Composite robot, matched vehicle and detection method of composite robot

Abstract

The invention relates to the field of vehicle operation, in particular to a composite robot, a matched vehicle and an application method of the composite robot, the composite robot, the matched vehicle and the application method of the composite robot comprise a steel cable hook mechanism, and the steel cable hook mechanism comprises a first driving assembly and a second driving assembly; the first driving assembly comprises a first supporting table and a first driving part; the supporting frame assembly is used for guiding the rope body; the limiting support comprises two oppositely-arranged supporting plates and a limiting plate, the limiting plate is provided with a cavity structure, and the steel cable hook mechanism further comprises a hook body; and the mechanical cooperation arm is further provided with a mechanical arm assembly and a second driving assembly, and the mechanical arm assembly comprises a chuck structure and a visual inspection camera. The device has the advantages that the device can be matched with a hook of a garbage truck and can be matched with a ground anchor arranged on the ground by effectively utilizing the structural configuration of the device.

Description

Technical Field

[0001] This application relates to the field of vehicle operation, and more specifically to a composite robot, a matching vehicle, and a method for detecting the composite robot. Background Technology

[0002] Current vehicle unloading methods use ground anchors to limit the vehicle's position, preventing it from falling into the garbage bins or overturning due to heavy loads and causing dangerous accidents. Currently, fixed-position ground anchors are commonly used to position the vehicle. For example, Chinese patent application number "CN202221543400.3" entitled "Anti-fall Ground Anchor Device for Garbage Unloading Platform" includes a ground anchor, a swing arm hinged to the ground anchor, and a steel wire rope hooked to the outer end of the swing arm. The ground anchor is vertically fixed to the unloading platform between two garbage bins, with its front facing... Alternatively, with its back to the garbage bin, the ground anchor has vertical upper and lower hinge shafts on its front. The swing arm includes an upper swing arm, a lower swing arm, and a hook joint. The upper swing arm is horizontally positioned with its inner end hinged to the upper hinge shaft. The lower swing arm includes a horizontally positioned first swing arm and an upwardly inclined second swing arm. The inner end of the first swing arm is hinged to the lower hinge shaft, and the outer end of the first swing arm is fixed to the inner end of the second swing arm. The outer end of the second swing arm intersects with the outer end of the upper swing arm and is fixed to the hook joint. A steel wire rope is hooked to the hook joint, and the end of the steel wire rope has a hook for connection to a vehicle towing device. This ground anchor device allows the swing arm to rotate 180 degrees horizontally, enabling the use of two adjacent garbage bins, and the steel wire rope effectively prevents vehicles from falling. However, the aforementioned technical solutions require manual anchoring, which is inefficient. Furthermore, the installation of the device occupies considerable space and requires regular manual maintenance. With the increasing prevalence of automation, this manual anchoring method is becoming outdated. Using a mobile ground anchor vehicle to define the vehicle's position is far more efficient than traditional manual anchoring. Moreover, controlling the ground anchor vehicle's movement via an external system allows for automatic resetting, enabling unmanned anchoring and further improving efficiency. Therefore, there is a need for a composite robot that can engage with vehicle hooks and ground anchors, along with a detection method for the accompanying vehicle and the composite robot. Summary of the Invention

[0003] The main objective of this application is to provide a detection method for a composite robot, a matching vehicle, and the composite robot thereof. The detection method for the composite robot, the matching vehicle, and the composite robot thereof can effectively utilize their own structural configuration to achieve the advantages of being able to engage with the vehicle's hook and being able to be anchored on the ground.

