Mobile platform carrying industrial robot

Abstract

The invention discloses a mobile platform carrying an industrial robot, which comprises a frame welding part, a driving wheel assembly, two laser scanners, two 3D obstacle avoidance assemblies, two HMI assemblies, an electrical assembly, a battery assembly, two emergency stop switches and two lamp strip assemblies, and is characterized in that the industrial robot is detachably mounted on the frame welding part; the driving wheel assembly is mounted at the bottom of the frame assembly welding part; the laser scanner is arranged on one of two opposite angles of the frame assembly welding piece; each emergency stop switch and each lamp strip assembly are arranged on one of the other two opposite angles of the frame assembly welding piece; the electrical assembly is connected with the driving wheel assembly, the laser scanner, the emergency stop switch, the lamp strip assembly, the 3D obstacle avoidance assembly and the HMI assembly. The battery assembly is connected with the electrical assembly. The device is matched with an industrial robot, a skip car and other accessory equipment, the automation degree and the working efficiency are further improved, manual participation can be reduced, and the labor cost can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile platforms carrying industrial robots, and in particular to a mobile platform carrying an industrial robot. Background Art

[0002] Industrial robots refer to automated robots used in industrial manufacturing and other fields, and are widely used in manufacturing, logistics, warehousing, quality inspection and testing, etc. At present, in most application scenarios, industrial robots are usually fixedly installed next to the equipment they are used with to perform repetitive and high-intensity work, which plays a role in improving production quality and efficiency, reducing production costs, and replacing manual labor.

[0003] Currently, most industrial robots are fixedly installed, resulting in a lack of flexibility: industrial robots are usually single-function and cannot adapt to a variety of production tasks and processes, which limits their flexibility and adaptability on the production line; in addition, the production lines of industrial robots are usually designed for specific production processes and products. If production needs change, the production line needs to be redesigned and adjusted, which will increase production costs and time costs and cannot adapt to changes. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a mobile platform and method for carrying an industrial robot.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A mobile platform equipped with an industrial robot, comprising:

[0007] A vehicle frame assembly weldment, on which an industrial robot is detachably mounted;

[0008] A driving wheel assembly, the driving wheel assembly being mounted on the bottom of the frame assembly weldment;

[0009] Two laser scanners, each of which is disposed on one of two diagonal corners of the frame assembly weldment;

[0010] Two emergency stop switches and two light strip assemblies, each of the emergency stop switch and one of the light strip assemblies are arranged in coordination, and each of the emergency stop switch and one of the light strip assemblies are arranged on one of the other two diagonal portions of the frame assembly weldment;

[0011] Two 3D obstacle avoidance components, the two 3D obstacle avoidance components are respectively arranged on the end surfaces at both ends of the frame assembly weldment;

[0012] Two HMI components, the two HMI components are also respectively connected to the end surfaces at both ends of the frame assembly weldment, and the HMI components are arranged above the 3D obstacle avoidance component;

[0013] An electrical component, the electrical component is installed in the frame assembly weldment, and the electrical component is respectively connected to the driving wheel assembly, the laser scanner, the emergency stop switch, the light strip assembly, the 3D obstacle avoidance assembly and the HMI assembly;

[0014] A battery assembly is also installed in the frame weldment, and the battery assembly is connected to the electrical assembly.

[0015] The above-mentioned mobile platform carrying an industrial robot, wherein the frame weldment includes a plurality of steel plates, and the plurality of steel plates are spliced ​​to form: an electrical compartment and a battery compartment, the electrical components are installed in the electrical compartment, the battery components are installed in the battery compartment, and fans and vents are provided at both ends of the electrical compartment.

[0016] The above-mentioned mobile platform carrying an industrial robot, among other things, further includes: a cover shell assembly weldment, wherein the cover shell assembly weldment is installed on the frame assembly weldment, the cover shell assembly weldment and the frame assembly weldment together form a accommodating space, and the battery compartment and the electrical compartment are both arranged in the accommodating space.

[0017] The above-mentioned mobile platform carrying an industrial robot, wherein the driving wheel assembly includes: two driving wheels, two driven wheels and two connecting structures, each of the connecting structures is connected to one driving wheel and one driven wheel, and the two driving wheels and the two driven wheels are respectively arranged on the four corners of the bottom of the frame assembly weldment.

