Composite robot system

Abstract

The invention discloses a composite robot system which comprises an automatic moving trolley which comprises a main machine frame and a control box connected to the top face of the main machine frame through a buffering structure, and the control box is provided with a dispatching system used for controlling the main machine frame to move; the accompanying carrier is detachably connected to one side of the top face of the control box, and the accompanying carrier comprises a tray containing assembly used for containing a target workpiece; the fixed end of the mechanical arm is installed on the other side of the top face of the control box, and the mechanical arm is provided with a control system and used for controlling the free end of the mechanical arm to move freely in the longitudinal direction and the transverse direction according to the control instruction. The executing clamping jaw device is detachably mounted at the free end of the mechanical arm, and a visual camera is mounted on one side of the executing clamping jaw device; and the central control system is in signal connection with the scheduling system and the control system and can generate a control instruction according to the position and state information acquired from the scheduling system and the control system. The robot can meet diversified production requirements and well adapt to different ground conditions, and the flexibility degree and the automation degree are further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robots, and in particular relates to a composite robot system. Background Art

[0002] The transfer link is an indispensable part of industrial production. It is a key process to efficiently connect continuous manufacturing, quality inspection and parameter measurement. The optimization of this process is of great significance to improving production efficiency and ensuring product quality. The transfer of traditional assembly lines, testing equipment and testing instruments usually relies on manual or mobile ground rail machines / conveyor lines, etc., which have the defects of low flexibility, large equipment and site requirements, and low degree of automation. With the rapid development of intelligent manufacturing, handling robots have also emerged. However, the existing handling robots are affected by the on-site environment and the vehicle body itself, have poor adaptability to ground road conditions, and cannot stably complete the transfer work.

[0003] Transfer is not only a bridge between processes, but also the key to improving production efficiency, ensuring product quality, and supporting automation and intelligent upgrades. Therefore, by continuously optimizing the transfer link, a more efficient and flexible production model can be achieved, thereby gaining an advantage in the fierce market competition. Summary of the invention

[0004] The purpose of the present invention is to provide a composite robot system that can adapt to diverse production needs and improve flexibility and automation.

[0005] In order to solve the above problems, the present invention provides a composite robot system, including a raw material warehouse, a machine processing device, a testing device and a finished product warehouse, and also includes: An automatic moving vehicle, comprising a main frame and a control box connected to the top surface of the main frame through a buffer structure, wherein the control box is provided with a dispatching system for controlling the movement of the main frame; An accompanying carrier, the accompanying carrier is detachably connected to one side of the top surface of the control box, and the accompanying carrier includes a tray placement component for placing a target workpiece; A robotic arm, wherein the fixed end of the robotic arm is mounted on the other side of the top surface of the control box, and the robotic arm is provided with a control system, and the control system is used to control the free end of the robotic arm to freely move in the longitudinal and transverse directions according to the control instructions, so as to transfer the sample between the workbench and the accompanying carrier; An execution jaw device, the execution jaw device is used to clamp a workpiece or a pallet, the execution jaw device is detachably mounted on the free end of the robot arm, one side of the execution jaw device is connected to a camera base plate, and a visual camera is mounted on the camera base plate; The central control system is connected to the dispatching system and the control system by signals, and can generate control instructions based on the position and status information obtained from the dispatching system and the control system.

[0006] The composite robot system of the present invention has the beneficial effect of setting the planned route as needed through the scheduling system, controlling the automatic moving cart to move along the planned route between the raw material warehouse, machine processing equipment, testing equipment and finished product warehouse. After the automatic moving cart moves to the target position, the central control system coordinates the scheduling system and the control system, the automatic moving cart stops moving, and the robotic arm cooperates with the execution gripper device and the visual camera at the end of the robotic arm to realize automatic grasping and placement of raw materials, finished products or pallets, completing the loading and unloading operations, and then the automatic moving cart moves to the next target position, thereby realizing the automatic transportation of raw materials between the raw material warehouse-accompanying carrier-machine processing equipment and the finished products between the machine processing equipment-accompanying carrier-testing equipment-accompanying carrier-finished product warehouse. The accompanying carrier can be detachably installed on the automatic moving cart, and the execution gripper device can be detachably connected to the free end of the robotic arm, both of which can be flexibly replaced according to transportation needs, so that the composite robot system can adapt to diverse production needs; the automatic moving cart is provided with a buffer structure, which can enable the automatic moving cart to adapt well to different ground conditions during the movement of the automatic moving cart, meet the requirements of use in complex environments, and further improve the degree of flexibility and automation.