[0004] Another objective of this application is to provide a composite robot, wherein the composite robot includes a cable hook mechanism disposed on a first support plate and located within the frame. The cable hook mechanism includes: a first drive assembly, the first drive assembly including a first support platform and a first drive component, the first support platform being fixed to the middle section of the first support plate, and the first drive component being fixed to the top of the first support platform, and the first drive component being configured to tighten or loosen a rope; a support frame assembly, the support frame assembly being fixed to the first support plate and located on one side of the first drive assembly, the support frame assembly being used to guide the rope, and the support frame assembly including a second support plate, and the end of the frame having a notch, the second support plate cooperating with the notch; a limiting bracket, the limiting bracket including two opposing support plates and a limiting plate, the two support plates being fixed to the second support plate and resting against the outside, and the limiting plate being fixed to the outer ends of the two support plates. The positioning plate has a cavity structure, both ends of which are connected to the outside. The steel cable hook mechanism also includes a hook body, one end of which passes through the cavity structure and is close to the notch. The other end of the hook body is placed outside and is configured to cooperate with the connecting hook of an external vehicle. A mechanical cooperative arm is also included, comprising a robotic arm assembly and a second drive component. The second drive component is mounted on the first support plate and cooperates with the robotic arm assembly, and is configured to drive the robotic arm assembly to a predetermined position. The robotic arm assembly is configured to move to the upper side of the hook body and is configured to clamp the hook body. The robotic arm assembly includes a clamping structure and a binocular vision inspection camera. The clamping structure is configured to clamp both sides of the hook body. The binocular vision inspection camera detects the hook structure of the external vehicle and guides the user to cooperate with the hook structure of the external vehicle through a zigzag movement.

[0005] Another objective of this application is to provide a detection method for a composite robot, its supporting vehicle, and the composite robot thereof. The detection method for the composite robot, its supporting vehicle, and the composite robot thereof is simple in structure, easy to operate, does not involve complex manufacturing processes or expensive materials, has high economic efficiency, and is easy to promote and use.

[0006] To achieve at least one of the above-mentioned objectives, this application provides a composite robot, wherein the composite robot comprises: A cable hook mechanism, which is mounted on the first support plate and located within the frame, includes: A first drive assembly, wherein the first drive component is configured to retract or release the rope. A hook body, with the rope connected to one end of the hook body, and the other end of the hook body configured to engage with a connecting hook on an external truck; and The robotic collaborative arm also includes a robotic arm assembly and a second driving component. The second driving component is disposed on the first support plate and cooperates with the robotic arm assembly. It is configured to drive the robotic arm assembly to move to a predetermined position. The robotic arm assembly is configured to move to the upper side of the hook body and clamp the hook body by visual grasping to guide the hook body to be fastened to the connecting hook.

[0007] In one or more embodiments of this application, the support frame assembly further includes a first guide assembly and a second guide assembly. The first guide assembly and the second guide assembly are both fixed on the movable chassis and located on one side of the steel cable hook mechanism to define the guiding direction of the rope. The first guide assembly includes two swing assemblies and a swing platform. The bottom of the two swing assemblies is hinged to the second support plate, and the top of the two swing assemblies is also hinged to the swing platform. In addition, the two swing assemblies are spaced apart by a predetermined distance.

[0008] In one or more embodiments of this application, the composite robot further includes a limiting bracket, the limiting bracket including a limiting plate having a cavity structure, both ends of the cavity structure being connected to the outside, and one end of the hook body passing through the cavity structure. In one or more embodiments of this application, the first guide component further includes two second sensors, and two opposing first sensors are also provided at the limiting plate. The second sensors are configured to detect the state of the hook body, and the two first sensors are configured to detect the state of the rope.

[0009] In one or more embodiments of this application, the connecting hook of an external truck includes a fixing plate and a hook body structure. The fixing plate is directly fixed to the head or tail of the external truck, and the hook body structure is directly disposed on the fixing plate. The end of the hook body structure facing away from the fixing plate has a recessed cavity with an opening, which is configured to cooperate with the hook body.

[0010] In one or more embodiments of this application, the end of the hook body away from the notch also has a shaft, the shaft is arranged laterally and is configured to pass through the opening and be placed in the cavity, and the first drive assembly can make the shaft rigidly contact the wall forming the cavity by pulling the rope, thereby making the shaft fastened in the cavity.

