Multi-axis compound robot

Abstract

The present invention discloses a multi-axis compound robot, which includes a mobile body, a mounting platform fixed on the top of the mobile body, and a three-axis dual-arm manipulator assembled on the mounting platform; based on the specific design structure of the multi-axis compound robot provided by the present invention, it can greatly improve the grasping range and load quality compared with traditional robots, and is suitable for application in large-scale material transfer scenarios with heavy loads; the multi-axis compound robot provided by the present invention has the advantages of simple design, high degree of freedom, and strong material adaptability.

Description

Technical Field

[0001] The present invention relates to the field of automation design, in particular to a multi-axis compound robot. Background Art

[0002] With the continuous development and advancement of industry, a variety of intelligent factories have emerged across various sectors. The concept of unmanned factory production has become a mainstream trend, especially in manufacturing industries such as automotive, logistics, and photovoltaics. As a form of material transfer, composite robots are lightweight, flexible, widely applicable, and low-cost, making them widely used in all aspects of industrial production. With the continuous investment and development of enterprises in the unmanned factory production concept, especially in conjunction with the use of automated guided vehicles (AGVs), the entire process has become more streamlined, unmanned, and intelligent.

[0003] Conventional hybrid robots typically mount a standard assisting manipulator on the top of an AGV. Limited by the manipulator's gripping load and reach, these robots are typically only suitable for handling small, lightweight materials. Furthermore, in practical applications, these robots significantly reduce transfer efficiency due to the small amount of material they can handle at a time. Consequently, the robot can only meet cycle times by making multiple round trips or increasing the number of robots, which can lead to congested workspace and wasteful energy.

[0004] In view of this, it is necessary to provide an improved technical solution to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To achieve the above-mentioned purpose of the invention, the present invention provides a multi-axis compound robot, and its specific design is as follows.

[0006] A multi-axis compound robot, comprising a mobile body, a mounting platform fixed on the top of the mobile body, and a three-axis dual-arm manipulator assembled on the mounting platform; the three-axis dual-arm manipulator comprises an X-axis moving component, a Z-axis moving component, and a Y-axis moving component; the X-axis moving component comprises an X-axis moving frame arranged on the mounting platform for movement along a first horizontal direction, and an X-axis drive unit for driving the X-axis moving frame to move; the Z-axis moving component comprises a Z-axis moving frame arranged on the X-axis moving frame for movement along a vertical direction, and a Z-axis drive unit for driving the Z-axis moving frame to move; the Y-axis moving component comprises a pair of clamping arms arranged on the Z-axis moving frame for movement along a second horizontal direction, and a Y-axis drive unit for driving the clamping arms to move, the pair of clamping arms being arranged relative to each other in the second horizontal direction, and the second horizontal direction being perpendicular to the first horizontal direction.

[0007] Furthermore, the clamping arm includes a carrier frame movably connected to the Z-axis movable frame, an adaptive clamping head rotatably connected to the lower side of the carrier frame around a vertical axis for clamping the material to be clamped, and a limiter that limits the maximum rotation angle of the adaptive clamping head.

[0008] Furthermore, the multi-axis compound robot also has a position sensor fixed to the adaptive clamping head to feed back a status signal after the adaptive clamping head clamps the material to be clamped in place.

[0009] Furthermore, the adaptive chuck includes a connecting plate rotatably connected to the supporting frame and a contour block detachably connected to the connecting plate, wherein the contour block has a supporting surface that matches the shape of at least a partial area of ​​the lower side of the end of the material to be clamped, so as to position the material to be clamped when carrying the material to be clamped.

[0010] Furthermore, elastic protection pads are provided on the opposite inner sides of the pair of adaptive clamps.

[0011] Furthermore, the multi-axis compound robot has a pair of X-axis guide rails fixed on the mounting table and extending along the first horizontal direction, the pair of X-axis guide rails are spaced apart in the second horizontal direction, and the two ends of the X-axis movable frame are respectively slidably fitted to the two X-axis guide rails; the multi-axis compound robot also has a material placement area arranged between the two X-axis guide rails; in the first horizontal direction, the X-axis movable frame has the ability to move to a first working position in which the two clamping arms are located in the material placement area and a second position beyond the area where the mounting table is located.

[0012] Furthermore, the multi-axis compound robot also has at least two layers of material carriers arranged in the material placement area, and each layer of the material carrier has two carrier platforms spaced apart in the second horizontal direction, wherein the two carrier platforms of the upper material carrier are located on the outside of the two carrier platforms of the lower material carrier.