[0018] The above-mentioned mobile platform carrying an industrial robot, wherein the driving wheel is a steering wheel mechanism, the driving wheel includes a walking part and a steering part, the walking part includes a walking wheel and a walking motor, the walking motor drives the walking wheel to rotate about the axis of the walking wheel, and the walking motor is connected to the electrical component; the steering part includes a slewing bearing, a steering motor, an adapter plate and a fixing bar, the lower end of the slewing bearing is connected to the walking wheel, the upper end of the slewing bearing is connected to the adapter plate, the fixing bar is arranged at the upper end of the adapter plate, the adapter plate is connected to the connecting structure through the fixing bar, the steering motor drives the slewing bearing to rotate about the axis of the slewing bearing, and the axis of the slewing bearing and the axis of the walking wheel are perpendicular to each other.

[0019] The above-mentioned mobile platform carrying an industrial robot, wherein the connection structure includes: a first articulated frame, a second articulated frame and an articulated seat, the articulated seat is fixedly mounted on the bottom of the frame assembly weldment, the articulated seat is provided with an articulated shaft, the articulated shaft is arranged along the width direction of the first articulated frame and the width direction of the second articulated frame, the first articulated frame and the second articulated frame are articulated through the articulated shaft, the driving wheel is mounted on the first articulated frame, and the driven wheel is mounted on the second articulated frame.

[0020] The above-mentioned mobile platform carrying an industrial robot, wherein the first articulated frame is provided with a cable through hole, the walking motor and the steering motor are both connected to the electrical component through cables, the cables pass through the cable through hole, and the first articulated frame is provided with a cable fixing plate for fixing the cables.

[0021] The above-mentioned mobile platform carrying an industrial robot, wherein the connection structure also includes: a driving wheel limit block and a driven wheel limit block, the driving wheel limit block is arranged above the first articulated frame, the driven wheel limit block is arranged above the second articulated frame, and the driving wheel limit block and the driven wheel limit block are respectively arranged corresponding to the driving wheel and the driven wheel.

[0022] The above-mentioned mobile platform carrying an industrial robot, wherein the driving wheel is connected with a brake and an encoder, a buzzer is installed inside the frame assembly, and a nylon plate is provided between the battery assembly and the frame assembly.

[0023] The above-mentioned mobile platform carrying an industrial robot, among other things, further includes: a charging disk assembly, wherein the charging disk assembly is arranged on the frame assembly weldment, and the charging disk assembly is connected to the battery assembly.

[0024] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0025] (1) The present invention cooperates with industrial robots, material carts, and other auxiliary equipment to further improve the degree of automation and work efficiency, and can reduce manual participation and save labor costs.

[0026] (2) The present invention is multifunctional and can be used in conjunction with different industrial robots to complete a variety of different tasks. The robot is installed on the device to improve the flexibility and versatility of the robot.

[0027] (3) The present invention is equipped with a laser scanner, an emergency stop switch, a light strip assembly, a 3D obstacle avoidance assembly and an HMI assembly, which can avoid obstacles and plan routes on its own, and has higher flexibility and adaptability than traditional industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of a mobile platform carrying an industrial robot according to the present invention.

[0029] Figure 2 Schematic diagram of a mobile platform carrying an industrial robot according to the present invention.

[0030] Figure 3 It is a schematic diagram of the connection structure of the mobile platform carrying the industrial robot of the present invention.

[0031] Figure 4 Schematic diagram of electrical components of a mobile platform carrying an industrial robot according to the present invention.

[0032] Figure 5 Schematic diagram of a battery assembly of a mobile platform carrying an industrial robot according to the present invention.

[0033] Figure 6 Schematic diagram of the HMI component of the mobile platform carrying the industrial robot of the present invention.

[0034] Figure 7 Schematic diagram of a 3D obstacle avoidance component of a mobile platform equipped with an industrial robot according to the present invention.

[0035] Figure 8 Schematic diagram of the driving wheels of the mobile platform carrying the industrial robot of the present invention.

[0036] Fig. 9 It is a schematic diagram of the cooperation between the mobile platform carrying the industrial robot and the industrial robot of the present invention.