[0011] In one or more embodiments of this application, the opening of the cavity is further provided with at least one electronic latch, the electronic latch including at least one swing arm, the swing arm being rotatably disposed at the opening of the cavity to limit the closure of the opening of the cavity by means of automatic opening and closing.

[0012] In one or more embodiments of this application, the connecting hook for an external truck includes a fixing plate and a hook body structure. The fixing plate is directly fixed to the head or tail of the external truck, and the hook body structure is directly disposed on the fixing plate. The end of the hook body structure facing away from the fixing plate has a closed cavity. The cavity is configured to cooperate with the hook body. The end of the hook body away from the notch also has at least one electronic latch. The electronic latch is configured to be automatically opened and closed on the hook body structure.

[0013] In one or more embodiments of this application, the end of the hook body with the shaft is further provided with two oppositely arranged insertion portions, the shaft is located between the two insertion portions, and the fixing plate facing the insertion portion is further provided with two oppositely arranged slots. The two insertion portions are configured to cooperate with the two slots respectively to define the position of the hook body. The slots are fully enclosed slots or semi-enclosed slots.

[0014] In one or more embodiments of this application, the end of the hook structure facing away from the fixing plate also has at least one mark, and a binocular vision inspection camera is used to identify the mark.

[0015] In one or more embodiments of this application, the composite robot further includes at least one ground anchor assembly, which is mounted on the first support plate and located on the side of the first drive component away from the first guide assembly. The ground anchor assembly includes a second drive component with adjustable height and an electromagnet disposed on the second drive component. The first support plate also has a through slot facing the electromagnet. The electromagnet is configured to descend a predetermined height towards the through slot. The bottom of the first support plate also has a ground anchor hook. The composite robot further includes a base assembly, which includes a rotating rod. The electromagnet is configured to attract the rotating rod and simultaneously move the chassis a predetermined distance so that the connecting rod engages with the ground anchor hook.

[0016] In one or more embodiments of this application, the electromagnet may be replaced with a metal component for hooking the connecting rod.

[0017] In one or more embodiments of this application, the composite robot further includes a guide wheel mechanism located on one side of the limiting plate, and the guide wheel mechanism is composed of at least two rollers, and the rope is configured to cooperate with at least two of the rollers.

[0018] To achieve the aforementioned other objective, this application provides a detection method for a composite robot, used to ensure that the hook body is retracted into place. The detection method for the composite robot includes: S1: The first drive component operates to retract the rope, while the hook body moves toward the limiting plate: S2: If the two first sensors detect that the rope is taut and the two second sensors detect that the hook body is reset, the first drive component stops operating. If the two first sensors detect that the rope is in a normal state and the two second sensors detect that the hook body is in an abnormal state, then step S3 is initiated. S3: If the hook body does not reset and the rope is already taut, the hook body may be stuck by something else. In this case, the first drive component releases the line to change the position of the hook body. Then the first drive component retracts the rope. If neither the first sensor nor the second sensor is abnormal, the first drive component stops operating. Attached Figure Description

[0019] These and / or other aspects and advantages of this application will become clearer and more readily understood from the following detailed description of embodiments of this application taken in conjunction with the accompanying drawings, wherein: Figure 1 The figure shows a schematic diagram of a composite robot.

[0020] Figure 2 The figure shows a partial structural diagram of a composite robot. Figure 1 .

[0021] Figure 3 The diagram shows a structural schematic of the support frame assembly.

[0022] Figure 4 The figure shows a partial structural diagram of a composite robot. Figure 2 .

[0023] Figure 5 The diagram shows a schematic of the limiting plate.

[0024] Figure 6 The diagram shows a schematic of the robotic arm assembly.

[0025] Figure 7 The diagram illustrates the structure of the ground anchor assembly. Figure 1.

[0026] Figure 8 The diagram illustrates the structure of the ground anchor assembly. Figure 2 .

