A composite robot with accurate positioning and dynamic sealing

Abstract

The present application relates to the technical field of composite robots, in particular to a composite robot with precise positioning and dynamic sealing, comprising a precise positioning unit for precisely positioning and locking the composite robot body at a working position, comprising a fixed base, a bottom channel, a rack, a guide mechanism and a locking mechanism; the center line of the fixed base is provided with the bottom channel, one end of the bottom channel is a tapered guide opening, and the rack is fixed in the fixed base. The three-dimensional guidance constraint of the fixed base bottom channel and the guide mechanism, the geometric calibration of the tapered guide opening and the rigid fitting of the contact limiting plate realize automatic guiding, precise positioning and locking of the composite robot during movement without electronic sensors and rigid connection of the automatic positioning and locking mechanism block tail shell clamping groove.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of composite robots, in particular to a composite robot with precise positioning and dynamic sealing. BACKGROUND

[0002] As the core equipment in the field of industrial automation, the composite robot realizes efficient cooperation of material transportation and precision operation by integrating AGV mobile chassis, mechanical arm and cargo platform. However, the existing technology still faces the following key problems under complex working conditions:

[0003] The traditional composite robot relies on electronic systems such as laser navigation and visual positioning to realize position calibration. In harsh environments such as dust and oil, sensors are easily contaminated, leading to positioning deviation. Mechanical positioning mechanisms mostly use independent locking pins or electromagnetic suction cups, which are prone to jamming due to dust accumulation after long-term use, making it difficult to meet the demand for high-precision operation.

[0004] The existing dust protection device (such as fixed dust cover and manually opened and closed sealing cover) and positioning mechanism are independently designed, which requires additional sensors or control systems to cooperate, and there is a risk of asynchronous action (such as the collision of the mechanical arm caused by the incomplete opening of the dust cover after positioning is completed). Moreover, there is a lack of dynamic dust prevention mechanism, which cannot prevent dust from invading the cargo platform during positioning, leading to material contamination or equipment failure. SUMMARY

[0005] In order to overcome the above technical problems, the purpose of the present application is to provide a composite robot with precise positioning and dynamic sealing to solve the problem that the current composite robot cannot effectively solve the problem of use in a dusty environment.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] The application discloses a composite robot with precise positioning and dynamic sealing, which comprises a composite robot body and a ground body, and a cargo loading platform is arranged on the top of the composite robot body, wherein the composite robot body is precisely positioned and locked at a working position by a precise positioning unit, and the precise positioning unit comprises a fixed base, a bottom groove, a rack, a guide mechanism and a locking mechanism; a bottom groove is arranged on the center line 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 slidingly installed in the bottom groove and fixed on the bottom of the composite robot body, and the locking mechanism is used for locking the composite robot body and the fixed base; a dustproof unit is connected with the precise positioning unit through mechanical transmission and comprises a lower gear mechanism, a side transmission mechanism and a shielding mechanism; the gear of the lower gear mechanism is engaged with the rack, the side transmission mechanism is connected with the lower gear mechanism and the shielding mechanism, and the shielding mechanism performs dustproof action in the following states: when the composite robot body moves to the working position, the lower gear mechanism drives the shielding mechanism to uncover the cargo loading platform through the side transmission mechanism by engaging transmission with the rack; and when the composite robot body leaves the working position, the lower gear mechanism is disengaged from the rack, and the shielding mechanism is automatically reset and covers the cargo loading platform.

[0008] Preferably, a plurality of bottom shielding covers are slidingly installed in the bottom groove, springs are arranged between the bottom shielding covers and the fixed base, and the bottom shielding covers cover the bottom groove to form dustproof shielding when the bottom shielding covers are extended.

[0009] Preferably, the guide mechanism comprises a guide wheel and a middle guide rod, the guide wheel is installed at one end of the middle guide rod through a triangular support, side protrusions are arranged on the two sides of the triangular support, a dust cleaning rod is arranged at the end of the triangular support, a push cone is arranged on the triangular support corresponding to the bottom shielding cover, contact limiting plates are arranged on the two sides of the middle guide rod and slidingly contact the wall surface of the bottom groove.

