranged at both ends of the first part (4321) along the first direction (Y), the size of the second part (4322) along the second direction (Z) is larger than the size of the first part (4321) along the second direction (Z), and the second direction (Z) is perpendicular to the movement direction (X) of the clamping member and the first direction (Y).

4. The composite robot according to claim 2, characterized in that: The clamping arm (431) comprises a third part (4311) and a fourth part (4312), the third part (4311) is parallel to the extension arm (42), one end of the third part (4311) is connected to the extension arm (42), and the other end is connected to the fourth part (4312), the clamping claw (432) is arranged at one end of the fourth part (4312) away from the third part (4311), and a preset angle greater than or equal to 90° is formed between the third part (4311) and the fourth part (4312).

5. The composite robot according to claim 3, characterized in that: The second part (4322) includes a clamping surface (4323) for clamping the material box (A), and at least one of the clamping surfaces (4323) is provided with a protrusion (4324).

6. The composite robot according to claim 5, characterized in that: At least one buffer (4325) is provided on the clamping surface (4323).

7. The composite robot according to claim 2, characterized in that: The power mechanism (41) comprises a motor, a gear and two racks meshed on both sides of the gear along the first direction (Y), the two racks being connected to the two extension arms (42) respectively, and the motor being connected to the gear to drive the gear to rotate, thereby driving the two racks to move toward or in opposite directions, and further driving the two clamping members (43) to move toward or in opposite directions.

8. The composite robot according to claim 1, characterized in that: The adapter (20) comprises a transverse portion (22) and a longitudinal portion (23), wherein the longitudinal portion (23) is connected to the transverse portion (22), and the adapter (20) is in an inverted "T"-shaped structure, wherein the first connecting portion (21) is arranged on the longitudinal portion (23); the guide rail is arranged on the transverse portion (22), and the clamping assembly (40) further comprises a shell (44), wherein the shell (44) is sleeved on both ends of the transverse portion (22), and the guide rail and the extension arm (42) are both located within the shell (44).

9. The composite robot according to claim 1, characterized in that: The composite robot further comprises a camera (50), which is arranged on one side of the power mechanism (41), and the field of view of the camera (50) is the same as the direction in which the clamping member (43) takes in and puts in the material box.

10. The composite robot according to claim 2, characterized in that: At least one of the clamping arms (431) is provided with at least one first photoelectric sensor (4313) for detecting whether the material box (A) is clamped between the two clamping jaws (432).

11. The composite robot according to any one of claims 1 to 10, characterized in that: The composite robot further comprises an AGV trolley (60), a control cabinet (70) arranged on the upper surface of the AGV trolley (60), at least two storage devices (80) arranged on the top surface of the control cabinet (70), and a shock absorbing assembly (90) arranged in a one-to-one correspondence with the storage devices (80); wherein the collaborative robot (10) is arranged on the top surface of the control cabinet (70); The storage device (80) comprises a bearing surface (81), the bearing surface (81) is arranged obliquely, and a baffle (82) is provided on a lower side of the bearing surface (81); The shock absorbing assembly (90) comprises a guide shaft (91), an elastic member (92) sleeved on the guide shaft (91), and a linear bearing (93); the interior of the storage device (80) is hollow, the guide shaft (91) partially extends into the interior of the storage device (80), the bottom of the storage device (80) is sleeved on the guide shaft (91) through the linear bearing (93), the elastic member (92) is located on the outside of the storage device (80), one end of the elastic member (92) is connected to the bottom of the storage device (80), and the other end is connected to the top of the control cabinet (70).

12. The composite robot according to claim 11, characterized in that: There are two storage devices (80), and the two storage devices (80) are arranged in a point-symmetrical manner with the collaborative robot (10) as the center.

13. The composite robot according to claim 11, characterized in that: At least one first positioning block (83) is provided on the bearing surface (81), and a buffer block (84) and at least one second positioning block (85) are provided on the side of the baffle (82) facing the bearing surface (81).

14. The composite robot according to claim 11, characterized in that: The composite robot further comprises a vibrator (86), wherein the vibrator (86) is located in the storage device (80) and connected to the bottom of the storage device (80).

15. The composite robot according to claim 11, characterized in that: The composite robot further comprises a pressure sensor (87) and a second photoelectric sensor (88); The press-type sensor (87) is arranged on the bearing surface (81) of the storage device (80); A through hole (811) is provided on the bearing surface (81), and the second photoelectric sensor (88) is arranged inside the storage device (80) and is arranged corresponding to the through hole (811).

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