[0027] Figure 9 The diagram illustrates the structure of the base assembly. Figure 1 .

[0028] Figure 10 The diagram illustrates the structure of the base assembly. Figure 2 .

[0029] Figure 11 The diagram shows a schematic representation of the hook structure.

[0030] Figure 12 The diagram shows the installation locations of sensors C and D.

[0031] Figure 13 The diagram shows the installation locations of sensors F and E.

[0032] Figure 14 The diagram illustrates the disassembled structure of the movable panel.

[0033] Figure 15 The figure shows a schematic diagram of another embodiment of a composite robot. Figure 1 .

[0034] Figure 16 The figure shows a schematic diagram of another embodiment of a composite robot. Figure 2 .

[0035] Figure 17 The diagram shows a schematic of the guide wheel mechanism.

[0036] Figure 18 The diagram illustrates another structural schematic of the limiting plate.

[0037] Figure 19 The diagram shows a schematic representation of the second driving component. Detailed Implementation

[0038] The terms and words used in the following specification and claims are not limited to their literal meaning, but are used solely by the inventors to enable a clear and consistent understanding of this application. Therefore, it will be apparent to those skilled in the art that the following description of various embodiments of this application is provided for illustrative purposes only and not for the purpose of limiting the application as defined in the appended claims and their equivalents.

[0039] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0040] While ordinal numbers such as "first," "second," etc., will be used to describe various components, this does not limit which components are used. The term is used only to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the teachings of the inventive concept. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. It will also be understood that the terms “comprising” and / or “having” as used in this specification specify the presence of the described features, numbers, steps, operations, components, elements or combinations thereof, without excluding the presence or addition of one or more other features, numbers, steps, operations, components, elements or groups thereof.

[0042] refer to Figures 1 to 19 According to a preferred embodiment of the present invention, a composite robot, a matching vehicle, and a method for detecting the composite robot, the structure of the composite robot, the matching vehicle, and the method for detecting the composite robot is as follows: Figure 1 As shown, the composite robot, its supporting vehicle, and the detection method for the composite robot include a mobile chassis 100, which is a tracked mobile chassis 100, and its structure is as follows. Figure 1 As shown, the mobile chassis 100 has a first support plate 200 in the middle, and the detection method of the composite robot, the supporting vehicle and the composite robot further includes a frame 900, which is fixed on the first support plate 200.

[0043] Specifically, the composite robot, the supporting vehicle, and the detection method of the composite robot further include a steel cable hook mechanism 20, which is set on the first support plate 200 and located within the frame 900.

[0044] It is worth mentioning that the steel cable hook mechanism 20 includes a first drive assembly 21, which includes a first support platform and a first drive component. The first support platform is fixed to the middle section of the first support plate 200, and the first drive component is fixed to the top of the first support platform. The first drive component is configured to tighten or loosen the rope. Specifically, the first drive component is implemented as a winch device.

[0045] Furthermore, the cable hook mechanism 20 also includes a support frame assembly, which is fixed to the first support plate 200 and located on one side of the first drive assembly 21. Additionally, it should be noted that one end of the frame 900 has a notch 9001 at its top, located in the direction of the ground anchor vehicle's front. The support frame assembly includes two second support platforms and a second support plate 24. The two second support platforms are spaced apart and fixed to the first support plate 200 at intervals. The second support plate 24 is fixed to the top of the two second support platforms, and its end passes through the notch 9001 and is positioned externally.