[0007] In some embodiments, the main frame includes a frame bottom plate, a frame top plate, a driving wheel group and at least one driven wheel group rotatably connected to the frame bottom plate, a driving device for driving the driving wheel group to rotate on the ground, and a buffer structure connected to the frame bottom plate, the driven wheel group is arranged on one side of the driving wheel group, the driving wheel group and / or the driven wheel group are connected to the buffer structure, and the control box is installed on the top surface of the frame top plate.

[0008] Therefore, during the movement of the automatic moving vehicle, the buffer structure is connected to the driving wheel group and / or the driven wheel group. When encountering road bumps, the impact can be absorbed by the buffer structure, reducing the impact force of the automatic moving vehicle caused by uneven road surface or vibration, suppressing unnecessary vibration of the vehicle body, and maintaining the stability of the main frame and the accompanying carrier and robotic arm installed above, thereby improving the handling accuracy and stably completing the transfer work.

[0009] In some embodiments, the buffer structure includes a front buffer mechanism, the front buffer mechanism includes a suspension shaft, a plurality of swing arms, and a first adjustable shock absorber connected between the swing arms and the upper plate of the frame, the suspension shaft is mounted on the bottom plate of the frame and arranged in the left and right directions, the plurality of swing arms can rotate around the suspension shaft through bearings, and the number of the swing arms matches and corresponds to each driven wheel in a set of driven wheels; One end of the swing arm is connected to a driven wheel of the driven wheel set, and the other end of the swing arm is connected to a driving wheel of the driving wheel set; the frame bottom plate and the frame upper plate are connected through a plurality of support columns.

[0010] Therefore, the two ends of the swing arm are respectively connected to the driving wheel and the driven wheel, and can rotate around the suspension shaft, so that the driving wheel group and the driven wheel group are both floatingly connected, and the driving wheel and the driven wheel on the same side float back and forth. No matter whether the driving wheel or the driven wheel encounters an uneven road surface, the floating connection form allows the automatic moving vehicle to easily pass through the roadblock, reducing part of the impact force on the vehicle body. At the same time, the first adjustable shock absorber further absorbs the impact, suppresses the vibration of the vehicle body, improves the stability of the automatic moving vehicle, and improves its adaptability to ground road conditions.

[0011] In some embodiments, the first end of the first adjustable shock absorber is connected to an end of the swing arm close to the driving wheel, the second end of the first adjustable shock absorber is connected to the support column on the same side, and the first end to the second end of the first adjustable shock absorber is inclined toward the forward direction of the main frame.

[0012] Therefore, the first adjustable shock absorber is obliquely connected between the swing arm and the support column close to the driving wheel, so that the impact of the road surface on the driving wheel can be quickly absorbed by the first adjustable shock absorber, and the impact can also be transmitted and dispersed through the support column, effectively controlling the vibration, thereby greatly improving the adaptability to ground road conditions.

[0013] In some embodiments, the main frame includes two sets of driven wheel groups, namely a front driven wheel group and a rear driven wheel group, the front driven wheel group and the rear driven wheel group are respectively arranged on both sides of the driving wheel group, and the front driven wheel group is connected to the driving wheel group through a front buffer mechanism; The buffer structure also includes a rear buffer mechanism, which includes a rear rotating shaft installed on the frame bottom plate and arranged in the front-to-back direction, a connecting plate that can swing left and right around the rear rotating shaft, and a second adjustable shock absorber connected to the connecting plate. The bottom surfaces at both ends of the connecting plate are respectively connected to the driven wheels of the rear driven wheel group.

[0014] Therefore, the main frame realizes the walking function through the driven wheel groups on the front and rear sides and the driving wheel group in the middle to ensure the stable movement performance. The driven wheel group on the rear side is connected in a floating manner through a connecting plate that can swing left and right. In this way, all the driving wheels and driven wheels are designed as floating connections, which improves the vibration reduction effect while ensuring stable operation.

