Accurate positioning and dynamic sealing composite robot

Abstract

The invention relates to the technical field of composite robots, in particular to an accurate positioning and dynamic sealing composite robot which comprises an accurate positioning unit used for accurately positioning and locking a composite robot body to a working position and comprising a fixed base, a bottom channel, a rack, a guide mechanism and a locking mechanism; a bottom channel is formed in the center line of the fixed base, a conical guide opening is formed in one end of the bottom channel, and the rack is fixed in the fixed base. The bottom channel of the fixed base and the three-dimensional guide constraint of the guide mechanism, the geometric calibration of the conical guide port and the rigid attachment of the contact limiting plate realize the automatic guide accurate alignment without an electronic sensor in the moving process of the composite robot and the automatic positioning and locking of the rigid connection of the clamping block tail shell clamping groove of the locking mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of composite robots, and in particular to a composite robot capable of precise positioning and dynamic sealing. Background Art

[0002] As core equipment in the field of industrial automation, hybrid robots integrate AGV mobile chassis, robotic arms, and cargo platforms to achieve efficient coordination between material transportation and precision operations. However, existing technologies still face the following key issues under complex working conditions: Traditional composite robots rely on electronic systems such as laser navigation and visual positioning for position calibration. In harsh environments such as dust and oil, sensors are easily contaminated, leading to positioning errors. Mechanical positioning mechanisms often use independent locking pins or electromagnetic suction cups, which can become stuck due to dust accumulation after long-term use, making it difficult to meet the requirements of high-precision operations. Existing dust protection devices (such as fixed dust covers and manually opened and closed sealing covers) are designed independently from the positioning mechanism and require additional sensors or control systems to coordinate. There is a risk of asynchronous action (such as the dust cover is not fully opened after positioning is completed, causing a collision with the robotic arm); and there is a lack of dynamic dust protection mechanism, which cannot block dust from invading the cargo platform in real time during the positioning process, resulting in material contamination or equipment failure. Summary of the Invention

[0003] In order to overcome the above technical problems, the purpose of the present invention is to provide a composite robot with precise positioning and dynamic sealing, so as to solve the problem mentioned in the above background technology that the current composite robot cannot be effectively used in dusty environments.

[0004] To achieve the above object, the present invention provides the following technical solutions: A composite robot with precise positioning and dynamic sealing, comprising a composite robot body and a ground body, wherein a cargo platform is provided on the top of the composite robot body, and further comprising: a precise positioning unit for precisely positioning and locking the composite robot body in a working position, comprising a fixed base, a bottom channel, a rack, a guide mechanism and a locking mechanism; a bottom channel is provided on the center line of the fixed base, one end of the bottom channel is a tapered guide opening, the rack is fixed in the fixed base, the guide mechanism is slidably installed in the bottom channel and fixed to the bottom of the composite robot body, and the locking mechanism is used to lock the composite robot body and the fixed base; a dust protection unit, through mechanical transmission It is linked with the precise positioning unit and includes a lower gear mechanism, a side transmission mechanism and a shielding mechanism; the gear of the lower gear mechanism is engaged with the rack, and the side transmission mechanism connects the lower gear mechanism and the shielding mechanism, and the shielding mechanism performs dust-proof action under the following conditions: when the composite robot body moves to the working position, the lower gear mechanism is driven by the engagement with the rack, and the shielding mechanism is driven by the side transmission mechanism to release the cover of the cargo platform; when the composite robot body leaves the working position, the lower gear mechanism is disengaged from the rack, and the shielding mechanism automatically resets and covers the cargo platform.

[0005] Preferably, a plurality of bottom shielding covers are slidably installed in the bottom channel, a spring is provided between the bottom shielding cover and the fixed base, and the bottom shielding cover covers the bottom channel to form a dustproof shield when extended.

[0006] Preferably, the guide mechanism includes a guide wheel and a middle guide rod, the guide wheel is installed on one end of the middle guide rod through a triangular bracket, side protrusions are provided on both sides of the triangular bracket, a cleaning rod is provided at the end of the triangular bracket, and a push cone is provided on the triangular bracket corresponding to the bottom shielding cover; contact limit plates are provided on both sides of the middle guide rod, which slide in contact with the wall of the bottom channel.