[0046] It is worth mentioning that the support frame assembly also includes a first guide component 22 and a second guide component 23, both of which are fixed to the second support plate 24 to define the guiding direction of the rope. Specifically, each of the first guide components 22 includes two swing components 221 and a swing platform 222. The bottoms of the two swing components 221 are hinged to the second support plate 24, and the tops of the two swing components 221 are also hinged to the swing platform 222. Furthermore, the two swing components 221 are spaced apart by a predetermined distance. It is also worth mentioning that each swing component 221 consists of two fixed blocks and a swing bracket, the structure of which is as follows: Figure 3 As shown, the bottom of the swing platform 222 has a connecting shaft, and the two fixing blocks are mounted on the first support plate 200. The end of the connecting shaft is hinged between the two fixing blocks. The bottom of the swing platform 222 has two opposing connecting parts, which are respectively hinged to the top of the two swing brackets. Additionally, the top of the swing platform 222 is provided with a first guide wheel 2221. The rope cooperates with the first guide wheel 2221, as shown... Figure 3 As shown, the rope is located below the first guide wheel 2221. It should also be noted that the second guide assembly 23 is located on the side of the first guide assembly 22 away from the first drive component, and the second guide assembly 23 further includes a second guide wheel 231. The second guide wheel 231 is located below the first guide wheel 2221, and the rope also cooperates with the second guide wheel 231 and is located below the second guide wheel 231.

[0047] It is worth mentioning that the cable hook mechanism 20 also includes a limiting bracket 25, which includes two opposing support plates 251 and a limiting plate 252. The two support plates 251 are fixed to the second support plate 24 and rest against the outside, and the limiting plate 252 is fixed to the external ends of the two support plates 251. The connection method includes, but is not limited to, screw connection or welding connection. In addition, the limiting plate 252 has a cavity structure 25201, both ends of which are connected to the outside. The cable hook mechanism 20 also includes a hook body 26, one end of which passes through the cavity structure 25201 and is close to the notch 9001. The other end of the hook body 26 is placed externally and is configured to cooperate with the connecting hook of an external vehicle. The structure of the connecting hook of the external vehicle is as follows. Figure 4 As shown, it includes a fixing plate 300 and a hook structure 400. The fixing plate 300 is directly fixed to the rear of an external vehicle. The hook structure 400 is directly mounted on the fixing plate 300, and the end of the hook structure 400 away from the fixing plate 300 has a recessed cavity 4001 with an opening. This recessed cavity 4001 is configured to cooperate with the hook body 26. Specifically, the end of the hook body 26 away from the notch 9001 also has a shaft 261. The shaft 261 is arranged laterally and is configured to pass through the opening and be placed within the recessed cavity 4001. Specifically, the end of the hook body 26 with the shaft 261 also has two oppositely arranged insertion portions 262. The shaft 261 is located between the two insertion portions 262. It should be noted that the fixing plate 300 also has two oppositely arranged slots 3001 on the side facing the insertion portions 262. The two insertion portions 262 are configured to cooperate with the two slots 3001 respectively to limit the position of the hook body 26.

[0048] It is worth mentioning that the hook body 26 and the hook structure 400 of this application can also be fixed by an electronic lock. That is, an electronic lock can be set at the above-mentioned open cavity 4001 to limit the position of the shaft by closing the opening. Similarly, the above-mentioned open cavity 4001 can be changed to a closed cavity 4001, and the shaft can be changed to an electronic lock structure. For example, the shaft can be changed to an electrically driven telescopic rod, so that the hook body 26 can be set on the hook structure 400 by the extension and retraction of the telescopic rod. Alternatively, an electrically driven locking tongue structure, i.e. an electrically driven swing arm, can be used to set the hook body 26 on the hook structure 400 by swinging.