[0037] In the attached figure: 1. Frame assembly weldment; 2. Laser scanner; 3. Buzzer; 4. Fan; 5. Casing assembly weldment; 6. Emergency stop switch; 7. Light strip assembly; 8. 3D obstacle avoidance assembly; 9. HMI assembly; 10. Battery assembly; 11. Electrical assembly; 12. Charging disk assembly; 13. Driving wheel assembly; 14. Driving wheel; 15. Driven wheel; 16. First articulated frame; 17. Second articulated frame; 18. Articulated seat; 19. Articulated shaft; 20. Driving wheel limit block; 21. Driven wheel limit block; 22. Cable fixing plate; 23. PLC; 24. Switch; 25. Wiring trough; 26. Terminal block; 27. Power module; 28. I / O input and output module; 29. ​​Driver; 30. Controller; 3 1. Electrical installation board; 32. Battery limit block; 33. Battery; 34. Nylon board; 35. Side guide limit block; 36. Eyebolt; 37. Battery management module; 38. Touch screen; 39. Key switch; 40. Emergency stop button; 41. Function button; 42. Debug interface; 43. Laser detection and ranging sensor; 44. Bracket; 45. Adapter socket; 46. Fixed bracket; 47. Fixed bar; 48. Adapter plate; 49. Steering motor; 50. Travel motor; 51. Slewing bearing; 52. Travel wheel; 53. Mobile platform; 54. Inverter; 55. External control cabinet; 56. Hanger rack; 57. Industrial robot control cabinet; 58. Workpiece; 59. Inspection camera; 60. Industrial robot. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention. Figure 1 is a schematic diagram of a mobile platform carrying an industrial robot of the present invention;

[0039] Figure 2 is a schematic diagram of a mobile platform carrying an industrial robot of the present invention; Figure 3 is a schematic diagram of a connection structure of a mobile platform carrying an industrial robot of the present invention; Figure 4 is a schematic diagram of electrical components of a mobile platform carrying an industrial robot of the present invention; Figure 5 is a schematic diagram of a battery assembly of a mobile platform carrying an industrial robot of the present invention; Figure 6 is a schematic diagram of an HMI component of a mobile platform carrying an industrial robot of the present invention; Figure 7 is a schematic diagram of a 3D obstacle avoidance component of a mobile platform equipped with an industrial robot according to the present invention; Figure 8 is a schematic diagram of a driving wheel of a mobile platform carrying an industrial robot of the present invention; Fig. 9 is a schematic diagram of the cooperation between the mobile platform carrying the industrial robot and the industrial robot of the present invention, see Figures 1 to 9As shown, a mobile platform equipped with an industrial robot according to a preferred embodiment is shown, comprising: a frame assembly weldment 1, a driving wheel assembly 13, two laser scanners 2, two 3D obstacle avoidance assemblies 8, two HMI assemblies 9, an electrical assembly 11, a battery assembly 10, two emergency stop switches 6 and two light strip assemblies 7, wherein an industrial robot 60 is detachably mounted on the frame assembly weldment 1; the driving wheel assembly 13 is mounted on the bottom of the frame assembly weldment; each laser scanner 2 is disposed on one of the two diagonals of the frame assembly weldment 1; each emergency stop switch 6 and a light strip assembly 7 are arranged in coordination, and each emergency stop switch 6 and a light strip assembly The components 7 are all arranged on one of the other two diagonal corners of the frame assembly 1; the two 3D obstacle avoidance components 8 are respectively arranged on the end faces at both ends of the frame assembly 1; the two HMI components 9 are also respectively connected to the end faces at both ends of the frame assembly 1, and the HMI component 9 is arranged above the 3D obstacle avoidance component 8; the electrical component 11 is installed in the frame assembly 1, and the electrical component 11 is respectively connected to the driving wheel component 13, the laser scanner 2, the emergency stop switch 6, the light strip component 7, the 3D obstacle avoidance component 8 and the HMI component 9; the battery component 10 is also installed in the frame assembly 1, and the battery component 10 is connected to the electrical component 11.

[0040] In a preferred embodiment, the frame weldment 1 includes a plurality of steel plates, which are spliced ​​to form: an electrical compartment and a battery compartment, the electrical component 11 is installed in the electrical compartment, the battery component 10 is installed in the battery compartment, and fans 4 and vents are provided at both ends of the electrical compartment.

[0041] Further, if Figure 4 As shown, the electrical component 11 includes: PLC23, switch 24, wiring trough 25, terminal block 26, power module 27, I / O input and output module 28, driver 29, controller 30 and electrical installation board 31, wherein PLC23, switch 24, wiring trough 25, terminal block 26, power module 27, I / O input and output module 28, driver 29, controller 30 are all installed on the electrical installation board 31.