[0007] Preferably, the locking mechanism includes a card block, a tail shell and an electric telescopic rod; the card block is slidably installed in the fixed base and pre-tightened by a spring, the tail shell is fixed to the tail of the composite robot body, the card block and the tail shell are matched through a slot, and the electric telescopic rod is installed in the tail shell and connected to the control module to push the card block out of the slot.

[0008] Preferably, the lower gear mechanism includes a horizontal frame and a gear rotatably installed in the horizontal frame, and the horizontal frame is fixed to the composite robot body.

[0009] Preferably, the side transmission mechanism includes a horizontal shaft, a side shell, a synchronous belt and a synchronous gear; one end of the horizontal shaft is connected to the gear of the lower gear mechanism, and the other end is transmitted through the synchronous belt and the synchronous gear in the side shell, and the synchronous gear is connected to the rotating shaft of the shielding mechanism.

[0010] Preferably, the shielding mechanism includes an upper shielding shell and a dust-proof roller shutter; the upper shielding shell is installed on the top of the composite robot body, and the dust-proof roller shutter is installed in the upper shielding shell through a rotating shaft, and the rotating shaft is connected to the side transmission mechanism. A curved spring is provided in the upper shielding shell, one end of the curved spring is connected to the upper shielding shell, and the other end is connected to the rotating shaft, and an end plate is provided at one end of the dust-proof roller shutter.

[0011] Preferably, the end plate is in sliding contact with the upper shielding shell, and the dustproof roller shutter forms a sealing cover with the upper shielding shell when unfolded, and releases the shielding of the cargo platform when rolled up.

[0012] Preferably, when the guiding mechanism moves, the pushing cone pushes open the bottom shielding cover to retract it into the fixed base sliding groove.

[0013] Preferably, the cleaning rod contacts the rack and is used to clean dust on the surface of the rack.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The bottom channel of the fixed base and the guide mechanism form a three-dimensional guiding constraint. Through the geometric calibration of the tapered guide opening and the rigid fit of the contact limit plate, automatic guidance and precise alignment of the composite robot during movement are achieved. Position calibration can be completed without relying on electronic sensors. The card block of the locking mechanism and the tail shell are rigidly connected through the card slot, and the composite robot is automatically positioned and locked when it moves to the working position. In the non-working state, the bottom shielding cover automatically covers the bottom channel under the action of the spring, preventing dust from invading the positioning mechanism. When the composite robot moves to the working position, the push cone of the guide mechanism pushes open the bottom shielding cover, and the cleaning rod is simultaneously triggered to clean the dust on the surface of the rack, reducing dust accumulation on the transmission components at the source. The dustproof roller shutter and the upper shielding shell form a fully sealed protective structure. Its retraction and extension movements are linked in real time with the positioning process, ensuring that the loading platform is completely exposed during operation and tightly covered when not in operation, effectively avoiding material contamination and equipment failure. When the composite robot is locked, the composite robot and the fixed base at the bottom form a whole. When the center of gravity of the composite robot's upper arm grabs or moves heavy objects, it will not tilt, thereby improving the overall stability of the composite robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the structure of the tail of the composite robot body of the present invention; Figure 3 It is a structural diagram of the precise positioning unit and the ground part of the present invention; Figure 4It is a structural schematic diagram of the guiding mechanism part of the present invention; Figure 5 It is a schematic structural diagram of the overall cross-section of the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of the structure at A in the middle; Figure 7 It is a schematic structural diagram of the dust protection unit and the locking mechanism of the present invention; Figure 8 For the present invention Figure 5 Schematic diagram of the structure at B in the middle; Figure 9 It is a schematic cross-sectional view of the locking mechanism and the precise positioning unit of the present invention; Figure 10 It is a structural schematic diagram of the dust protection unit and the locking mechanism of the present invention.