[0049] It should be noted that a mechanical collaborative arm 500 is also provided on the first support plate 200, and the mechanical collaborative arm 500 further includes a robotic arm assembly 5001 and a second drive component 1000 (e.g., Figure 1 (Position A shown is the installation position). The second driving component 1000 is disposed on the first support plate 200, and the second driving component 1000 cooperates with the robotic arm assembly 5001 and is configured to drive the robotic arm assembly 5001 to a predetermined position, i.e., the position shown in Figure 5. The robotic arm assembly 5001 is configured to move to the upper side of the hook body 26 and is configured to clamp the hook body 26. The robotic arm assembly 5001 includes a clamping structure 50011 and a binocular vision inspection camera. The clamping structure 50011 is configured to clamp both sides of the hook body 26, as shown in Figure 5. Figure 4 As shown, the hook body 26 has two opposing clamping grooves, and the clamping head structure 50011 is driven by a hydraulic cylinder or a pneumatic cylinder to engage with the two clamping grooves to clamp the hook body 26. The end of the hook structure 400 facing away from the fixing plate 300 also has two opposing markings B. The binocular vision inspection camera 50012 is configured to identify the markings B on the hook structure 400 to identify the hook structure 400. Notably, the mechanical collaborative arm 500 uses visual guidance to guide the shaft 261 through the opening via a Z-shaped movement. The two insertion parts 262 are placed inside the cavity 4001, and the two slots 3001 cooperate with each other. At this time, the clamping structure 50011 of the mechanical cooperative arm 500 releases the two sides of the hook body 26. At the same time, the end of the hook body 26 connected to the rope will tilt at a predetermined angle due to its own weight. Since the insertion part 262 cooperates with the slot 3001, the hook body 26 will not fall off. Then the first driving component pulls the rope so that the shaft 261 contacts the wall surface that forms the cavity 4001 and is close to the opening, so that the hook body 26 pulls the hook structure 400.

[0050] It should also be noted that the end of the hook body 26 facing away from the shaft 261 engages with the rope. When the hook body 26 needs to disengage from the hook structure 400, the first driving component operates directly to release the rope. At this time, the rope no longer applies force to the end of the hook body 26, and the end of the hook body 26 is no longer taut by the rope. Instead, it falls due to its own weight, causing the shaft 261 to pass through the opening of the cavity 4001, thus allowing the hook body 26 to engage with the hook structure. 400. The hook is released, and simultaneously, the first driving component retracts the rope, causing the hook body 26 to reset. It should be noted that two opposing first sensors C are also provided on the side of the limiting plate 252 opposite to the hook body 26. Specifically, the two first sensors C are installed at the top and bottom of the limiting plate 252, and can be implemented as laser sensors, to monitor whether the hook body 26 is retracted properly. If it is not retracted properly, the hook body 26 can be reset by repeatedly releasing and tightening the rope. Additionally, two second sensors D are provided on both sides of the first guide assembly 22 to detect the state of the rope, i.e., whether it is loose or tight. When both first sensors C and two second sensors D detect that the rope is in position, the first driving component stops operating.

[0051] Specifically, the composite robot, its supporting vehicle, and the detection method for the composite robot further include at least one ground anchor assembly 30. The ground anchor assembly 30 is mounted on the first support plate 200 and located on the side of the first drive component opposite to the first guide assembly 22. Notably, the ground anchor assembly 30 includes a mounting frame 31 and a second drive assembly. The mounting frame 31 is fixed to the first support plate 200, and the second drive assembly is disposed on the mounting frame 31. It is worth mentioning that the second drive assembly includes a second drive component 32, a guide rail 33, a transmission belt 34, and a movable plate 35. The guide rail 33 is vertically arranged and fixed on the mounting bracket 31. The second drive component 32 is located above the guide rail 33 and fixed on the mounting bracket 31. The movable plate 35 is movably mounted on the guide rail 33, i.e., at least one slider is provided on the guide rail 33. The slider is slidably connected to the guide rail 33 and fixedly connected to the movable rod, specifically by screw connection. A clamping component 351 is also provided on one side of the movable plate 35, which clamps the transmission belt 34. That is, the second drive component 32 is configured to drive the conveyor belt to rotate, and therefore the clamping component 351 is configured to rise and fall a predetermined height with the conveyor belt, thereby causing the movable plate 35 to rise and fall synchronously to a predetermined height. The guide rail 33 defines the direction of movement of the movable plate 35. It is worth mentioning that an electromagnet 36 is also provided at the bottom of the movable plate 35, and the first support plate 200 also has a through slot, which is directly opposite the electromagnet 36. That is, when the movable plate 35 descends to a predetermined height, the electromagnet 36 can pass through the through slot to be placed at the bottom of the first support plate 200. The aforementioned movable plate 35 is implemented as a first movable block 351 and a second movable block 352. The clamping component 351 is disposed on one side of the second movable block 352. Both the first movable block 351 and the second movable block 352 are movably mounted on the guide rail 33, and are spaced at a predetermined distance and connected by a bolt 353. Specifically, the bolt 353 is movably connected to the first movable block 351 and fixedly connected to the second movable block 352. An elastic element 354 is also sleeved on the bolt 353, with both ends of the elastic element 354 contacting the sides of the first movable block 351 and the second movable block 352 that are close to each other. A third sensor E is also provided on the second movable block 352, which is used to detect whether the first movable block 351 is in contact with the second movable block 352. The elastic element 354 acts as a buffer; when the first movable block 351 and the second movable block 352 are in contact, the second drive assembly stops operating.Additionally, two opposing fourth sensors E are mounted on the mounting bracket, and the clamp component 351 is also provided with a protrusion 3511. The protrusion 351 is configured to face one of the fourth sensors F, that is, the distance between the two fourth sensors F is the stroke of the clamp component 351.