[0042] Further, if Figure 5 As shown, the battery assembly 10 includes: a battery limit block 32, a battery 33, a nylon plate 34, a side guide limit block 35, a lifting eye screw 36 and a battery management module 37.

[0043] Further, if Figure 6 As shown, the HMI component 9 is provided with: a touch screen 38 , a key switch 39 , an emergency stop button 40 , a function button 41 and a debugging interface 42 .

[0044] Further, if Figure 7As shown, the 3D obstacle avoidance component 8 includes: a laser detection and ranging sensor 43, a bracket 44, an adapter socket 45 and a fixed bracket 46, the bracket 44 connects the laser detection and ranging sensor 43 and the frame assembly weldment 1, and the fixed bracket 46 connects the adapter socket 45 and the frame assembly weldment 1.

[0045] In a preferred embodiment, it also includes: a cover shell assembly weldment 5, the cover shell assembly weldment 5 is installed on the frame assembly weldment 1, the cover shell assembly weldment 5 and the frame assembly weldment 1 together form an accommodating space, and the battery compartment and the electrical compartment are both arranged in the accommodating space.

[0046] In a preferred embodiment, the driving wheel assembly 13 includes: two driving wheels 14, two driven wheels 15 and two connecting structures, each connecting structure is connected to a driving wheel 14 and a driven wheel 15, and the two driving wheels 14 and the two driven wheels 15 are respectively arranged on the four corners of the bottom of the frame assembly weldment 1.

[0047] In a preferred embodiment, the driving wheel 14 is a steering wheel mechanism, and the driving wheel 14 includes a walking part and a steering part. The walking part includes a walking wheel 52 and a walking motor 50. The walking motor 50 drives the walking wheel 52 to rotate about the axis of the walking wheel 52, and the walking motor 50 is connected to the electrical component 11; the steering part includes a slewing bearing 51, a steering motor 49, an adapter plate 48 and a fixing bar 47. The lower end of the slewing bearing 51 is connected to the walking wheel 52, and the upper end of the slewing bearing 51 is connected to the adapter plate 48. The fixing bar 47 is arranged at the upper end of the adapter plate 48, and the adapter plate 48 is connected to the connecting structure through the fixing bar 47. The steering motor 49 drives the slewing bearing 51 to rotate about the axis of the slewing bearing 51, and the axis of the slewing bearing 51 and the axis of the walking wheel 52 are perpendicular to each other.

[0048] In a preferred embodiment, the connecting structure includes: a first articulated frame 16, a second articulated frame 17 and an articulated seat 18, the articulated seat 18 is fixedly mounted on the bottom of the frame assembly weldment 1, and a hinge shaft 19 is provided on the articulated seat 18, and the articulated shaft 19 is arranged along the width direction of the first articulated frame 16 and the width direction of the second articulated frame 17. The first articulated frame 16 and the second articulated frame 17 are articulated through the articulated shaft 19, the driving wheel 14 is mounted on the first articulated frame 16, and the driven wheel 15 is mounted on the second articulated frame 17.

[0049] In a preferred embodiment, a cable through hole is provided on the first articulated frame 16, and the travel motor 50 and the steering motor 49 are connected to the electrical component 11 through cables, and the cables pass through the cable through hole. The first articulated frame 16 is provided with a cable fixing plate 22 for fixing the cables.

[0050] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0051] The present invention also has the following implementation modes based on the above:

[0052] In a further embodiment of the present invention, the connection structure also includes: a driving wheel limit block 20 and a driven wheel limit block 21, the driving wheel limit block 20 is arranged above the first articulated frame 16, and the driven wheel limit block 21 is arranged above the second articulated frame 17, and the driving wheel limit block 20 and the driven wheel limit block 21 are respectively arranged corresponding to the driving wheel 14 and the driven wheel 15.

[0053] In a further embodiment of the present invention, a brake and an encoder are connected to the driving wheel 14 , a buzzer 3 is installed inside the frame weldment 1 , and a nylon plate 34 is provided between the battery assembly 10 and the frame weldment 1 .

[0054] In a further embodiment of the present invention, it further includes: a charging disk assembly 12 , which is disposed on the frame assembly weldment 1 , and is connected to the battery assembly 10 .