[0015] In some embodiments, the driving device includes a battery pack, which is fixed to the support column through a battery holder bracket, the bottom end of the second adjustable shock absorber is connected to the top surface of the connecting plate corresponding to the driven wheel position of the rear driven wheel group, and the top end of the second adjustable shock absorber is connected to the side wall of the battery pack through the battery holder bracket.

[0016] As a result, the impact of the road surface on the rear driven wheel group is quickly absorbed by the second adjustable shock absorber. At the same time, the impact can also be dispersed through the battery holder bracket and the support column to reduce the impact of vibration on the battery pack and further control vibration, thereby greatly improving the adaptability to ground road conditions.

[0017] In some embodiments, the tray placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box, a jig support assembly mounted on the fixed bottom plate, a raw material tray for placing raw materials limited by the jig support assembly, and a finished product tray rack connected to the fixed bottom plate; The execution clamping device comprises a raw material tray clamping device, a raw material clamping device and a finished product clamping device. The finished product clamping device is also used for lifting the finished product tray on the finished product tray rack.

[0018] Thus, by replacing the jig support assembly to adapt to the product, the raw material pallet clamp of the executing clamp device can clamp the raw material pallet onto the jig support assembly and be limited by the jig support assembly, the raw material clamp of the executing clamp device can grab the raw material into the raw material pallet, and the finished product clamp of the executing clamp device can grab the processed or inspected finished product into the finished product pallet on the finished product pallet rack, so that the composite robot system can adapt to diverse production needs.

[0019] In some embodiments, the jig support assembly includes a support vertical plate, a linear guide rail mounted on one side of the support vertical plate, a sliding plate movable along the length direction of the linear guide rail, and a raw material positioning plate connected to the sliding plate, the support vertical plate is provided with a positioning pin, and the raw material tray is provided with a positioning hole corresponding to the positioning pin; The finished product pallet rack comprises a plate sealing platform and a plurality of support plates arranged in parallel and at intervals on the plate sealing platform.

[0020] Therefore, for bar-type raw materials, the position of the raw material positioning plate is adjusted by a sliding plate to adapt to raw material pallets of different lengths and models. The raw material pallet is limited on the jig support assembly by the positioning pins and the positioning holes on the raw material pallet. The sealing table and the support plate are used to place the finished product pallet.

[0021] In some embodiments, the tray placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box, a raw material bar fixture placed on the fixed bottom plate, and a finished product placement tray placed on the fixed bottom plate and limited by a limiting structure; The execution clamping device includes a raw material rod clamping device and a finished product clamping device. The raw material rod clamping device is also used to clamp the finished product placement plate and the raw material rod fixture.

[0022] Therefore, the raw materials to be processed are placed on the raw material rod fixture, the raw material rod clamp moves the raw materials from the raw material warehouse to the automatic mobile cart, and then transports them to the processing equipment for processing, and the finished product clamp clamps the processed finished products to the finished product placement tray, preparing for subsequent inspection and finished product warehousing.

[0023] In some embodiments, the pallet placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box and a portable tooling cavity installed on the fixed bottom plate, and the portable tooling cavity is provided with an automatic door electrically connected to the central control system.

[0024] Therefore, by replacing the accompanying tooling cavity, the handling of liquid raw materials can be adapted to meet diverse production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of a composite robot system according to Embodiment 1 of the present invention; Figure 2 A schematic diagram of an automatic moving vehicle provided in Example 2 of the present invention; Figure 3 This is a schematic diagram of another perspective of the automatic moving car; Figure 4 It is a schematic diagram of an automatic mobile vehicle carrying an accompanying carrier, a mechanical arm and an execution gripper device according to Embodiment 3 of the present invention; Figure 5 for Figure 4 A schematic diagram of a tray placement assembly in FIG. Figure 6 for Figure 4 A schematic diagram of an execution gripper device in FIG. Figure 7 It is a schematic diagram of an automatic mobile vehicle carrying an accompanying carrier, a mechanical arm and an execution gripper device according to Embodiment 4 of the present invention; Figure 8 It is a schematic diagram of an automatic mobile vehicle carrying a portable tooling cavity, a mechanical arm and an execution gripper device according to Example 5 of the present invention; Fig. 9 for Figure 8 Schematic diagram of the accompanying tooling cavity.