[0010] Preferably, the locking mechanism comprises a clamping block, a tail shell and an electric telescopic rod, the clamping block is slidingly installed in the fixed base and pre-tightened through a spring, the tail shell is fixed on the tail of the composite robot body, the clamping block is matched with the tail shell through a clamping groove, and the electric telescopic rod is installed in the tail shell and connected with a control module, and is used for pushing the clamping block to disengage from the clamping groove.

[0011] Preferably, the lower gear mechanism comprises a horizontal frame and a gear rotatingly installed in the horizontal frame, and the horizontal frame is fixed on the composite robot body.

[0012] Preferably, the side transmission mechanism comprises a horizontal shaft, a side shell, a synchronous belt and a synchronous gear, one end of the horizontal shaft is connected with the gear of the lower gear mechanism, the other end is driven through the synchronous belt and the synchronous gear in the side shell, and the synchronous gear is connected with the rotating shaft of the shielding mechanism.

[0013] Preferably, the shielding mechanism comprises an upper shielding shell and a dustproof roller shutter; the upper shielding shell is installed on the top of the composite robot body, the dustproof roller shutter is installed in the upper shielding shell through a rotating shaft, the rotating shaft is connected with the side transmission mechanism, a curved spring is arranged in the upper shielding shell, one end of the curved spring is connected with the upper shielding shell, and the other end of the curved spring is connected with the rotating shaft, and one end of the dustproof roller shutter is provided with an end plate.

[0014] Preferably, the end plate is in sliding contact with the upper shielding shell, and the dustproof roller shutter forms a sealed cover with the upper shielding shell when the dustproof roller shutter is unfolded, and the shielding of the cargo platform is removed when the dustproof roller shutter is rolled up.

[0015] Preferably, when the guide mechanism moves, the push cone pushes away the bottom shielding cover and makes the bottom shielding cover retract into the bottom groove of the fixed base.

[0016] Preferably, the dust cleaning rod is in contact with the rack, and is used for cleaning dust on the surface of the rack.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] The bottom groove of the fixed base and the guide mechanism form a three-dimensional guide constraint, the geometric calibration of the conical guide opening and the rigid fitting of the contact limiting plate are realized, automatic guidance and accurate alignment during the movement of the composite robot are realized, position calibration can be completed without relying on electronic sensors, the clamping block of the locking mechanism and the tail shell are rigidly connected through the clamping groove, and automatic positioning and locking are realized when the composite robot moves to the working position;

[0019] In the non-working state, the bottom shielding cover automatically covers the bottom groove under the action of the spring, and dust intrusion into the positioning mechanism is blocked, when the composite robot moves to the working position, the push cone of the guide mechanism pushes away the bottom shielding cover, and the dust cleaning rod is triggered to clean the dust on the surface of the rack at the same time, dust accumulation on the transmission components is reduced from the source, the dustproof roller shutter and the upper shielding shell form a full-sealing protective structure, the rolling and unfolding actions and the positioning process are linked in real time, the cargo platform is completely exposed during operation and is tightly shielded during non-operation, and material pollution and equipment failure are effectively avoided;

[0020] When the composite robot is locked, the composite robot and the fixed base at the bottom form an integral whole, when the mechanical arm of the composite robot grabs or moves heavy objects, tilting does not occur, and the use stability of the whole composite robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the whole structure of the present application;

[0022] Figure 2 It is a schematic diagram of the structure of the tail of the composite robot body of the present application;

[0023] Figure 3 Structure diagram of the precision positioning unit and the ground part of the present application;

[0024] Figure 4 Structure diagram of the guide mechanism part of the present application;

[0025] Figure 5 Structure diagram of the overall section of the present application;

[0026] Figure 6 Structure diagram of the Figure 5 Structure diagram of A in the present application;

[0027] Figure 7 Structure diagram of the dust protection unit and the locking mechanism part of the present application;

[0028] Figure 8 Structure diagram of the Figure 5 Structure diagram of B in the present application;

[0029] Figure 9 Structure diagram of the section of the locking mechanism and the precision positioning unit part of the present application;

[0030] Figure 10 Structure diagram of the dust protection unit and the locking mechanism part of the present application.