[0013] Furthermore, the X-axis drive unit includes a drive motor, a reduction commutator connected to the output shaft of the drive motor, a pair of transmission connecting rods connected to the reduction commutator, and a pair of couplings respectively connected to the two transmission connecting rods, and the two couplings are respectively matched with the two ends of the two X-axis guide rails to output power for synchronously moving the two ends of the X-axis moving frame.

[0014] Furthermore, the multi-axis compound robot has a pair of Z-axis guide rails fixed to the X-axis movable frame and extending in the vertical direction, the pair of Z-axis guide rails are arranged at intervals in the second horizontal direction, the Z-axis movable frame has Z-axis sliders that are respectively slidably engaged with the two Z-axis guide rails, and the Z-axis drive unit is arranged between the two Z-axis guide rails.

[0015] Furthermore, the multi-axis compound robot also has two Y-axis drag chains arranged on the Z-axis movable frame and corresponding one-to-one to the two clamping arms, and a Z-axis drag chain arranged on the X-axis movable frame. One end of each Y-axis drag chain is fixed relative to the corresponding clamping arm and is extended and retracted in the second horizontal direction, one end of the Z-axis drag chain is fixed to the Z-axis movable frame and is extended and retracted in the vertical direction, and the cables in the Y-axis drag chain are guided to the lower side of the mounting platform via the Z-axis drag chain.

[0016] Furthermore, laser radars and / or depth cameras are installed at both ends of the mobile body in the second horizontal direction.

[0017] The beneficial effects of the present invention are: based on the specific design structure of the multi-axis compound robot provided by the present invention, it can greatly improve the grasping range and load quality compared with traditional robots, and is suitable for application in large-scale material transfer scenarios with large loads; the multi-axis compound robot provided by the present invention has the advantages of simple design, high degree of freedom, and strong material adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0019] Figure 1 FIG2 is a perspective schematic diagram of an embodiment of the multi-axis compound robot of the present invention;

[0020] Figure 2 Shown Figure 1 a side view of the structure shown;

[0021] Figure 3 Shown is a schematic diagram of the cooperation between the Y-axis moving assembly and the Z-axis moving frame;

[0022] Figure 4 Shown is a schematic plan view of the lower end plate of the carrier frame;

[0023] Figure 5 The figure shows a schematic diagram of the operation of a multi-axis compound robot in conjunction with different assembly lines;

[0024] Figure 6 The figure shows the coordination between the X-axis drive unit and the X-axis moving frame;

[0025] Figure 7 Shown is a schematic diagram of the cooperation between the X-axis moving frame and the Z-axis moving assembly;

[0026] Figure 8 Shown Figure 3 a side view of the structure shown;

[0027] Figure 9 Shown is a schematic diagram of the bottom of the mobile body. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] refer to Figure 1 As shown, the multi-axis compound robot provided by the present invention includes a moving body 100 , a mounting platform 200 fixed on the top of the moving body 100 , and a three-axis dual-arm manipulator assembled on the mounting platform 200 .

[0030] In the present invention, the mobile body 100 can preferably realize forward, backward, transverse, rotation, tilt walking or omnidirectional travel at any angle and direction. Figure 9 As shown in the specific embodiment, the bottom of the mobile body 100 has two diagonally arranged driving steering wheels 11 and two diagonally arranged universal wheels 12. The driving steering wheels 11 can rotate up to ±120°. When the two driving steering wheels 11 are rotated parallel to the front-to-back direction of the mobile body 100, forward and reverse functions can be achieved; when the two driving steering wheels 11 are rotated perpendicular to the front-to-back direction of the mobile body 100, lateral movement can be achieved; when the two driving steering wheels 11 are rotated to other appropriate angles, rotation or tilting travel functions can also be easily achieved.

[0031] Furthermore, in the illustrated embodiment, the mounting platform 200 is fixed to the top of the mobile body 100 via a plurality of connecting portions 21. The connecting portions 21 may be support columns that may be fixed with screws or other fixing methods to achieve a connection and fixation between the mounting platform 200 and the mobile body 100. It should be understood that in other embodiments of the present invention (not illustrated), the mounting platform 200 may also constitute a portion of the top of the mobile body 100.