[0026] In the figure: a. Raw material warehouse; b. Finished product warehouse; c. Cleaning equipment; 10. Automatic moving trolley; 11. Main frame; 111. Frame bottom plate; 112. Frame upper plate; 113. Driving wheel group; 114. Driven wheel group; 115. Front buffer mechanism; 1151. Suspension shaft; 1152. Swing arm; 1153. First adjustable shock absorber; 116. Rear buffer mechanism; 1161. Rear shaft; 1162. Connecting plate; 1163. Second adjustable shock absorber; 117. Support column; 12. Control box; 13. Battery pack; 20. Tray placement assembly; 21. Fixed bottom plate ; 22. Fixture support assembly; 221. Support vertical plate; 222. Linear guide rail; 223. Sliding plate; 224. Raw material positioning plate; 225. Positioning pin; 23. Raw material tray; 24. Finished product tray rack; 241. Sealing table; 242. Support plate; 243. RFID sensor seat plate; 25. Raw material bar fixture; 26. Finished product placement tray; 27. Traveling tooling cavity; 271. Automatic door; 30. Robotic arm; 40. Execution gripper device; 41. Camera seat plate; 42. Raw material tray gripper; 43. Raw material gripper; 44. Finished product gripper; 50. Visual camera. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0029] Example 1 Figure 1 The schematic diagram shows a composite robot system according to an embodiment of the present invention, which is applied to a processing machine center. The composite robot system includes four processing machine tools CNC01-04, a raw material warehouse a, a cleaning device c and a finished product warehouse b, and also includes an automatic mobile vehicle 10, an accompanying carrier, a robotic arm 30, an execution gripper device 40 and a central control system. Figure 2The automatic moving vehicle 10 includes a main frame 11 and a control box 12 connected to the top surface of the main frame 11 through a buffer structure, and the control box 12 is provided with a scheduling system for controlling the movement of the main frame 11; the accompanying carrier is detachably connected to one side of the top surface of the control box 12, and the accompanying carrier includes a pallet placement component 20 for placing the target workpiece; the fixed end of the robot arm 30 is installed on the other side of the top surface of the control box 12, and the robot arm 30 is provided with a control system, and the control system is used to control the free end of the robot arm 30 to move freely in the longitudinal and transverse directions according to the control instruction, so as to transfer the sample between the workbench and the accompanying carrier; the execution gripper device 40 is used to clamp the workpiece or the pallet, and the execution gripper device 40 is detachably installed at the free end of the robot arm 30, and one side of the execution gripper device 40 is connected to a camera base plate 41, and a visual camera 50 is installed on the camera base plate 41; the central control system signal is connected to the scheduling system and the control system, and the control instruction can be generated according to the position and status information obtained from the scheduling system and the control system.

[0030] The automatic mobile vehicle 10 transports samples through accompanying carriers and transfers samples between devices. The specific workflow is as follows: Ready status: 1. The finished product warehouse is filled with empty trays; 2. The raw material warehouse is empty.