[0031] In the figure: 11, composite robot body; 12, ground body; 02, precision positioning unit; 21, bottom base; 22, bottom groove; 23, rack; 24, bottom cover; 25, guide mechanism; 251, guide wheel; 252, dust removal rod; 253, side protrusion; 254, middle guide rod; 26, locking mechanism; 261, clamping 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, dustproof roller shutter. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] An embodiment provided by the present application:

[0034] A composite robot with precision positioning and dynamic sealing comprises a composite robot body 11 and a ground body 12, wherein the top of the composite robot body 11 is provided with a cargo loading platform, and further comprises.

[0035] Reference Figures 1-2 , the precision positioning unit 02 and the dust protection unit 03;

[0036] Reference Figures 3-6 , the precision positioning unit 02 is used for accurately positioning the locking composite robot body 11 to the working position, the precision positioning unit 02 comprises a fixed base 21, a bottom groove 22 is arranged in the fixed base 21, one end of the bottom groove 22 is a tapered guide opening, a rack 23 is fixedly connected in the fixed base 21, a guide mechanism 25 is in sliding contact with the bottom groove 22, the guide mechanism 25 is fixedly installed at the bottom of the composite robot body 11 through a support, and a locking mechanism 26 is further arranged between the composite robot body 11 and the fixed base 21, the locking mechanism 26 is used for locking the composite robot body 11 at the working position;

[0037] Reference Figure 3 , a plurality of groups of bottom shielding covers 24 are slidingly installed in the bottom groove 22, the plurality of groups of bottom shielding covers 24 are distributed in the bottom groove 22, and the plurality of groups of bottom shielding covers 24 are slidingly installed in the fixed base 21, a spring is arranged between the bottom shielding cover 24 and the fixed base 21, the spring is used for assisting the bottom shielding cover 24 to extend out of the sliding groove of the fixed base 21, and when the plurality of groups of bottom shielding covers 24 extend out of the fixed base 21, dust shielding is formed on the bottom groove 22.

[0038] Reference Figure 3 and Figure 4 , the guide mechanism 25 comprises a guide wheel 251, the guide wheel 251 is installed at one end of a middle guide rod 254 through a triangular support, side protrusions 253 are installed on both sides of the triangular support, a dust cleaning rod 252 is installed on one side of the end of the triangular support, and the triangular support 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 away to make it retract into the sliding groove of the fixed base 21, the dust cleaning rod 252 contacts the rack 23 to sweep the dust on the rack 23, and contact limiting plates are arranged on both sides of the middle guide rod 254 to slidingly contact the groove wall surface of the bottom groove 22.

[0039] Reference Figures 5-7The fixed base 21 is placed in the ground body 12 through a groove, the locking mechanism 26 includes a clamping block 261 which is slidingly installed in the fixed base 21 through a sliding groove, a spring is arranged between the clamping block 261 and the fixed base 21, the clamping block 261 is correspondingly designed with a tail shell 262 which is installed at the tail of the composite robot body 11, the tail shell 262 is in contact with the clamping block 261 through a clamping groove, the tail shell 262 is internally provided with an electric telescopic rod 263, one end of the electric telescopic rod 263 is used to contact the clamping block 261, and the electric telescopic rod 263 is electrically connected with a control module; when the clamping block 261 and the tail shell 262 are in contact through the clamping groove, the working end of the electric telescopic rod 263 is controlled to extend by the control module to make the clamping block 261 disengage from the clamping groove of the tail shell 262, thereby completing the position unlocking of the composite robot body 11.

[0040] Reference Figures 7-10 The dust protection unit 03 is used to prevent dust from entering the loading platform when the composite robot body 11 is in a non-working position, and to open the dust prevention cover when the composite robot body 11 is in a working position, the dust protection unit 03 includes a lower gear mechanism 31, the lower gear mechanism 31 is in gear engagement with the rack 23, the top of the lower gear mechanism 31 is provided with a shielding mechanism 33 which is used to shield the loading platform, and the lower gear mechanism 31 and the shielding mechanism 33 are connected with a side transmission mechanism 32; 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, and when the lower gear mechanism 31 disengages from the rack 23, the shielding mechanism 33 is reset to close the loading platform.