[0052] Other examples Figure 9-10 As shown, the bottom of the first support plate 200 also has a ground anchor hook 600, the structure of which is as follows: Figure 9 As shown, the composite robot, its supporting vehicle, and the detection method for the composite robot further include a base assembly 40. The base assembly 40 includes a base body 41, which is fixed to the ground. The top of the base body 41 has an open mounting cavity. A rotating rod 42 and a U-shaped lock are also provided in the mounting cavity. Two U-shaped locks are fixed in the mounting cavity. The two ends of the rotating rod 42 are rotatably connected to the U-shaped locks. The base assembly 40 also includes a cover plate, which is fixed to the top of the base body 41 to close the mounting cavity. The cover plate also has a groove facing the rotating rod. 42, that is, when the rotating rod 42 rotates, the rotating rod 42 can pass through the groove and be placed outside, that is, after rotating by a predetermined angle, the rotating rod 42 is tilted at a predetermined angle with the ground and is set to cooperate with the ground anchor hook 600 to limit the position of the ground anchor vehicle. It should be noted that the electromagnet 36 can generate a suction force on the connecting rod. Specifically, the electromagnet first descends a predetermined height to attract the connecting rod, and at the same time, the electromagnet moves upward a predetermined distance to pull out the connecting rod. Then the moving chassis moves a predetermined distance so that the ground anchor hook cooperates with the connecting rod to limit the position of the ground anchor vehicle.

[0053] Specifically, the application method of this application is as follows: S1: The vehicle moves to the designated position and faces the automatic gate of the landfill. There is a radar in front of the landfill gate to detect the vehicle. If the vehicle is detected, the landfill gate is half open, waiting for the ground anchor vehicle to move to the predetermined position. S21: The ground anchor vehicle moves to the moving position and activates the mechanical cooperative arm to clamp the hook body 26. It also cooperates with the hook structure of the vehicle through a binocular vision detection camera. At the same time, the steel cable hook mechanism pulls the hook body. At this time, the ground anchor vehicle hooking is completed. If it is necessary to increase the traction of the ground anchor vehicle, the ground anchor vehicle also needs to cooperate with the base assembly 40. S22: The ground anchor vehicle moves to the moving position, and the ground anchor assembly of the ground anchor vehicle operates. At this time, the electromagnet descends to a predetermined height to attract the connecting rod set at the predetermined position. Then the ground anchor vehicle moves forward to the predetermined position so that the ground anchor hook engages with the connecting rod. S3: After the vehicle is unloaded, the hook body 26 is disengaged from the hook structure by loosening the rope, and then the hook body 26 is reset by pulling the rope. At the same time, the electromagnet rises to a predetermined height and no longer attracts the connecting rod. S4: The ground anchor vehicle reverses and disengages, then moves to the designated area for charging.