[0031] Bar storage process: ① Workers bind boxes and bars → ② Workers swipe their cards at the back of the raw material warehouse to apply, the corresponding hatch opens and puts in the materials Bar material transportation process: ① The automatic moving car's executive gripper device takes out the corresponding raw materials from the raw material warehouse and puts them on the car → ② Transport to the loading place of the machine tool to read the RFID → ③ Put it on the automatic loading mechanism of the machine tool → ④ CNC automatic processing, the executive gripper device 40 pairs of finished products are output on the plate Finished product transportation process: ① Finished product output RFID binds finished product pallet and finished product specifications → ② Automatic mobile cart 10 transports to the cleaning equipment before RFID reads finished product specifications → ③ Cleaning and drying → ⑤ Weighing → ⑥ Execute the clamping device to plate the dried finished product → ⑦ Automatic mobile cart transports to the finished product warehouse before RFID identification → ⑧ Exchange with the corresponding empty pallet in the finished product warehouse Residual material transportation process: ① Put the bar material back into the box at the automatic feeding mechanism of the machine tool → ② The automatic mobile cart transports the remaining raw materials to the raw material warehouse for RFID identification → ③ Weighing → ⑤ Recording information and storing it in the warehouse Raw material warehouse material replacement process: ① Determine whether the bar material in the raw material warehouse needs to be replaced by weighing → ② Issue a material replacement reminder → ③ Workers swipe their cards at the back of the raw material warehouse to apply → ④ Workers take out the waste materials → ⑤ Repeat the above bar material storage process Finished product output process: ① Workers swipe their cards to apply at the back of the finished product warehouse → ② Open the storage space for use, and the top screen will display the relevant information of the tray → ③ Take out the tray and add the empty tray The composite robot system of the present invention has the beneficial effect of setting the planned route as needed through the scheduling system, controlling the automatic mobile cart 10 to walk along the planned route between the raw material warehouse, machine processing equipment, cleaning / testing equipment and finished product warehouse. After the automatic mobile cart 10 moves to the target position, the central control system coordinates the scheduling system and the control system to cooperate, the automatic mobile cart 10 stops moving, and the mechanical arm 30 cooperates with the execution gripper device 40 and the visual camera 50 at the end of the mechanical arm 30 to realize the automatic grasping and placement of raw materials, finished products or pallets, complete the loading and unloading operations, and then the automatic mobile cart 10 moves to the next target position, thereby realizing the automatic transportation of raw materials between the raw material warehouse-accompanying carrier-machine processing equipment, and finished products between machine processing equipment-accompanying carrier-testing equipment-accompanying carrier-finished product warehouse. It can be understood that the composite robot system of the present invention can be applied to production scenarios with more CNC processing procedures according to actual production needs. The accompanying carrier can be detachably mounted on the automatic moving cart 10, and the execution gripper device 40 can be detachably connected to the free end of the robot arm 30, both of which can be flexibly replaced according to transportation needs, so that the composite robot system can adapt to diverse production needs; the automatic moving cart 10 is provided with a buffer structure, which can enable the automatic moving cart 10 to adapt well to different ground conditions during the movement of the automatic moving cart 10, meet the use requirements in complex environments, and further improve the flexibility and automation level.

[0032] Example 2 Please combine 2 and Figure 3 As shown, the main frame 11 includes a frame bottom plate 111, a frame upper plate 112, a driving wheel set 113 and at least one set of driven wheel sets 114 rotatably connected to the frame bottom plate 111, a driving device for driving the driving wheel set 113 to rotate on the ground, and a buffer structure connected to the frame bottom plate 111. The driven wheel set 114 is arranged on one side of the driving wheel set 113, and the driving wheel set 113 and / or the driven wheel set 114 are connected to the buffer structure. The control box 12 is installed on the top surface of the frame upper plate 112. In this way, during the walking process of the automatic moving vehicle 10, the buffer structure is connected to the driving wheel set 113 and / or the driven wheel set 114. When encountering bumps on the road, the buffer structure can absorb the impact, reduce the impact force of the automatic moving vehicle 10 caused by uneven road surface or vibration, suppress unnecessary vibration of the vehicle body, maintain the stability of the main frame 11 and the accompanying carrier and the mechanical arm 30 installed above, thereby improving the handling accuracy and stably completing the transmission work.

[0033] Specifically, Figure 2As shown, the buffer structure includes a front buffer mechanism 115, the front buffer mechanism 115 includes a suspension shaft 1151, a plurality of swing arms 1152 and a first adjustable shock absorber 1153 connected between the swing arm 1152 and the frame upper plate 112, the suspension shaft 1151 is installed on the frame bottom plate 111 and arranged along the left and right directions, the plurality of swing arms 1152 can rotate around the suspension shaft 1151 through bearings respectively, the number of the swing arms 1152 matches and corresponds to each driven wheel in a group of driven wheel groups 114, in this example, the driven wheel group 114 has two driven wheels, the driving wheel group 113 is provided with two driving wheels, and is also provided with two swing arms 1152; one end of the swing arm 1152 is connected to a driven wheel, and the other end of the swing arm 1152 is connected to a driving wheel on the corresponding side; the frame bottom plate 111 and the frame upper plate 112 are connected through a plurality of support columns 117. Therefore, the two ends of the swing arm 1152 are respectively connected to the driving wheel and the driven wheel, and can rotate around the suspension shaft 1151, so that the driving wheel group 113 and the driven wheel group 114 are both floatingly connected, and the driving wheel and the driven wheel on the same side float back and forth. No matter whether the driving wheel or the driven wheel encounters an uneven road surface, the floating connection form allows the automatic moving vehicle 10 to easily pass through the roadblock and reduce part of the impact force on the vehicle body. At the same time, the first adjustable shock absorber 1153 is used to further absorb the impact, suppress the vibration of the vehicle body, improve the stability of the operation of the automatic moving vehicle 10, and enhance its adaptability to ground road conditions.