[0041] The shielding mechanism 33 includes an upper shielding shell 331 which is installed on the top of the composite robot body 11 and the loading platform, the upper shielding shell 331 is internally provided with a dust roller shutter 332 which is installed in the upper shielding shell 331 through a rotating shaft, one end of the dust roller shutter 332 is provided with an end head plate which is in sliding contact in the upper shielding shell 331, when the dust roller shutter 332 is completely unfolded, the dust roller shutter 332 shields on the loading platform, and a sealed cover is formed by the dust roller shutter 332 and the upper shielding shell 331, thereby avoiding external dust from entering the loading platform, and when the upper shielding shell 331 is rolled up, the shielding on the loading platform is removed, thereby the mechanical arm on the composite robot body 11 can interact with the parts in the loading platform, the inside of the upper shielding shell 331 is provided with a curved spring, one end of the curved spring is connected with the upper shielding shell 331 and the other end is connected with the rotating shaft in the dust roller shutter 332, and the curved spring is charged when the dust roller shutter 332 is rolled up.

[0042] The lower gear mechanism 31 further comprises a cross frame, the gear is rotatably installed in the cross frame, and the cross frame is fixedly connected with the composite robot body 11. The side transmission mechanism 32 comprises a cross shaft, the cross shaft is rotatably connected with the cross frame, and one end of the cross shaft is fixedly connected with the gear in the lower gear mechanism 31. The side transmission mechanism 32 further comprises a side shell, the side shell is installed on the back of the composite robot body 11, and the side shell is provided with a synchronous belt and two synchronous gears. The synchronous belt is sleeved on the two synchronous gears, one synchronous gear is fixedly connected with the cross shaft, and the other synchronous gear is connected with the rotating shaft of the dustproof 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 gears in the side transmission mechanism 32 through the rotating shaft. The synchronous belt and the synchronous gears drive the rotating shaft in the dustproof roller shutter 332 to rotate, drive the dustproof roller shutter 332 to roll, and make the dustproof roller shutter 332 not to shield the loading platform on the composite robot body 11.

[0043] Working principle:

[0044] When in use, the bottom seat 21 of the precise positioning unit 02 is embedded in the ground body 12 of the composite robot at the working position, so that the bottom groove channel 22 is flush with the ground.

[0045] When the composite robot moves to the working position through the bottom AGV trolley, the guide wheel 251 of the bottom guide mechanism 25 enters along the tapered guide opening of the bottom groove channel 22, and the contact limiting plates on the two sides of the middle guide rod 254 are attached to the wall surface of the bottom groove channel 22, so that the preliminary guidance is completed. As the composite robot body 11 continues to move, the push cone of the guide mechanism 25 pushes away the bottom shielding cover 24 (the compression spring makes it retract into the sliding groove of the bottom seat 21), and the dust cleaning rod 252 synchronously cleans the dust on the surface of the rack 23.

[0046] When the tail shell 262 moves to above the clamping block 261 of the bottom seat 21, the clamping block 261 is clamped with the tail shell 262 through the clamping groove, and the spring pre-tightening force ensures the locking state, so that the position of the composite robot body 11 and the bottom seat 21 is fixed.

[0047] Meanwhile, in the process of moving the composite robot to the working position, the gear of the lower gear mechanism 31 is kept in meshing with the rack 23, the rotating shaft of the dustproof roller shutter 332 is driven to rotate through the cross shaft, the synchronous belt and the synchronous gears of the side transmission mechanism 32, the dustproof roller shutter 332 is completely rolled into the upper shielding shell 331, the shielding of the loading platform is removed, and the mechanical arm is operated.

[0048] After the work is completed, the control module triggers the electric telescopic rod 263 to extend, pushes the clamping block 261 to retract into the fixed base 21, and releases the locking. When the compound robot body 11 moves away, the gear of the lower gear mechanism 31 disengages from the engagement with the rack 23, the curved spring in the upper shielding shell 331 releases the accumulated force, drives the dustproof roller shutter 332 to reset and expand, and shields the loading platform; at the same time, the bottom shielding cover 24 extends under the action of the spring, re-covers the bottom groove 22, and completes the dustproof reset.

