A highly flexible omnidirectional composite working robot

Abstract

This invention relates to the field of composite operation robot technology, specifically to a highly flexible omnidirectional composite operation robot, comprising a mobile chassis and an operation unit. The mobile chassis includes an operation mounting platform connected to the operation unit, a mobile support connected to the operation mounting platform, a rotation drive mechanism housed in the mobile support, and a steering wheel suspension mechanism that is drively connected to the output end of the rotation drive mechanism and installed at the bottom of the mobile support. The steering wheel suspension mechanism has a steering wheel body, which is a hub motor. The rotation drive mechanism drives the steering wheel suspension mechanism to rotate, enabling the steering wheel suspension mechanism to rotate in place. Furthermore, the steering wheel body of the steering wheel suspension mechanism is a hub motor, enabling the steering wheel suspension mechanism to move forward / backward. Compared to traditional mobile chassis, the mobile chassis structure of this invention is more compact, more conducive to saving space, more adaptable to narrow spaces, and meets the requirements for shock resistance, making it suitable for the processing and manufacturing of large planar products.

Description

Technical Field

[0001] This invention relates to the field of composite operation robot technology, and specifically to a highly flexible omnidirectional composite operation robot. Background Technology

[0002] An omnidirectional AGV robot is one that can operate in all directions, such as turning 90°, turning around 180°, rotating 360°, and moving laterally. It can be used in some complex environments.

[0003] Firstly, the omnidirectional AGV robot uses a steering wheel drive. Compared to the differential control method of traditional AGV vehicles, the steering wheel has high integration and strong adaptability. Combined with stepper drivers or servo drivers, it can quickly deploy AGV mobile robots. Moreover, the steering wheel drive allows for more precise omnidirectional movement and steering, does not require complicated algorithms, and provides continuous paths that are easy to control.

[0004] For large-format computer products, such as laptop casings and display glass, mobile collaborative robots can replace manual labor in transporting materials between devices. This not only improves factory production efficiency but also enables fully digital production, allowing for monitoring of the production process of each large-format product and ensuring product quality. Mobile collaborative robots, also known as composite operation robots, require high shock resistance for large-format computer products. However, existing composite operation robots are limited by the technology of their mobile chassis, resulting in poor shock resistance, unstable suspension operation, and a large footprint, making them unsuitable for use in confined spaces and difficult to adapt to the production and processing needs of large-format products. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a highly flexible omnidirectional composite operation robot.

[0006] The objective of this invention is achieved through the following technical solution: a highly flexible omnidirectional composite robot, comprising a mobile chassis and a work unit connected to the top of the mobile chassis. The mobile chassis includes a work mounting platform connected to the work unit, a mobile support connected to the work mounting platform, a rotation drive mechanism housed in the mobile support, and a steering wheel suspension mechanism that is drively connected to the output end of the rotation drive mechanism and installed at the bottom of the mobile support. The steering wheel suspension mechanism has a steering wheel body, which is a hub motor.

[0007] Preferably, the steering wheel suspension mechanism includes a hollow suspension platform fixedly connected to the bottom of the movable support, a hollow rotary table fixedly connected to the hollow suspension platform and driven by the output end of the rotation drive mechanism, a rotary seat connected to the turntable of the hollow rotary table, steering wheel mounting seats that are raised and lowered on both sides of the rotary seat, and an adjustment and shock absorption assembly connecting the rotary seat and the steering wheel mounting seats, wherein the steering wheel body is rotatably mounted on the steering wheel mounting seat.

[0008] Preferably, the adjustable damping assembly includes a bolt, an adjusting nut, and a compression spring sandwiched between the rotating seat and the steering wheel mounting seat. The rotating seat has a first through hole, and the steering wheel mounting seat has a second through hole. The bolt passes through the first through hole, the compression spring, and the second through hole in sequence and is threadedly engaged with the adjusting nut.