[0032] For further reference, Figure 1 As shown in , the three-axis dual-arm manipulator involved in the present invention includes an X-axis moving component, a Z-axis moving component and a Y-axis moving component.

[0033] Among them, the X-axis moving assembly includes an X-axis moving frame 31 that is moved along the first horizontal direction and is arranged on the mounting table 200, and an X-axis driving unit 32 that drives the X-axis moving frame 31 to move; the Z-axis moving assembly includes a Z-axis moving frame 41 that is moved along the vertical direction and is arranged on the X-axis moving frame 31, and a Z-axis driving unit 42 that drives the Z-axis moving frame 41 to move; the Y-axis moving assembly includes a pair of clamping arms 51 that are moved along the second horizontal direction and are arranged on the Z-axis moving frame 41, and a Y-axis driving unit 52 that drives the clamping arms 51 to move, and the pair of clamping arms 51 are arranged relatively in the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

[0034] It is easy to understand that the pair of clamping arms 51 can realize the release action and clamping and grabbing action of the material 700 by moving away from or close to each other. Figure 1 In the embodiment shown, the first horizontal direction involved in this embodiment corresponds to the X-axis direction shown in the figure, the second horizontal direction corresponds to the Y-axis direction shown in the figure, and the vertical direction corresponds to the Z-axis direction shown in the figure.

[0035] Based on the specific design structure of the multi-axis compound robot provided by the present invention, the clamping and grasping of materials 700 at different positions can be achieved through the movement and coordination of the moving body, X-axis moving component, Z-axis moving component and Y-axis moving component, and the material 700 can also be transferred to the target position.

[0036] It can be known that traditional compound robots generally have a small four-axis or six-axis manipulator installed on an AGV, and the maximum load of the manipulator is generally only a dozen kilograms; and traditional compound robots are limited by the limitations of the end arm and can only grasp smaller workpieces. However, based on the structure of the multi-axis compound robot provided by the present invention, it can greatly improve the grasping range and load quality compared to traditional compound robots, and can be used in large-scale material transfer scenarios with heavy loads. In actual applications, the load can reach 35-100KG or even larger. In addition, the multi-axis compound robot provided by the present invention also has the advantages of simple design, high degree of freedom, and strong material adaptability.

[0037] refer to Figure 3 As shown, the clamping arm 51 involved in this embodiment includes a carrier frame 511 movably connected to the Z-axis movable frame 41, an adaptive clamping head 512 rotatably connected to the lower side of the carrier frame 511 around a vertical axis 513 for clamping the material 700 to be clamped, and a limit member 514 for limiting the maximum rotation angle of the adaptive clamping head 512.

[0038] For more specific implementation structures, refer to Figure 3As shown, a lower end plate 5110 is fixed to the lower side of the carrier 511, and an upper end plate 5120 is fixed to the upper side of the adaptive clamp 512. The lower end plate 5110 and the upper end plate 5120 are both horizontal strip plates, and the length direction of both is consistent with the first horizontal direction, and are rotatably connected by a vertical shaft 513. Figure 4 As shown, in this embodiment, a through hole 5111 for the vertical axis 513 to pass through is provided at the middle position of the lower end plate 5110, and a waist-shaped hole 5112 is also provided on the lower end plate 5110. The limiting member 514 in this specific embodiment can be a limiting pin passing through the waist-shaped hole 5112 and fixed to the upper end plate 5120. The cooperation between the two ends of the waist-shaped hole 5112 and the limiting pin determines the maximum rotation angle between the lower end plate 5110 and the upper end plate 5120.

[0039] Figure 3 、 Figure 4 In the specific implementation of the structure shown, the lower end plate 5110 is provided with a plurality of waist-shaped holes 5112 in the first horizontal direction, and the plurality of waist-shaped holes 5112 are symmetrically distributed on both sides of the through hole 5111. It is relatively easy to understand that in order to make the maximum rotation angles defined by the plurality of waist-shaped holes 5112 consistent, the waist-shaped holes 5112 away from the through hole 5111 have a relatively large length. As some preferred embodiments of the present invention, the rotation angle of the upper end plate 5120 relative to the lower end plate 5110 is within the range of ±3°, combined with Figure 4 As shown in , the angle θ is 3°.

[0040] Further preferably, in this embodiment, a nut is threadedly connected to the upper end of the limit pin serving as the limit member 514. In this way, when the adaptive chuck 512 clamps the material 700 and transfers it, the limit member 514 can disperse the force applied by the adaptive chuck 512 to the carrier 511.