[0034] Preferably, the first end of the first adjustable shock absorber 1153 is connected to one end of the swing arm 1152 close to the driving wheel, the second end of the first adjustable shock absorber 1153 is connected to the support column 117 on the same side, and the first end to the second end of the first adjustable shock absorber 1153 is inclined toward the forward direction of the main frame 11. In this way, the first adjustable shock absorber 1153 is obliquely connected between the swing arm 1152 close to the driving wheel and the support column 117, so that the impact of the road surface on the driving wheel can be quickly absorbed by the first adjustable shock absorber 1153, and the impact can also be transmitted and dispersed through the support column 117, effectively controlling vibration, thereby greatly improving the adaptability to ground road conditions.

[0035] Furthermore, if Figure 3As shown, the main frame 11 includes two sets of driven wheel groups 114, namely a front driven wheel group 114a and a rear driven wheel group 114b, each set of driven wheel groups 114 has two driven wheels, the front driven wheel group 114 and the rear driven wheel group 114 are respectively arranged on both sides of the driving wheel group 113, and the front driven wheel group 114 is connected to the driving wheel group 113 through a front buffer mechanism 115; the buffer structure also includes a rear buffer mechanism 116, the rear buffer mechanism 116 includes a rear shaft 1161 installed on the frame bottom plate 111 and arranged along the front and rear directions, a connecting plate 1162 that can swing left and right around the rear shaft 1161, and a second adjustable shock absorber 1163 connected to the connecting plate 1162, and the bottom surfaces at both ends of the connecting plate 1162 are respectively connected to the driven wheels of the rear driven wheel group 114. Therefore, the main frame 11 realizes the walking function through the driven wheel groups 114 on the front and rear sides and the driving wheel group 113 in the middle to ensure the stable movement performance. The driven wheel group 114 on the rear side is also connected in a floating manner through the connecting plate 1162 that can swing left and right. In this way, all the driving wheels and driven wheels are designed to be floatingly connected, which improves the vibration reduction effect while ensuring stable operation.

[0036] like Figure 3 As shown, the driving device includes a battery pack 13, which is fixed to a support column 117 through a battery holder bracket, and the bottom end of a second adjustable shock absorber 1163 is connected to the top surface of a connecting plate 1162 corresponding to the position of a driven wheel of a rear driven wheel group 114, and the top end of the second adjustable shock absorber 1163 is connected to the side wall of the battery pack 13 through a battery holder bracket. Thus, the impact of the road surface mainly on the rear driven wheel group 114 can be quickly absorbed by the second adjustable shock absorber 1163, and at the same time, the impact can be dispersed through the battery holder bracket and the support column 117, thereby reducing the impact of vibration on the battery pack 13, further controlling vibration, and thus greatly improving the adaptability to ground road conditions.

[0037] Example 3 Combination Figure 4 , Figure 5 , Figure 6As shown, the tray placement assembly 20 includes a fixed bottom plate 21 detachably connected to the top surface of the control box 12, a jig support assembly 22 mounted on the fixed bottom plate 21, a raw material tray 23 for placing raw materials and limited by the jig support assembly 22, and a finished product tray rack 24 connected to the fixed bottom plate 21; the execution gripper device 40 includes a raw material tray gripper 42, a raw material gripper 43 and a finished product gripper 44, and the finished product gripper 44 is also used to hold up the finished product tray on the finished product tray rack 24. Thus, by replacing the jig support assembly 22 adapted to the product, the raw material tray gripper 42 of the execution gripper device 40 can clamp the raw material tray 23 onto the jig support assembly 22, and be limited by the jig support assembly 22, the raw material gripper 43 of the execution gripper device 40 can grab the raw material into the raw material tray 23, and the finished product gripper 44 of the execution gripper device 40 can grab the finished product that has been processed or tested into the finished product tray on the finished product tray rack 24, so that the composite robot system can adapt to diverse production needs.