[0009] Preferably, the steering wheel suspension mechanism further includes a linear guide rail vertically connected to the outer wall of the rotating seat, and a slider slidably connected to the linear guide rail and fixedly connected to the steering wheel mounting seat.

[0010] Preferably, the rotating base has a wire-passing hole in the middle, and the middle of the hollow rotating platform, the middle of the hollow suspension platform, and the wire-passing hole are connected in sequence to form a channel for the wire to pass through to the hub motor.

[0011] Preferably, the rotation drive mechanism includes a first servo motor housed in the movable support and a reducer connected to the output end of the first servo motor, the output end of the reducer being connected to the hollow rotary table via a transmission.

[0012] Preferably, the mobile chassis further includes a first laser ranging sensor and a second laser ranging sensor, which are respectively connected to opposite corners of the mobile support.

[0013] Preferably, the mobile chassis further includes an outer shell surrounding the mobile support, wherein the first laser rangefinder and the second laser rangefinder both penetrate the outer shell, and the outer shell is provided with a first L-shaped clearance groove on both sides near the first laser rangefinder to expand the laser divergence range of the first laser rangefinder, and the outer shell is provided with a second L-shaped clearance groove on both sides near the second laser rangefinder to expand the laser divergence range of the second laser rangefinder.

[0014] Preferably, the mobile chassis further includes a base connected to the bottom of the mobile support, and a battery accommodating groove is provided in the middle of the base.

[0015] Preferably, the work unit includes a workbench connected to the work mounting platform, a robot arm support connected to the workbench, an industrial collaborative robot arm connected to the top of the robot arm support, a material handling mechanism connected to the output end of the industrial collaborative robot arm, a conveying support connected to the workbench, a first lifting mechanism connected to the side of the conveying support near the robot arm support, a first material tray connected to the output end of the first lifting mechanism, a first synchronous belt conveyor connected to the conveying support and corresponding to the first material tray, a second lifting mechanism connected to the side of the conveying support near the robot arm support, a second material tray connected to the output end of the second lifting mechanism, and a second synchronous belt conveyor connected to the conveying support and corresponding to the second material tray. The material handling mechanism is used to pick up and place processed materials or pick up and place fixtures that carry processed materials.

[0016] The beneficial effects of this invention are as follows: The highly flexible omnidirectional composite robot of this invention uses a mobile support and a work mounting platform to support the work unit on its mobile chassis. A rotation drive mechanism is housed in the mobile support, which drives the steering wheel suspension mechanism to rotate, realizing the in-situ rotation of the steering wheel suspension mechanism. Moreover, the steering wheel body of the steering wheel suspension mechanism is a hub motor, realizing the forward / backward movement of the steering wheel suspension mechanism. The hub motor is more compact, has a smaller turning radius, and is more flexible than the traditional external motor driving steering wheel structure. Compared with the traditional mobile chassis, the mobile chassis structure design of this invention is more compact, more conducive to saving space volume, more adaptable to narrow spaces, and can meet the requirements of shock resistance, making it suitable for the processing and manufacturing of large flat products. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a partial structural schematic diagram of the present invention;

[0019] Figure 3 This is an exploded view of the mobile chassis described in this invention;

[0020] Figure 4 This is a schematic diagram of the rotation drive mechanism and steering wheel suspension mechanism described in this invention;

[0021] Figure 5 yes Figure 4 A schematic diagram of the decomposition process;

[0022] Figure 6 This is a schematic diagram of the structure of the work unit described in this invention;

[0023] Figure 7 This is a structural schematic diagram of the work unit described in this invention from another perspective;

[0024] Figure 8This is a schematic diagram of the material handling mechanism described in this invention;

[0025] The attached figures are labeled as follows:

[0026] 1. Mobile chassis; 11. Work platform; 12. Mobile support; 13. Rotary drive mechanism; 131. First servo motor; 132. Reducer; 14. Steering wheel suspension mechanism; 141. Steering wheel body; 142. Hollow suspension platform; 143. Hollow rotary table; 144. Rotary seat; 145. Steering wheel mounting seat; 146. Adjustable shock absorption assembly; 1461. Bolt; 1462. Adjusting nut; 1463. Compression spring; 147. Linear guide rail; 148. Slider; 15. First laser rangefinder sensor; 16. Second laser rangefinder sensor; 17. Housing; 18. Base;

[0027] 2. Working unit; 21. Workbench; 22. Robot arm support; 23. Industrial collaborative robot arm; 24. Material handling mechanism; 241. Connecting seat; 242. Suction cup assembly; 243. Clamping assembly; 25. Conveying support; 26. First lifting mechanism; 27. First material tray; 28. First synchronous belt conveyor; 29. ​​Second lifting mechanism; 210. Second synchronous belt conveyor; 211. Fixture handling mechanism; 2111. X-axis drive module; 2112. Lifting cylinder; 2113. Cylinder seat; 2114. First pneumatic finger; 2115. Gripper; 212. Waste support;

[0028] 3. First through hole;

[0029] 4. Threading hole;

[0030] 5. First L-shaped clearance groove;

[0031] 6. Second L-shaped clearance groove;

[0032] 7. Battery housing. Detailed Implementation

[0033] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0034] like Figure 1-8As shown, a highly flexible omnidirectional composite robot includes a mobile chassis 1 and a work unit 2 connected to the top of the mobile chassis 1. The mobile chassis 1 includes a work mounting platform 11 connected to the work unit 2, a mobile support 12 connected to the work mounting platform 11, a rotation drive mechanism 13 housed in the mobile support 12, and a steering wheel suspension mechanism 14 that is drively connected to the output end of the rotation drive mechanism 13 and installed at the bottom of the mobile support 12. The steering wheel suspension mechanism 14 has a steering wheel body 141, which is a hub motor.

[0035] This highly flexible omnidirectional composite robot uses a mobile chassis 1 with a mobile support 12 and a work platform 11 to support the work unit 2. A rotation drive mechanism 13 is housed in the mobile support 12, which drives the steering wheel suspension mechanism 14 to rotate, enabling the steering wheel suspension mechanism 14 to rotate in place. The steering wheel body 141 of the steering wheel suspension mechanism 14 is a hub motor, which enables the steering wheel suspension mechanism 14 to move forward / backward. The hub motor is more compact, has a smaller turning radius, and is more flexible than the traditional external motor driving steering wheel structure. Compared with the traditional mobile chassis 1, the mobile chassis 1 of this invention has a more compact structural design, which is more conducive to saving space and volume, can better adapt to narrow spaces, and can meet the requirements of shock resistance, making it suitable for the processing and manufacturing of large flat products.

[0036] Furthermore, the steering wheel suspension mechanism 14 includes a hollow suspension platform 142 fixedly connected to the bottom of the movable support 12, a hollow rotary platform 143 fixedly connected to the hollow suspension platform 142 and drivenly connected to the output end of the rotation drive mechanism 13, a rotary seat 144 connected to the turntable of the hollow rotary platform 143, steering wheel mounting seats 145 vertically arranged on both sides of the rotary seat 144, and an adjusting damping assembly 146 connecting the rotary seat 144 and the steering wheel mounting seat 145. The steering wheel body 141 is rotatably mounted on the steering wheel mounting seat 145. The rotation drive mechanism 13 drives the hollow rotary platform 143 to rotate, thereby causing the rotary seat 144 and the steering wheel mounting seat 145 to rotate, which in turn allows the steering wheel body 141 to rotate in place. In addition, the adjusting damping assembly 146 is connected between the rotary seat 144 and the steering wheel mounting seat 145. By adjusting the compression degree of the adjusting damping assembly 146, the movable chassis 1 can achieve the requirement of high shock resistance.