[0041] It should be understood that in other embodiments of the present invention, the limiting member 514 is not limited to the structure shown above. Its purpose is to prevent the adaptive chuck 512 from rotating too much relative to the carrier 511. For example, in some embodiments, the upper end plate 5120 may be provided with waist-shaped holes that match the waist-shaped holes of the lower end plate 5110, and the limiting pin constituting the limiting member 514 may pass through the corresponding two waist-shaped holes.

[0042] In the present invention, since the adaptive clamping head 512 can rotate relative to the supporting frame 511 along a vertical axis 513, the adaptive clamping head 512 can clamp or release the material 700 at an optimal angle.

[0043] Preferably, in some embodiments of the present invention, the multi-axis compound robot further comprises a position sensor 516 fixed to the adaptive clamping head 512 for feeding back a status signal after the adaptive clamping head 512 clamps the material to be clamped into place.

[0044] Typically, the adaptive clamping heads 512 of the two clamping arms 51 are each equipped with a position sensor 516. Thus, in an application scenario where the material 700 is clamped and transferred, after the clamping arm 51 clamps the material 700, when the position sensors 516 on the two clamping arms 51 both feedback a signal indicating that the clamping is in place, the material 700 is transferred, thereby minimizing the risk of the material 700 slipping due to inadequate clamping.

[0045] Further preferably, reference Figure 3 As shown in FIG, the adaptive clamping head 512 includes a connecting plate 5121 rotatably connected to the carrier 511 and a contour block 5122 detachably connected to the connecting plate 5121. The contour block 5122 has a bearing surface that matches the shape of at least a portion of the underside of the end of the material 700 to be clamped, thereby accurately positioning the material 700 while carrying it. Because the contour block 5122 can position the material 700, it can facilitate subsequent operations on the material 700, for example, accurately placing the material 700 at a specific location on the target production line. The detachable connection of the contour block 5122 in this embodiment enables the multi-axis compound robot to adapt to the gripping and positioning of a variety of different materials 700.

[0046] Further references Figure 3 As shown in FIG, in this embodiment, elastic protective pads 515 are provided on the inner sides of the pair of adaptive chucks 512. When the pair of adaptive chucks 512 clamp the material 700, the elastic protective pads 515 can provide a certain degree of soft protection, preventing the material 700 from being damaged by a hard collision with the adaptive chucks.

[0047] In some more specific embodiments, combined with Figure 1 、 Figure 6 As shown, the multi-axis compound robot has a pair of X-axis guide rails 33 fixed to a mounting platform and extending along a first horizontal direction. The pair of X-axis guide rails 33 are spaced apart in a second horizontal direction, and the ends of the X-axis movable frame 31 are slidably engaged with the two X-axis guide rails. As shown in the figure, the X-axis movable frame 31 includes a base frame 311 and a top frame 312 fixed to the upper side of the base frame 311. Both ends of the base frame 311 extend downwardly to form sliding blocks 3110 that slidably engage with the corresponding X-axis movable frame 31.

[0048] Combine Figure 1 、 Figure 5 As shown, in this embodiment, the multi-axis compound robot further has a material placement area disposed between the two X-axis guide rails 33. In the first horizontal direction, the X-axis movable frame 31 has a first working position in which the two clamping arms 51 are located in the material placement area and a second position beyond the area where the mounting table 200 is located.

[0049] Combine Figure 2 As shown, it is easier to understand that when the X-axis movable frame 31 moves to the first working position where the two clamping arms 51 are located in the material placement area, the material 700 clamped by the two clamping arms 51 can be placed in the material placement area, or the material 700 placed in the material placement area can be clamped by the two clamping arms 51 to realize the transfer of the material 700; when the X-axis movable frame 31 moves to the second position where the two clamping arms 51 are beyond the area where the mounting table 200 is located, the material 700 clamped by the two clamping arms 51 can be transferred to a working position outside the area where the mounting table 200 is located, or the material 700 placed outside the area where the mounting table 200 is located can be clamped by the two clamping arms 51 to transfer the material 700 to the material placement area.

[0050] As some preferred embodiments of the present invention, the multi-axis compound robot also has at least two layers of material carriers arranged in the material placement area, each layer of material carrier has two carriers spaced apart in the second horizontal direction, wherein the two carriers of the upper material carrier are located on the outside of the two carriers of the lower material carrier.