[0038] like Figure 5 As shown, the jig support assembly 22 includes a support vertical plate 221, a linear guide 222 installed on one side of the support vertical plate 221, a sliding plate 223 that can move the linear guide 222 along the length direction of the linear guide 222, and a raw material positioning plate 224 connected to the sliding plate 223, the raw material positioning plate 224 is fixedly connected to the sliding plate 223 and the slider on the linear guide 222, the support vertical plate 221 is provided with a positioning pin 225, and the raw material tray 23 is provided with a positioning hole corresponding to the positioning pin 225. In this example, three groups of jig support assemblies 22 are arranged side by side for carrying the raw material tray 23; the finished product tray rack 24 includes a closing plate 241 and a plurality of support plates 242 arranged in parallel and at intervals on the closing plate 241, and an RFID sensor seat plate 243 is also provided on the closing plate 241 for installing the RFID sensor. Therefore, for bar-type raw materials, the position of the raw material positioning plate 224 is adjusted by the slidable sliding plate 223 to adapt to raw material trays 23 of different lengths and models. The raw material tray 23 is limited on the jig support assembly 22 by the positioning pin 225 and the positioning hole on the raw material tray 23, and the finished product tray is placed by the closing plate 241 and the support plate 242.

[0039] Example 4 The difference between this embodiment and embodiment 3 is that, see Figure 7As shown, the tray placement assembly 20 includes a fixed bottom plate 21 detachably connected to the top surface of the control box 12, a raw material bar fixture 25 placed on the fixed bottom plate 21, and a finished product placement tray 26 placed on the fixed bottom plate 21 and limited by a limiting structure; the execution clamp device 40 includes a raw material bar clamp and a finished product clamp 44, and the raw material bar clamp is also used to clamp the finished product placement tray 26 and the raw material bar fixture 25. Thus, the raw material to be processed is placed by the raw material bar fixture 25, the raw material bar clamp moves the raw material from the raw material warehouse to the automatic moving trolley 10, and then transports it to the processing equipment for processing, and the finished product clamp 44 clamps the processed finished product to the finished product placement tray 26, preparing for subsequent inspection and finished product storage.

[0040] Example 5 The difference between this embodiment and embodiment 3 and embodiment 4 is that, Figure 8 and Fig. 9 As shown, the tray placement assembly 20 includes a fixed bottom plate 21 detachably connected to the top surface of the control box 12 and a portable tooling cavity 27 mounted on the fixed bottom plate 21. The portable tooling cavity 27 is provided with an automatic door 271 electrically connected to the central control system. Therefore, by replacing the portable tooling cavity 27, the handling of liquid raw materials can be adapted to meet the diverse production needs.

[0041] The composite robot system of the present invention can flexibly replace the accompanying carrier and the execution gripper device according to the transportation needs, so that the composite robot system can adapt to diversified production needs; at the same time, the automatic moving vehicle is provided with a buffer structure, which can enable the automatic moving vehicle to adapt well to different ground conditions during the movement of the automatic moving vehicle, meet the use requirements in complex environments, and further improve the flexibility and automation level.

[0042] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope of protection of the present invention.

Claims

1. A composite robot system, comprising a raw material warehouse, a machine processing device, a testing device and a finished product warehouse, characterized in that: Also includes: An automatic moving vehicle, the automatic moving vehicle comprising a main frame and a control box connected to the top surface of the main frame through a buffer structure, the control box being provided with a dispatching system for controlling the movement of the main frame; An accompanying carrier, the accompanying carrier is detachably connected to one side of the top surface of the control box, and the accompanying carrier includes a tray placement component for placing a target workpiece; A robotic arm, wherein the fixed end of the robotic arm is mounted on the other side of the top surface of the control box, and the robotic arm is provided with a control system, and the control system is used to control the free end of the robotic arm to freely move in the longitudinal and transverse directions according to a control instruction, so as to transfer samples between the workbench and the accompanying carrier; An execution jaw device, the execution jaw device is used to clamp a workpiece or a pallet, the execution jaw device is detachably mounted on the free end of the mechanical arm, one side of the execution jaw device is connected to a camera base plate, and a visual camera is mounted on the camera base plate; The central control system is connected to the dispatching system and the control system by signal, and can generate control instructions according to the position and status information obtained from the dispatching system and the control system.