[0037] Specifically, the adjustable damping assembly 146 includes a bolt 1461, an adjusting nut 1462, and a compression spring 1463 sandwiched between the rotating seat 144 and the steering wheel mounting seat 145. The rotating seat 144 has a first through hole 3, and the steering wheel mounting seat 145 has a second through hole. The bolt 1461 passes through the first through hole 3, the compression spring 1463, and the second through hole in sequence, and is threadedly engaged with the adjusting nut 1462. Tightening the adjusting nut 1462 can raise / lower the steering wheel mounting seat 145, thereby adjusting the compression degree of the compression spring 1463, and thus promoting the mobile chassis 1 to achieve the requirement of high vibration resistance.

[0038] Furthermore, the steering wheel suspension mechanism 14 also includes a linear guide rail 147 vertically connected to the outer wall of the rotating base 144, and a slider 148 slidably connected to the linear guide rail 147 and fixedly connected to the steering wheel mounting base 145. Compared with the traditional guide post and guide sleeve combination, the sliding combination of slider 148 and linear guide rail 147 provides better stability, is more conducive to helping the mobile chassis 1 achieve the requirement of high shock resistance, and has a lower wear rate, longer service life, and reduced maintenance costs and time.

[0039] Furthermore, a wire-passing hole 4 is provided in the middle of the rotating base. The middle of the hollow rotating platform 143, the middle of the hollow suspension platform 142, and the wire-passing hole 4 are sequentially connected to form a channel for the wire to pass through to the hub motor. The channel formed by the sequential connection of the middle of the hollow rotating platform 143, the middle of the hollow suspension platform 142, and the wire-passing hole 4 helps to save space and also helps to avoid damage caused by excessive winding of the wire.

[0040] Furthermore, the rotation drive mechanism 13 includes a first servo motor 131 housed in the movable support 12 and a reducer 132 connected to the output end of the first servo motor 131. The output end of the reducer 132 is connected to the hollow rotary table 143 for transmission. The cooperation between the first servo motor 131, the reducer 132 and the hollow rotary table 143 can more accurately control the rotation angle.

[0041] Furthermore, the mobile chassis 1 also includes a first laser ranging sensor 15 and a second laser ranging sensor 16. The first laser ranging sensor 15 and the second laser ranging sensor 16 are respectively connected to opposite corners of the mobile support 12 to achieve 360° omnidirectional scanning. With the help of laser SLAM navigation technology, the first laser ranging sensor 15 and the second laser ranging sensor 16 collect laser beams reflected from the natural environment to locate its current position and direction, autonomously perceive the environment, and autonomously construct an environmental contour map and path to achieve precise navigation and guidance of the mobile chassis 1.

[0042] Furthermore, the mobile chassis 1 also includes an outer shell 17 surrounding the mobile support 12. Both the first laser rangefinder 15 and the second laser rangefinder 16 penetrate the outer shell 17. The outer shell 17 has first L-shaped clearance grooves 5 on its sides near the first laser rangefinder 15 to expand the laser divergence range of the first laser rangefinder 15, and second L-shaped clearance grooves 6 on its sides near the second laser rangefinder 16 to expand the laser divergence range of the second laser rangefinder 16. The inclusion of the first L-shaped clearance grooves 5 and the second L-shaped clearance grooves 6 on the outer shell 17 prevents the first laser rangefinder 15 and the second laser rangefinder 16 from being obstructed by the outer shell 17 and thus failing to achieve 360° omnidirectional scanning, resulting in a more compact structure.

[0043] Furthermore, the mobile chassis 1 also includes a base 18 connected to the bottom of the mobile support 12. A battery accommodating slot 7 is provided in the middle of the base 18, in which the battery can be accommodated, making reasonable use of the space at the bottom of the mobile support 12 and improving space utilization.