[0051] Combine Figure 1 、 Figure 5 As shown, in this specific embodiment, the multi-axis compound robot has two layers of material carriers arranged in the material placement area. The two layers of material carriers have two carriers spaced apart in the second horizontal direction, namely, a bottom material carrier and a top material carrier, wherein the carrying height of the top material carrier is higher than the carrying height of the bottom material carrier. More specifically, the bottom material carrier includes a first bottom carrier 611 and a second bottom carrier 612, which are spaced apart in the second horizontal direction; the top material carrier includes a first top carrier 621 and a second top carrier 622, which are also spaced apart in the second horizontal direction, and the first top carrier 621 and the second top carrier 622 are located outside the first bottom carrier 611 and the second bottom carrier 612.

[0052] Based on the above configuration of the multi-axis compound robot, its material placement area can simultaneously place two materials of different sizes and types 700. For example, in an application scenario where the material 700 is a graphite boat, the transfer of two different types of materials 700 can be achieved.

[0053] Specific reference Figure 5As shown in the figure, the assembly line 800 has a first station 81 and a second station 82 that are adapted to two graphite boats of different sizes, wherein the first station 81 carries a first graphite boat 71, and the second station 82 carries a second graphite boat 72, and the length of the first graphite boat 71 is smaller than that of the second graphite boat 72. In this way, when it is necessary to transfer the graphite boats on the first station 81 and the second station 82 to other areas, the multi-axis composite machine can be moved to the first station 81 and the second station 82 in turn, and the first graphite boat 71 and the second graphite boat 72 can be grabbed in turn and stacked on the bottom material carrier and the top material carrier in the material placement area, thereby realizing the synchronous transfer of multiple materials 700 and improving the transfer efficiency of the materials 700; correspondingly, if it is necessary to transfer the first graphite boat 71 and the second graphite boat 72 stacked in the material placement area to the first station 81 and the second station 82 respectively, the multi-axis composite machine can be moved to the second station 82 and the first station 81 in turn, and the transfer of the second graphite boat 72 and the first graphite boat 71 can be realized in turn through the three-axis double-arm manipulator.

[0054] In the present invention, the design structure of the double-layer material carrier can improve the load capacity of the material placement area while optimizing the overall size of the multi-axis compound robot. It is understood that in other embodiments of the present invention, the number of layers of the material carrier in the material placement area can also be greater than two.

[0055] In some more specific embodiments, refer to Figure 6 As shown, the X-axis drive unit 32 involved in this embodiment includes a drive motor 321, a reduction commutator 322 connected to the output shaft of the drive motor 321, a pair of transmission links 323 connected to the reduction commutator 322, and a pair of couplings 324 respectively connected to the two transmission links 323. The two couplings 324 are respectively matched with the two ends of the two X-axis guide rails 33 to output power for synchronously moving the two ends of the X-axis moving frame 31.

[0056] During the specific implementation process, the couplings 324 on both sides of the X-axis drive unit 32 mentioned above in this embodiment can be further connected to a belt or a screw rod (not shown in the figure) to further transmit power to the sliding block 3110 to drive the X-axis movable frame 31 to slide along the two X-axis guide rails 33.

[0057] It is understood that in other embodiments of the present invention, the X-axis drive unit 32 may also be driven by a servo motor, electrically, pneumatically, or hydraulically.

[0058] In addition, reference Figure 6As shown, in this embodiment, a drag chain groove 34 is fixed on the upper side of one of the two X-axis guide rails 33, and an X drag chain is placed in the drag chain groove 34. One end of the X-axis drag chain 35 is fixed to the base frame 311 to move with the X-axis movable frame 31. The X-axis drag chain 35 can be used for the routing mechanism of the corresponding cables of the X-axis movable frame 31.

[0059] Further integration Figure 7 As shown, in this embodiment, the multi-axis compound robot has a pair of Z-axis guide rails 43 fixed to the X-axis moving frame 31 and extending in the vertical direction. More specifically, the pair of Z-axis guide rails 43 are fixed to the top frame 312 of the X-axis moving frame 31. The pair of Z-axis guide rails 43 are spaced apart in the second horizontal direction. The Z-axis moving frame 41 has Z-axis sliders (not shown) that slidably engage with the two Z-axis guide rails 43, and the Z-axis drive unit 42 is disposed between the two Z-axis guide rails 43.