[0016] In the figure: 11. Composite robot body; 12. Ground body; 02. Precision positioning unit; 21. Fixed base; 22. Bottom channel; 23. Rack; 24. Bottom shielding cover; 25. Guide mechanism; 251. Guide wheel; 252. Cleaning rod; 253. Side cam; 254. Middle guide rod; 26. Locking mechanism; 261. Block; 262. Tail shell; 263. Electric telescopic rod; 03. Dust protection unit; 31. Lower gear mechanism; 32. Side transmission mechanism; 33. Shielding mechanism; 331. Upper shielding shell; 332. Dust-proof roller shutter. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] An embodiment provided by the present invention: A composite robot with precise positioning and dynamic sealing comprises a composite robot body 11 and a ground body 12. A cargo platform is provided on the top of the composite robot body 11.

[0019] refer to Figure 1-Figure 2 , precise positioning unit 02 and dust protection unit 03; refer to Figure 3-Figure 6The precise positioning unit 02 is used to precisely position and lock the composite robot body 11 in the working position. The precise positioning unit 02 includes a fixed base 21. A bottom groove 22 is provided on the midline of the fixed base 21. One end of the bottom groove 22 is a tapered guide opening. A rack 23 is fixedly connected to the fixed base 21. A guide mechanism 25 is in sliding contact with the bottom groove 22. The guide mechanism 25 is fixedly installed on the bottom of the composite robot body 11 through a bracket. A locking mechanism 26 is further provided between the composite robot body 11 and the fixed base 21. The locking mechanism 26 is used to lock the composite robot body 11 in the working position. refer to Figure 3 , multiple groups of bottom shielding covers 24 are slidably installed in the bottom groove 22, and multiple groups of bottom shielding covers 24 are distributed in the bottom groove 22, and multiple groups of bottom shielding covers 24 are slidably installed in the fixed base 21. A spring is provided between the bottom shielding cover 24 and the fixed base 21, and the spring is used to assist the bottom shielding cover 24 to extend out of the sliding groove of the fixed base 21. When multiple groups of bottom shielding covers 24 extend out of the fixed base 21, a dust-proof shield is formed on the bottom groove 22.

[0020] refer to Figure 3 and Figure 4 The guide mechanism 25 includes a guide wheel 251, which is installed at one end of the middle guide rod 254 through a triangular bracket. Side protrusions 253 are installed on both sides of the triangular bracket. A cleaning rod 252 is installed on one side of the end of the triangular bracket, and the triangular bracket is provided with a push cone corresponding to the bottom shielding cover 24. When the guide mechanism 25 moves in the bottom groove 22, the push cone can push the bottom shielding cover 24 open and retract it into the slide groove of the fixed base 21. The cleaning rod 252 contacts the rack 23 to sweep dust off the lower rack 23. Contact limit plates are provided on both sides of the middle guide rod 254, which slide in contact with the wall of the bottom groove 22 through the contact limit plates.

[0021] refer to Figure 5-Figure 7 The fixed base 21 is placed in the ground body 12 through a groove, and the locking mechanism 26 includes a block 261, which is slidably installed in the fixed base 21 through a slide groove. A spring is provided between the block 261 and the fixed base 21, and a tail shell 262 is correspondingly designed to the block 261. The tail shell 262 is installed at the tail of the composite robot body 11, and the tail shell 262 contacts the block 261 through the slot. An electric telescopic rod 263 is installed in the tail shell 262, and one end of the electric telescopic rod 263 is used to contact the block 261. The electric telescopic rod 263 is electrically connected to a control module. When the block 261 and the tail shell 262 contact through the slot, the control module controls the working end of the electric telescopic rod 263 to extend so that the block 261 is disengaged from the slot of the tail shell 262 to complete the unlocking of the position of the composite robot body 11.

[0022] refer to Figure 7-10The dust protection unit 03 is used to shield the cargo platform from dust when the composite robot body 11 is in a non-working position, and to open the dust shield when the composite robot body 11 is in a working position. The dust protection unit 03 includes a lower gear mechanism 31, a gear in the lower gear mechanism 31 engages with the rack 23, and a shielding mechanism 33 is provided on the top of the lower gear mechanism 31. The shielding mechanism 33 is used to shield the cargo platform. A side transmission mechanism 32 is connected between the lower gear mechanism 31 and the shielding mechanism 33. When the composite robot body 11 moves on the fixed base 21, the shielding mechanism 33 is driven to open by the rack 23, the lower gear mechanism 31 and the side transmission mechanism 32. When the lower gear mechanism 31 disengages from the rack 23, the shielding mechanism 33 resets and closes the cargo platform.