[0049] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the application can be implemented in other particular forms without departing from the spirit or essential characteristics of the application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and it is therefore intended that all changes and modifications that come within the meaning and range of equivalency of the claims are resolvable thereunder. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A composite robot with precision positioning and dynamic sealing, comprising a composite robot body and a ground body, the top of the composite robot body is provided with a cargo platform, characterized in that, Also include: Precise positioning unit for precise positioning of the composite robot body in the working position, including fixed base, bottom channel, rack, guide mechanism and locking mechanism; The fixed base is provided with a bottom channel, one end of the bottom channel is a tapered guide port, the rack is fixed in the fixed base, the guide mechanism is slidingly installed in the bottom channel and fixed to the bottom of the composite robot body, and the locking mechanism is used for locking the composite robot body and the fixed base; A plurality of bottom shielding covers are slidingly installed in the bottom channel, springs are arranged between the bottom shielding covers and the fixed base, the bottom shielding covers cover the bottom channel when they are extended to form dust shielding; The dust protection unit is linked with 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, the side transmission mechanism connects the lower gear mechanism and the shielding mechanism, and the shielding mechanism performs dustproof action in the following states: When the composite robot body moves to the working position, the lower gear mechanism drives the shielding mechanism to uncover the loading platform through the side transmission mechanism by engaging with the rack; When the composite robot body leaves the working position, the lower gear mechanism is disengaged from the rack, and the shielding mechanism is automatically reset and covers the loading platform.

2. The composite robot of claim 1, wherein: The guide mechanism includes guide wheels and middle guide rods, the guide wheels are installed at one end of the middle guide rods through triangular supports, the two sides of the triangular supports are provided with side protrusions, the end of the triangular support is provided with a dust removal rod, and the triangular support is provided with a push cone corresponding to the bottom shielding cover; the two sides of the middle guide rod are provided with contact limiting plates which slidingly contact the wall surface of the bottom channel.

3. The composite robot of claim 1, wherein: The locking mechanism includes a clamping block, a tail shell and an electric telescopic rod; the clamping block is slidingly installed in the fixed base and is pre-tightened by a spring, the tail shell is fixed to the tail of the composite robot body, the clamping block is matched with the tail shell through a clamping groove, and the electric telescopic rod is installed in the tail shell and connected with a control module for pushing the clamping block away from the clamping groove.

4. The precision positioning and dynamic sealing composite robot according to claim 1, wherein: The lower gear mechanism includes a horizontal frame and a gear rotatingly installed in the horizontal frame, and the horizontal frame is fixed to the composite robot body.

5. The precision positioning and dynamic sealing composite robot of claim 1, wherein: 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 with the gear of the lower gear mechanism, the other end is driven through the synchronous belt and the synchronous gear in the side shell, and the synchronous gear is connected with the rotating shaft of the shielding mechanism.

6. The precision positioning and dynamic sealing composite robot of claim 1, wherein: The shielding mechanism includes an upper shielding shell and a dustproof roller shutter; the upper shielding shell is installed at the top of the composite robot body, the dustproof roller shutter is installed in the upper shielding shell through a rotating shaft, the rotating shaft is connected with the side transmission mechanism, a coil spring is arranged in the upper shielding shell, one end of the coil spring is connected with the upper shielding shell, the other end is connected with the rotating shaft, and one end of the dustproof roller shutter is provided with an end plate.

7. The precision positioning and dynamic sealing composite robot of claim 6, wherein: The end plate slidingly contacts in the upper shielding shell, and the dustproof roller shutter forms a sealed cover with the upper shielding shell when it is unfolded, and the shielding of the loading platform is removed when it is rolled up.

8. The precision positioning and dynamic sealing composite robot of claim 2, wherein: When the guiding mechanism moves, the push cone pushes the bottom cover to retract into the bottom base sliding groove.

9. The precision positioning and dynamic sealing composite robot of claim 2, wherein: The ash cleaning rod contacts the rack to clean dust on the surface of the rack.

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