[0060] Because the two Z-axis guide rails 43 are respectively arranged on both sides of the Z-axis drive unit 42, when the Z-axis drive unit 42 drives the Z-axis movable frame 41 to move in the vertical direction, the operation of the Z-axis movable frame 41 can be made more stable. The Z-axis drive unit 42 may include a motor and a mechanism such as a belt or a screw (not shown in the figure) for transmitting motor power to the Z-axis movable frame 41. Based on the drive of the Z-axis movable frame 41 by the Z-axis drive unit 42, the height of the clamping arm 51 can be adjusted. In addition, the Z-axis guide rails 43 on both sides of the Z-axis drive unit 42 can be linear guide rails, or they can be guide shafts used in conjunction with linear bearings.

[0061] In some embodiments of the present invention, the Y-axis driving unit 52 may also include a motor and a mechanism such as a belt or a screw rod for transmitting the motor power to the Z-axis moving frame 41 (not shown in the figure).

[0062] refer to Figure 1 、 Figure 3 、 Figure 8 As shown, the multi-axis compound robot also has two Y-axis drag chains 53 arranged on the Z-axis movable frame 41 and corresponding to the two clamping arms 51, and a Z-axis drag chain 44 arranged on the X-axis movable frame 31. The two Y-axis drag chains 53 include a first Y-axis drag chain 531 and a second Y-axis drag chain 532. One end of the first Y-axis drag chain 531 and the second Y-axis drag chain 532 are respectively fixed relative to the corresponding clamping arms 51 and are extended and retracted in the second horizontal direction. One end of the Z-axis drag chain 44 is fixed to the Z-axis movable frame 41 and is extended and retracted in the vertical direction. The cables in the first Y-axis drag chain 531 and the second Y-axis drag chain 532 are guided to the lower side of the mounting platform 200 via the Z-axis drag chain 44. In the specific implementation process, the above arrangement of the Y-axis drag chain 53 and the Z-axis drag chain 44 in this embodiment can better achieve neat and uniform cables, wherein the cables involved include power cables, signal cables, etc.

[0063] Traditional hybrid robots generally use front-mounted radar for obstacle avoidance, which cannot achieve 360° obstacle avoidance without blind spots. Therefore, there is a problem of visual blind spots, and it is impossible to avoid obstacles effectively in real time.

[0064] As another preferred embodiment of the present invention, a laser radar and / or depth camera is mounted on both ends of the mobile body 100 in the second horizontal direction. Typically, the length of the mobile body 100 in the second horizontal direction is greater than its width in the first horizontal direction. Thus, the two ends of the mobile body 100 in the second horizontal direction can be defined as the front end and the rear end, respectively. In long-distance movement scenarios, the front end or the rear end of the mobile body 100 primarily serves as the moving head.

[0065] During the specific implementation process, a laser radar is installed at the front and rear ends of the mobile body 100. When the vehicle moves forward, the laser radar installed at the front end of the mobile body 100 can realize navigation and obstacle avoidance functions, and the laser radar at the rear end of the mobile body 100 can be used for obstacle avoidance. In this way, the mobile body 100 can achieve 360° obstacle avoidance without blind spots and move forward safely under the navigation of the radar; when the vehicle retreats, the laser radar installed at the rear end of the mobile body 100 can realize navigation and obstacle avoidance functions, and the laser radar at the front end of the mobile body 100 can be used for obstacle avoidance.

[0066] Typically, a laser radar can scan obstacles about 200 mm in height and avoid them safely. In some preferred embodiments, a depth camera is installed at each of the front and rear ends of the mobile vehicle 100. Since the depth camera has a wider field of view than the laser radar, it can scan obstacles at higher heights. The scanning and obstacle avoidance range is the spatial range within the camera's field of view.

[0067] Further preferably, in some embodiments of the present invention, safety touch edges are provided around the mobile body 100, and the safety touch edges are mechanical anti-collision strips. When the laser radar and the depth camera fail, the anti-collision strips can also stop the mobile body 100 when they touch an obstacle, thereby ensuring safety.