[0023] The shielding mechanism 33 includes an upper shielding shell 331, which is installed on the top of the composite robot body 11 and the cargo platform. A dustproof roller shutter 332 is provided inside the upper shielding shell 331. The dustproof roller shutter 332 is installed in the upper shielding shell 331 through a rotating shaft. One end of the dustproof roller shutter 332 is provided with an end plate, which is in sliding contact with the upper shielding shell 331. When the dustproof roller shutter 332 is fully unfolded, the dustproof roller shutter 332 blocks the cargo platform. On the platform, a sealed cover is formed with the upper shielding shell 331 to prevent external dust from entering the cargo platform. When the upper shielding shell 331 is rolled up, the shielding of the cargo platform will be released, and the robotic arm on the composite robot body 11 can interact with the parts in the cargo platform. A curved spring is provided inside the upper shielding shell 331, one end of the curved spring is connected to the upper shielding shell 331 and the other end is connected to the internal shaft of the dustproof roller shutter 332, and force is stored when the dustproof roller shutter 332 is rolled up.

[0024] The lower gear mechanism 31 also includes a horizontal frame, and the gear is rotatably installed in the horizontal frame. The horizontal frame is fixedly connected to the composite robot body 11. The side transmission mechanism 32 includes a horizontal shaft, which is rotatably connected to the horizontal frame and one end of the horizontal shaft is fixedly connected to the gear in the lower gear mechanism 31. The side transmission mechanism 32 also includes a side shell, which is installed on the back of the composite robot body 11. A synchronous belt and two synchronous gears are provided in the side shell. The synchronous belt is sleeved on the two synchronous gears, one synchronous gear is fixedly connected to the horizontal shaft, and the other synchronous gear is connected to the rotating shaft of the dust-proof roller shutter 332 in the shielding mechanism 33. When the composite robot body 11 moves on the precise positioning unit 02, the lower gear mechanism 31 rotates through meshing contact with the side transmission mechanism 32. The rotation of the lower gear mechanism 31 drives the synchronous gear in the side transmission mechanism 32 through the rotating shaft, and the synchronous belt and synchronous gear drive the rotating shaft in the dust-proof roller shutter 332 to rotate, driving the dust-proof roller shutter 332 to wind so that it does not block the cargo platform on the composite robot body 11.

[0025] Working principle: When in use, the fixed base 21 of the precise positioning unit 02 is pre-embedded in the ground body 12 of the composite robot's set working position so that the bottom channel 22 is flush with the ground.

[0026] When the composite robot is moved to its working position via the bottom AGV, the guide wheels 251 of the bottom guide mechanism 25 enter along the tapered guide opening of the bottom channel 22. The contact limit plates on either side of the middle guide rod 254 engage the walls of the bottom channel 22, completing the initial guidance. As the composite robot body 11 continues to move, the push cone of the guide mechanism 25 pushes open the bottom shield 24 (compressing the spring to retract it into the slide groove of the fixed base 21), and the cleaning rod 252 simultaneously cleans dust from the surface of the rack 23.

[0027] When the tail shell 262 moves to above the block 261 of the fixed base 21 , the block 261 engages with the tail shell 262 through the slot, and the spring preload ensures the locking state, thereby fixing the position of the composite robot body 11 and the fixed base 21 .

[0028] At the same time, when the composite robot moves to the working position, the gear of the lower gear mechanism 31 remains engaged with the rack 23, and the shaft of the dustproof roller shutter 332 is driven to rotate through the horizontal axis, synchronous belt and synchronous gear of the side transmission mechanism 32, so that the dustproof roller shutter 332 is completely wound into the upper shielding shell 331, thereby removing the obstruction to the cargo platform and facilitating the operation of the robotic arm.