[0044] Furthermore, the work unit 2 includes a workbench 21 connected to the work mounting platform 11, a robot arm support 22 connected to the workbench 21, an industrial collaborative robot arm 23 connected to the top of the robot arm support 22, a material handling mechanism 24 connected to the output end of the industrial collaborative robot arm 23, a conveying support 25 connected to the workbench 21, a first lifting mechanism 26 connected to the side of the conveying support 25 near the robot arm support 22, a first material tray 27 connected to the output end of the first lifting mechanism 26, a first synchronous belt conveyor 28 connected to the conveying support 25 and correspondingly cooperating with the first material tray 27, a second lifting mechanism 29 connected to the side of the conveying support 25 near the robot arm support 22, a second material tray connected to the output end of the second lifting mechanism 29, and a second synchronous belt conveyor 210 connected to the conveying support 25 and correspondingly cooperating with the second material tray. The material handling mechanism 24 is used to handle the material handling or to handle the fixture carrying the material handling.

[0045] In use, the mobile chassis 1 moves to the output process of the jig stacked with the first synchronous belt conveyor 28 of the work unit 2. The material is fed into the work unit 2 via the first synchronous belt conveyor 28 and positioned above the first material tray 27. The first lifting mechanism 26 drives the first material tray 27 to rise. Then, the industrial collaborative robot 23 drives the picking and unloading mechanism 24 to pick up the material from the jig and transfer it to the processing equipment for processing. The industrial collaborative robot 23 drives the picking and unloading mechanism 24 to pick up the processed material and stack it on the jig lifted by the second material tray. After it is full, the mobile chassis 1 moves to the second synchronous belt conveyor 210 of the work unit 2 to connect to the next process. The processed material is output to the next process via the first synchronous belt conveyor 28, which greatly saves manpower.

[0046] Furthermore, the first lifting mechanism 26 includes a first drive motor and a first linear module connected to the output end of the first drive motor. The first linear module is fixedly connected to the side of the conveying bracket 25 near the robot arm bracket 22, and the first material tray 27 is connected to the output end of the first linear module. The second lifting mechanism 29 includes a second drive motor and a second linear module connected to the output end of the second drive motor. The second linear module is fixedly connected to the side of the conveying bracket 25 near the robot arm bracket 22, and the second material tray is connected to the output end of the second linear module. Both the first drive motor and the second drive motor are second servo motors, which facilitates flexible lifting control of the first linear module and the second linear module.

[0047] Furthermore, the work unit 2 also includes a fixture picking and placing mechanism 211 connected to the top of the conveying bracket 25. The fixture picking and placing mechanism 211 includes an X-axis drive module 2111 connected to the top of the conveying bracket 25, a lifting cylinder 2112 connected to the output end of the X-axis drive module 2111, a cylinder seat 2113 connected to the output end of the lifting cylinder 2112, a first pneumatic finger 2114 connected to the cylinder seat 2113, and two grippers 2115 respectively connected to the two gripper ends of the first pneumatic finger 2114, so as to transfer the fixture on the first material tray 27 to the second material tray for use.

[0048] Furthermore, the work unit 2 also includes a waste support 212 connected to the top of the conveying bracket 25, which is used to store waste and fixtures; the material handling mechanism 24 includes a connecting seat 241 connected to the output end of the industrial collaborative robot 23, a material handling suction cup assembly 242 connected to the connecting seat 241, and a clamping assembly 243 connected to the connecting seat 241. The material handling suction cup assembly 242 is used to handle the processed materials, and the clamping assembly 243 is used to handle the fixtures. In use, the clamping assembly 243 lifts the fixture onto the waste support 212. If the processed material is scrapped during processing, it is then lifted by the material handling suction cup assembly 242 and stored on the fixture on the waste support 212.