[0068] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0069] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-axis compound robot, characterized in that: The multi-axis compound robot includes a mobile body, a mounting platform fixed on the top of the mobile body, and a three-axis dual-arm manipulator assembled on the mounting platform; the three-axis dual-arm manipulator includes an X-axis moving component, a Z-axis moving component and a Y-axis moving component; the X-axis moving component includes an X-axis moving frame arranged on the mounting platform for movement along a first horizontal direction and an X-axis driving unit for driving the X-axis moving frame to move; the Z-axis moving component includes a Z-axis moving frame arranged on the X-axis moving frame for movement along a vertical direction and a Z-axis driving unit for driving the Z-axis moving frame to move; the Y-axis moving component includes a pair of clamping arms arranged on the Z-axis moving frame for movement along a second horizontal direction and a driving unit A Y-axis driving unit drives the clamping arm to move, and a pair of the clamping arms are arranged opposite to each other in the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; the clamping arm includes: a carrier frame movably connected to the Z-axis movable frame, an adaptive chuck connected to the lower side of the carrier frame for clamping the material to be clamped around a vertical axis, and a limiter that limits the maximum rotation angle of the adaptive chuck; a lower end plate is fixed to the lower side of the carrier frame, and an upper end plate is fixed to the upper side of the adaptive chuck; a first waist-shaped hole is provided on the lower end plate; a second waist-shaped hole matching the first waist-shaped hole is provided on the upper end plate, and the limiter passes through the first waist-shaped hole and the second waist-shaped hole.

2. The multi-axis compound robot according to claim 1, characterized in that: The multi-axis compound robot further comprises a position sensor fixed to the adaptive clamping head for feeding back a status signal after the adaptive clamping head clamps the material to be clamped into place.

3. The multi-axis compound robot according to claim 1, characterized in that: The adaptive clamping head includes a connecting plate rotatably connected to the supporting frame and a contour block detachably connected to the connecting plate, wherein the contour block has a bearing surface that matches the shape of at least a partial area of ​​the lower side of the end of the material to be clamped, so as to position the material to be clamped when carrying the material to be clamped.

4. The multi-axis compound robot according to claim 1, characterized in that: Elastic protection pads are provided on the opposite inner sides of a pair of adaptive clamps.

5. The multi-axis compound robot according to any one of claims 1 to 4, characterized in that: The multi-axis compound robot has a pair of X-axis guide rails fixed on the mounting table and extending along the first horizontal direction. The pair of X-axis guide rails are spaced apart in the second horizontal direction, and the two ends of the X-axis movable frame are respectively slidably fitted to the two X-axis guide rails; the multi-axis compound robot also has a material placement area arranged between the two X-axis guide rails; in the first horizontal direction, the X-axis movable frame has a first working position in which the two clamping arms are located in the material placement area and a second position beyond the area where the mounting table is located.

6. The multi-axis compound robot according to claim 5, characterized in that: The multi-axis compound robot also has at least two layers of material carriers arranged in the material placement area, and each layer of the material carrier has two carrier platforms spaced apart in the second horizontal direction, wherein the two carrier platforms of the upper material carrier are located on the outside of the two carrier platforms of the lower material carrier.

7. The multi-axis compound robot according to claim 5, characterized in that: The X-axis drive unit includes a drive motor, a reduction commutator connected to the output shaft of the drive motor, a pair of transmission connecting rods connected to the reduction commutator, and a pair of couplings respectively connected to the two transmission connecting rods. The two couplings are respectively matched with the two ends of the two X-axis guide rails to output power to synchronously move the two ends of the X-axis moving frame.

8. The multi-axis compound robot according to any one of claims 1 to 4, characterized in that: The multi-axis compound robot has a pair of Z-axis guide rails fixed to the X-axis movable frame and extending in the vertical direction. The pair of Z-axis guide rails are arranged at intervals in the second horizontal direction. The Z-axis movable frame has Z-axis sliders that are respectively slidably fitted to the two Z-axis guide rails, and the Z-axis drive unit is arranged between the two Z-axis guide rails.

9. The multi-axis compound robot according to any one of claims 1 to 4, characterized in that: The multi-axis compound robot also has two Y-axis drag chains arranged on the Z-axis movable frame and corresponding to the two clamping arms one by one, and a Z-axis drag chain arranged on the X-axis movable frame. One end of each Y-axis drag chain is fixed relative to the corresponding clamping arm and is extended and retracted in the second horizontal direction. One end of the Z-axis drag chain is fixed to the Z-axis movable frame and is extended and retracted in the vertical direction. The cables in the Y-axis drag chain are guided to the lower side of the mounting platform via the Z-axis drag chain.

10. The multi-axis compound robot according to any one of claims 1 to 4, characterized in that: The mobile vehicle body is equipped with a laser radar and / or a depth camera at both ends in the second horizontal direction.

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