[0029] Once the work is complete, the control module triggers the extension of the electric telescopic rod 263, pushing the locking block 261 back into the fixed base 21, releasing the lock. As the composite robot body 11 moves away, the gear of the lower gear mechanism 31 disengages the rack 23, releasing the stored force of the spring within the upper shielding shell 331, driving the dustproof roller shutter 332 to return and deploy, shielding the cargo platform. Simultaneously, the spring forces the bottom shielding cover 24 to extend, re-covering the bottom channel 22, completing the dustproof reset.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A composite robot with precise positioning and dynamic sealing, comprising a composite robot body and a ground body, wherein a cargo platform is provided on the top of the composite robot body, characterized in that: Also includes: A precise positioning unit, used for precisely positioning and locking the composite robot body in a working position, comprising a fixed base, a bottom channel, a rack, a guide mechanism and a locking mechanism; A bottom groove is provided on the midline of the fixed base, one end of the bottom groove is a tapered guide opening, the rack is fixed in the fixed base, the guide mechanism is slidably mounted in the bottom groove and fixed to the bottom of the composite robot body, and the locking mechanism is used to lock the composite robot body and the fixed base; The dust protection unit is linked to the precise positioning unit through mechanical transmission, and includes a lower gear mechanism, a side transmission mechanism, and a shielding mechanism; the gear of the lower gear mechanism is engaged with the rack, and the side transmission mechanism connects the lower gear mechanism and the shielding mechanism. The shielding mechanism performs dust protection in the following states: When the composite robot body moves to the working position, the lower gear mechanism drives the shielding mechanism through the side transmission mechanism to release the cover of the cargo platform by meshing with the rack; When the composite robot body leaves the working position, the lower gear mechanism disengages from the gear rack, and the shielding mechanism automatically resets and covers the cargo platform.

2. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: A plurality of bottom shielding covers are slidably installed in the bottom channel, a spring is arranged between the bottom shielding cover and the fixed base, and the bottom shielding cover covers the bottom channel to form a dustproof shield when it is extended.

3. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: The guide mechanism includes a guide wheel and a middle guide rod. The guide wheel is installed on one end of the middle guide rod through a triangular bracket. Side protrusions are provided on both sides of the triangular bracket. A cleaning rod is provided at the end of the triangular bracket, and a push cone is provided on the triangular bracket corresponding to the bottom shielding cover; contact limit plates are provided on both sides of the middle guide rod, which slide in contact with the wall of the bottom channel.

4. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: The locking mechanism includes a card block, a tail shell and an electric telescopic rod; the card block is slidably installed in the fixed base and pre-tightened by a spring, the tail shell is fixed to the tail of the composite robot body, the card block and the tail shell are matched through a slot, and the electric telescopic rod is installed in the tail shell and connected to the control module for pushing the card block out of the slot.

5. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: The lower gear mechanism includes a horizontal frame and a gear rotatably installed in the horizontal frame, and the horizontal frame is fixed to the composite robot body.

6. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: The side transmission mechanism includes a horizontal shaft, a side shell, a synchronous belt and a synchronous gear; one end of the horizontal shaft is connected to the gear of the lower gear mechanism, and the other end is transmitted through the synchronous belt and the synchronous gear in the side shell, and the synchronous gear is connected to the rotating shaft of the shielding mechanism.

7. The precise positioning and dynamic sealing composite robot according to claim 1, characterized in that: The shielding mechanism includes an upper shielding shell and a dustproof roller shutter; the upper shielding shell is installed on the top of the composite robot body, and the dustproof roller shutter is installed in the upper shielding shell through a rotating shaft, and the rotating shaft is connected to the side transmission mechanism. A curved spring is provided in the upper shielding shell, one end of the curved spring is connected to the upper shielding shell, and the other end is connected to the rotating shaft. An end plate is provided at one end of the dustproof roller shutter.

8. The precise positioning and dynamic sealing composite robot according to claim 7, characterized in that: The end plate is in sliding contact with the upper shielding shell. When the dustproof roller curtain is unfolded, it forms a sealing cover with the upper shielding shell, and when it is rolled up, it releases the shielding of the cargo platform.

9. The precise positioning and dynamic sealing composite robot according to claim 3, characterized in that: When the guide mechanism moves, the push cone pushes the bottom shielding cover open to make it retract into the fixed base sliding groove.

10. The precise positioning and dynamic sealing composite robot according to claim 3, characterized in that: The cleaning rod contacts the rack and is used to clean dust on the surface of the rack.

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