[0055] In a preferred embodiment, Fig. 9 As shown, the frame assembly 1, the driving wheel assembly 13, the two laser scanners 2, the two 3D obstacle avoidance assemblies 8, the two HMI assemblies 9, the electrical assembly 11, the battery assembly 10, the two emergency stop switches 6 and the two light strip assemblies 7 are combined to form a mobile platform 53, and the industrial robot 60 is installed on the mobile platform 53; Fig. 9 As shown, the industrial robot 60 includes: an inverter 54, an external control cabinet 55, a hanger frame 56, an industrial robot 60 control cabinet 57 and a detection camera 59. The detection camera 59 is provided with a gripper for clamping a workpiece 58.

[0056] The present invention designs a mobile platform 53 carrying an industrial robot 60, which changes the traditional fixed installation mode of industrial machines and makes it a new type of composite robot. In practical applications, it can be more flexibly adapted to different scenes and task requirements, and has higher intelligence and autonomy.

[0057] In a preferred embodiment, the frame assembly weldment 1 is the main frame of the entire mobile platform 53 mechanism, which is welded from steel plates of different thicknesses, and divides the mobile platform 53 into different functional areas and carries the loads applied by the industrial robot 60 and other equipment carried on the upper part. In addition, various functional devices are installed at different parts of the frame assembly weldment 1 according to the design plan. The main function of the cover assembly weldment 5 is to protect the electrical components installed inside, and to facilitate installation, debugging during the intermediate process, and later repair and maintenance.

[0058] In a preferred embodiment, the wheel system of the device adopts a "two-drive and two-follow" arrangement, that is, two driving wheels 14 respectively drive two driven wheels 15, wherein the driving wheel 14 is a steering wheel mechanism, which can realize all-round driving such as forward, backward, side shifting, turning, and spinning; in addition, the front driving wheel 14 and the driven wheel 15 are hinged with an articulated shaft 19 to ensure that each wheel can always touch the ground, thereby increasing the stability of the mobile platform 53 mechanism.

[0059] In a preferred embodiment, a safety laser scanner 2 is installed on the device, which can realize 360-degree safety protection while realizing laser SLAM navigation. In addition, emergency stop switches 6 and warning lights are arranged at the four corners of the platform, 3D obstacle avoidance is arranged at the front and rear, the driving wheel 14 is equipped with a brake and an encoder, and a buzzer 3 is installed inside to realize multiple safety protection functions. According to the industry TSSITS202-2020 Safety Specification Standard for Mobile Robots for Industrial Applications, its safety configuration reaches Class D standard, and the mobile platform 53 itself has high safety.

[0060] In a preferred embodiment, the device is provided with independent electrical compartment and battery compartment, and the electrical components are installed in a local modular manner. Fans 4 and vents are added at both ends of the electrical compartment to facilitate heat dissipation in the compartment. In addition, according to the layout of each functional part, the corresponding electrical components are arranged in the nearest manner, which reduces the required cable length, avoids cross-entanglement of wiring harnesses, saves installation and wiring time, and facilitates later maintenance and inspection.

[0061] In a preferred embodiment, the connection structure of the device includes: a driving wheel 14, a driven wheel 15, an articulated frame, an articulated seat 18, an articulated shaft 19, a driving wheel limit block 20, a driven wheel limit block 21, a cable fixing plate 22, and a clamping plate, wherein the driving wheel 14 and the driven wheel 15 are respectively installed on both sides of the articulated frame to bear the loads applied by the mobile platform 53 and external equipment, the connection structure rotates around the axis of the articulated shaft 19, and the rotation range is limited by the driving wheel limit block 20 and the driven wheel limit block 21, the articulated seat 18 and the articulated shaft 19 are relatively fixedly installed, and the articulated seat 18 is installed on the frame assembly weldment 1 to remain relatively fixed with the frame, so that the mobile platform 53 has a certain ability to adapt to the unevenness of the ground.

[0062] In a preferred embodiment, the electrical components 11 of the device include: electrical installation board 31, shock pad, controller 30, driver 29, power module 27, PLC 23, communication module, I / O input and output module 28, switch 24, terminal block 26, various electrical components in the electrical compartment and batteries 33 distributed on the body assembly weldment, laser scanning, 3D obstacle avoidance camera, motor on the driving wheel 14, buzzer 3, emergency stop switch 6 and other components form the electrical hardware system of the mobile platform 53. It creates a foundation for the autonomous movement of the mobile platform 53, the detection, control and adjustment of the surrounding environment, the transmission and communication of signals, the collection and recording of data, and the real-time control and adjustment of movement.