2. The composite robot system according to claim 1, characterized in that: The main frame includes a frame bottom plate, a frame top plate, a driving wheel group and at least one driven wheel group rotatably connected to the frame bottom plate, a driving device for driving the driving wheel group to rotate on the ground, and a buffer structure connected to the frame bottom plate, the driven wheel group is arranged on one side of the driving wheel group, the driving wheel group and / or the driven wheel group are connected to the buffer structure, and the control box is installed on the top surface of the frame top plate.

3. The composite robot system according to claim 2, characterized in that: The buffer structure includes a front buffer mechanism, which includes a suspension shaft, a plurality of swing arms, and a first adjustable shock absorber connected between the swing arms and the frame upper plate, the suspension shaft is mounted on the frame bottom plate and arranged in the left-right direction, the plurality of swing arms can rotate around the suspension shaft through bearings, and the number of the swing arms matches and corresponds to each driven wheel in a set of the driven wheel groups; One end of the swing arm is connected to a driven wheel of the driven wheel group, and the other end of the swing arm is connected to a driving wheel of the driving wheel group; the frame bottom plate and the frame upper plate are connected through a plurality of support columns.

4. The composite robot system according to claim 3, characterized in that: The first end of the first adjustable shock absorber is connected to an end of the swing arm close to the driving wheel, the second end of the first adjustable shock absorber is connected to the support column on the same side, and the first end to the second end of the first adjustable shock absorber is inclined toward the forward direction of the main frame.

5. The composite robot system according to claim 3, characterized in that: The main frame includes two sets of driven wheel groups, namely a front driven wheel group and a rear driven wheel group, the front driven wheel group and the rear driven wheel group are respectively arranged on both sides of the driving wheel group, and the front driven wheel group is connected to the driving wheel group through the front buffer mechanism; The buffer structure also includes a rear buffer mechanism, which includes a rear rotating shaft installed on the frame bottom plate and arranged in the front-to-back direction, a connecting plate that can swing left and right around the rear rotating shaft, and a second adjustable shock absorber connected to the connecting plate, and the bottom surfaces at both ends of the connecting plate are respectively connected to the driven wheels of the rear driven wheel group.

6. The composite robot system according to claim 5, characterized in that: The driving device includes a battery pack, which is fixed to the support column through a battery holder bracket. The bottom end of the second adjustable shock absorber is connected to the top surface of the connecting plate corresponding to the driven wheel position of the rear driven wheel group, and the top end of the second adjustable shock absorber is connected to the side wall of the battery pack through the battery holder bracket.

7. The composite robot system according to any one of claims 1 to 6, characterized in that: The tray placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box, a jig support assembly mounted on the fixed bottom plate, a raw material tray for placing raw materials limited by the jig support assembly, and a finished product tray rack connected to the fixed bottom plate; The execution clamping device comprises a raw material tray clamping device, a raw material clamping device and a finished product clamping device, and the finished product clamping device is also used for holding up the finished product tray on the finished product tray rack.

8. The composite robot system according to claim 7, characterized in that: The jig support assembly includes a support vertical plate, a linear guide rail installed on one side of the support vertical plate, a sliding plate movable along the length direction of the linear guide rail, and a raw material positioning plate connected to the sliding plate, the support vertical plate is provided with a positioning pin, and the raw material tray is provided with a positioning hole corresponding to the positioning pin; The finished product pallet rack comprises a plate sealing platform and a plurality of support plates arranged in parallel and at intervals on the plate sealing platform, and an RFID sensor seat plate is arranged on the plate sealing platform.

9. The composite robot system according to any one of claims 1 to 6, characterized in that: The tray placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box, a raw material bar fixture placed on the fixed bottom plate, and a finished product placement tray placed on the fixed bottom plate and limited by a limiting structure; The execution clamping device includes a raw material rod clamping device and a finished product clamping device. The raw material rod clamping device is also used to clamp the finished product placement plate and the raw material rod fixture.

10. The composite robot system according to any one of claims 1 to 6, characterized in that: The tray placement assembly includes a fixed bottom plate detachably connected to the top surface of the control box and a portable tooling cavity installed on the fixed bottom plate, and the portable tooling cavity is provided with an automatic door electrically connected to the central control system.

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