[0049] The above embodiments are preferred implementations of the present invention. In addition, the present invention can be implemented in other ways. Any obvious substitutions without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A highly flexible omnidirectional composite operation robot, comprising a mobile chassis and an operation unit connected to the top of the mobile chassis, characterized in that: The mobile chassis includes a work platform connected to the work unit, a mobile support connected to the work platform, a rotation drive mechanism housed in the mobile support, and a steering wheel suspension mechanism that is drively connected to the output end of the rotation drive mechanism and installed at the bottom of the mobile support. The steering wheel suspension mechanism has a steering wheel body, which is a hub motor. The steering wheel suspension mechanism includes a hollow suspension platform fixedly connected to the bottom of the movable support, a hollow rotary platform fixedly connected to the hollow suspension platform and driven by the output end of the rotation drive mechanism, a rotary seat connected to the turntable of the hollow rotary platform, steering wheel mounting seats that are raised and lowered on both sides of the rotary seat, and an adjustment and shock absorption assembly connecting the rotary seat and the steering wheel mounting seats. The steering wheel body is rotatably mounted on the steering wheel mounting seat. The work unit includes a workbench connected to the work mounting platform, a robot arm bracket connected to the workbench, an industrial collaborative robot arm connected to the top of the robot arm bracket, and an industrial collaborative robot arm connected to the industrial collaborative robot arm. The system comprises a material handling mechanism connected to the output end, a conveying bracket connected to the worktable, a first lifting mechanism connected to the side of the conveying bracket near the robot arm bracket, a first material tray connected to the output end of the first lifting mechanism, a first synchronous belt conveyor connected to the conveying bracket and corresponding to the first material tray, a second lifting mechanism connected to the side of the conveying bracket near the robot arm bracket, a second material tray connected to the output end of the second lifting mechanism, and a second synchronous belt conveyor connected to the conveying bracket and corresponding to the second material tray. The material handling mechanism is used to handle the material being processed or to handle the fixture carrying the material being processed. The work unit also includes a waste support connected to the top of the conveying bracket, which is used to store waste and fixtures; the material handling mechanism includes a connecting seat connected to the output end of the industrial collaborative robot, a material handling suction cup assembly connected to the connecting seat, and a material clamping assembly connected to the connecting seat, which is used to handle the processed material and the material clamping assembly is used to handle the fixture.

2. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: The adjustable damping assembly includes a bolt, an adjusting nut, and a compression spring sandwiched between the rotating seat and the steering wheel mounting seat. The rotating seat has a first through hole, and the steering wheel mounting seat has a second through hole. The bolt passes through the first through hole, the compression spring, and the second through hole in sequence and is threaded into the adjusting nut.

3. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: The steering wheel suspension mechanism also includes a linear guide rail vertically connected to the outer wall of the rotating base, and a slider slidably connected to the linear guide rail and fixedly connected to the steering wheel mounting base.

4. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: A wire-passing hole is provided in the middle of the rotating seat. The middle of the hollow rotating platform, the middle of the hollow suspension platform, and the wire-passing hole are connected in sequence to form a channel for the wire to pass through to the hub motor.

5. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: The rotation drive mechanism includes a first servo motor housed in a movable support and a reducer connected to the output end of the first servo motor. The output end of the reducer is connected to the hollow rotary table via a transmission.

6. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: The mobile chassis also includes a first laser ranging sensor and a second laser ranging sensor, which are respectively connected to opposite corners of the mobile support.

7. A highly flexible omnidirectional composite operation robot according to claim 6, characterized in that: The mobile chassis also includes an outer shell surrounding the mobile support. The first laser rangefinder and the second laser rangefinder both penetrate the outer shell. The outer shell has a first L-shaped clearance groove on both sides near the first laser rangefinder to expand the laser divergence range of the first laser rangefinder. The outer shell also has a second L-shaped clearance groove on both sides near the second laser rangefinder to expand the laser divergence range of the second laser rangefinder.

8. The highly flexible omnidirectional composite operation robot according to claim 1, characterized in that: The mobile chassis also includes a base connected to the bottom of the mobile support, and a battery accommodating slot is provided in the middle of the base.

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