[0063] In a preferred embodiment, the battery compartment of the device is used to place the battery 33 and the battery 33 control management box. The battery 33 can not only power the mobile platform 53 mechanism itself, but also power the industrial robot 60 and other equipment mounted on it. Considering that most industrial robots 60 currently use alternating current, an additional inverter is added for conversion. Considering the mobility of the mobile platform 53 and the need for installation, repair and maintenance of the battery 33, a nylon plate 34 is added under the battery 33. While protecting the battery 33 and isolating it from the frame, it becomes more friendly to later maintenance and replacement. Limit blocks are installed before and after the battery 33 to prevent the mobile platform 53 from relative displacement during movement. The limit blocks on both sides of the battery 33 have additional guiding functions to facilitate the installation of the battery 33. The battery 33 is replenished by docking with the external charger through the charging disk assembly 12 arranged in front of the mobile platform 53. The main function of the battery 33 control management box is to control, manage, detect or calculate the electrical and thermal related parameters of the battery 33, and be able to upload the relevant information to the mobile platform 53 control system. The battery 33 control management box has the function of real-time monitoring of the battery 33 voltage, current, and temperature. During the charging and discharging process, it can also protect against overcharging, over-discharging, over-current, over-temperature and other situations. When an abnormal situation occurs in the battery 33, the battery 33 control management box will upload the detected relevant information to the controller 30 to ensure the safety of the mobile platform 53 battery 33.

[0064] In a preferred embodiment, the HMI component 9 of the device includes: a touch screen 38, a key switch 39, an emergency stop button, various function buttons 41, a network cable interface, etc., which are used to display the functions and operating status of the mobile platform 53 components to users, debuggers, etc., receive user instructions and provide feedback information, adjust parameters and perform operations. In addition, alarm fault information can be provided to help operating staff to find and solve problems in a timely manner. The interface information of the touch screen 38 of the HMI component 9 of the device is concise and easy to understand. The user interface design is easy to operate, can provide clear operating instructions and feedback information, reduce the probability of errors, and have a better user experience.

[0065] In a preferred embodiment, since the laser scanner 2 carried diagonally on the mobile platform 53 can only detect obstacles within the plane, and considering that some suspended objects cannot be identified, a 3D obstacle avoidance component 8 is added in the main moving direction, front and rear of the mobile platform 53, in which the main configuration is a Mid-70 laser detection and ranging sensor 43. This product can perceive the surrounding environment in real time, and analyze and judge the position and distance of obstacles through algorithms, thereby further increasing the safety performance of the mobile platform 53.

[0066] In a preferred embodiment, considering the large size, heavy weight and inconvenient disassembly of the industrial robot 60, robot control cabinet, hanger frame 56 and other equipment on the mobile platform 53, the drive wheel assembly 13 adopts a side installation and maintenance design. The drive wheel 14 uses a horizontal steering wheel structure to connect with the frame assembly weldment 1. A single drive wheel 14 consists of a walking part and a steering part, and is equipped with an encoder, a brake, a limit switch, a zero position switch, etc., which are used to detect and control the steering angle, walking speed, walking distance, etc. of the wheel and feed back the detected information to the controller 30 of the mobile platform 53 in real time. The wheel surface material of the drive wheel 14 is polyurethane, which has good bearing capacity, grip, wear resistance, corrosion resistance, and low noise characteristics, ensuring good contact with the ground during operation and improving the accuracy and stability of the mobile platform 53.

[0067] In a preferred embodiment, a composite robot consisting of an industrial robot 60 is installed on the upper part of the device, which greatly improves the application scenarios of the industrial robot 60 and provides a new solution for the automated application of the industrial robot 60.

[0068] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile platform carrying an industrial robot, characterized in that: include: A vehicle frame assembly weldment, on which an industrial robot is detachably mounted; A driving wheel assembly, the driving wheel assembly being mounted on the bottom of the frame assembly weldment; Two laser scanners, each of which is disposed on one of two diagonal corners of the frame assembly weldment; Two emergency stop switches and two light strip assemblies, each of the emergency stop switches and one of the light strip assemblies are arranged in coordination, and each of the emergency stop switches and one of the light strip assemblies are arranged on one of the other two diagonal corners of the frame assembly weldment; Two 3D obstacle avoidance components, the two 3D obstacle avoidance components are respectively arranged on the end surfaces at both ends of the frame assembly weldment; Two HMI components, the two HMI components are also respectively connected to the end surfaces at both ends of the frame assembly weldment, and the HMI components are arranged above the 3D obstacle avoidance component; An electrical component, the electrical component is installed in the frame assembly weldment, and the electrical component is respectively connected to the driving wheel assembly, the laser scanner, the emergency stop switch, the light strip assembly, the 3D obstacle avoidance assembly and the HMI assembly; A battery assembly is also installed in the frame weldment, and the battery assembly is connected to the electrical assembly.

2. The mobile platform carrying an industrial robot according to claim 1, characterized in that: The frame assembly weldment includes a plurality of steel plates, and the plurality of steel plates are spliced ​​to form: an electrical compartment and a battery compartment, the electrical components are installed in the electrical compartment, the battery components are installed in the battery compartment, and fans and vents are provided at both ends of the electrical compartment.

3. The mobile platform carrying an industrial robot according to claim 2, characterized in that: Also includes: A cover shell assembly weldment, wherein the cover shell assembly weldment is mounted on the frame assembly weldment, the cover shell assembly weldment and the frame assembly weldment together form an accommodating space, and the battery compartment and the electrical compartment are both arranged in the accommodating space.

4. The mobile platform carrying an industrial robot according to claim 1, characterized in that: The driving wheel assembly comprises: two driving wheels, two driven wheels and two connecting structures, each of the connecting structures connects one driving wheel and one driven wheel, and the two driving wheels and the two driven wheels are respectively arranged on the four corners of the bottom of the frame assembly weldment.

5. The mobile platform carrying an industrial robot according to claim 4, characterized in that: The driving wheel is a steering wheel mechanism, and the driving wheel includes a walking part and a steering part. The walking part includes a walking wheel and a walking motor. The walking motor drives the walking wheel to rotate about the axis of the walking wheel, and the walking motor is connected to the electrical component; the steering part includes a slewing bearing, a steering motor, an adapter plate and a fixing bar. The lower end of the slewing bearing is connected to the walking wheel, and the upper end of the slewing bearing is connected to the adapter plate. The fixing bar is arranged at the upper end of the adapter plate, and the adapter plate is connected to the connecting structure through the fixing bar. The steering motor drives the slewing bearing to rotate about the axis of the slewing bearing, and the axis of the slewing bearing and the axis of the walking wheel are perpendicular to each other.

6. The mobile platform carrying an industrial robot according to claim 5, characterized in that: The connection structure includes: a first articulated frame, a second articulated frame and an articulated seat, the articulated seat is fixedly mounted on the bottom of the frame assembly weldment, the articulated seat is provided with an articulated shaft, the articulated shaft is arranged along the width direction of the first articulated frame and the width direction of the second articulated frame, the first articulated frame and the second articulated frame are articulated via the articulated shaft, the driving wheel is mounted on the first articulated frame, and the driven wheel is mounted on the second articulated frame.

7. The mobile platform carrying an industrial robot according to claim 6, characterized in that: The first articulated frame is provided with a cable through hole, the travel motor and the steering motor are connected to the electrical component via cables, the cables pass through the cable through hole, and the first articulated frame is provided with a cable fixing plate for fixing the cables.

8. The mobile platform carrying an industrial robot according to claim 6, characterized in that: The connection structure also includes: a driving wheel limit block and a driven wheel limit block, the driving wheel limit block is arranged above the first articulated frame, the driven wheel limit block is arranged above the second articulated frame, and the driving wheel limit block and the driven wheel limit block are respectively arranged corresponding to the driving wheel and the driven wheel.

9. The mobile platform carrying an industrial robot according to claim 1, characterized in that: The driving wheel is connected with a brake and an encoder, a buzzer is installed inside the frame assembly weldment, and a nylon plate is arranged between the battery assembly and the frame assembly weldment.

10. The mobile platform carrying an industrial robot according to claim 1, characterized in that: Also includes: A charging tray assembly is disposed on the frame assembly weldment and is connected to the battery assembly.

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