[0054] It should be noted that multiple battery packs can be installed within the aforementioned frame to provide the necessary power for the terrain vehicle, and a charging port 800 is located at the rear of the mobile chassis for charging the terrain vehicle. Additionally, collision avoidance radars are installed at two corners of the frame to facilitate the movement of the terrain vehicle.

[0055] Specifically, this application also provides a detection method for ensuring that the hook body is retracted into place. The detection method for the composite robot includes: S1: The first drive component operates to retract the rope, while the hook body moves toward the limiting plate: S2: If the two first sensors detect that the rope is taut and the two second sensors detect that the hook body is reset, the first drive component stops operating. If the two first sensors detect that the rope is in a normal state and the two second sensors detect that the hook body is in an abnormal state, then step S3 is initiated. S3: If the hook body does not reset and the rope is already taut, the hook body may be stuck by something else. In this case, the first drive component releases the line to change the position of the hook body. Then the first drive component retracts the rope. If neither the first sensor nor the second sensor is abnormal, the first drive component stops operating.

[0056] It should also be noted that this application provides an improvement scheme for the device under heavy load conditions, specifically as follows: Figures 17 to 18 As shown, the cavity structure 25201 of the limiting plate 252 is further provided with two opposing pressure blocks 700, and the sides of the two pressure blocks 700 that are close to each other together form a through hole 7001, that is, the rope can pass through the through hole 7001 and connect to the end of the hook body. The limiting plate 252 can also be equipped with the aforementioned second sensor to detect the state of the hook body. At the same time, the composite robot also includes a guide wheel mechanism 800, the structure of which is as follows: Figure 17As shown, it consists of multiple rotatable rollers, and the rope passes through the guide wheel mechanism 800. The guide wheel mechanism 800 feeds the rope in a self-driven manner. That is, when the mechanical collaborative arm cannot pull down the rope due to weight issues, the rope can be fed through the guide wheel mechanism 800. It should also be noted that the guide wheel mechanism can also be implemented in another way, that is, by clamping the rope with two guide wheels and releasing the rope by reciprocating movement.

[0057] In summary, the detection method of the composite robot, the matching vehicle, and the composite robot based on the embodiments of this application has been clarified, which provides advantages such as being able to cooperate with the hook of the composite robot, the matching vehicle, and the composite robot, and being able to cooperate with the ground anchor.

[0058] It is worth mentioning that, in the embodiments of this application, the composite robot, the supporting vehicle, and the detection method of the composite robot have a simple structure, do not involve complex manufacturing processes or expensive materials, and are highly economical. At the same time, for manufacturers, the composite robot, the supporting vehicle, and the detection method of the composite robot provided in this application are easy to produce and have low costs, which is more conducive to controlling production costs and further facilitates product promotion and use.

[0059] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and any modifications or variations of the embodiments of the present invention may be made without departing from these principles.

Claims

1. A composite robot, comprising a mobile chassis and a frame, wherein the mobile chassis has a first support plate in the middle, and the frame is fixed to the first support plate, characterized in that, The composite robot includes: A cable hook mechanism, which is mounted on the first support plate and located within the frame, includes: A first drive assembly, wherein the first drive component is configured to retract or release the rope. A hook body, with the rope connected to one end of the hook body, and the other end of the hook body configured to engage with a connecting hook on an external truck; and The robotic collaborative arm also includes a robotic arm assembly and a second driving component. The second driving component is disposed on the first support plate and cooperates with the robotic arm assembly. It is configured to drive the robotic arm assembly to move to a predetermined position. The robotic arm assembly is configured to move to the upper side of the hook body and clamp the hook body by visual grasping to guide the hook body to be fastened to the connecting hook.

2. The composite robot according to claim 1, wherein the support frame assembly further includes a first guide assembly and a second guide assembly, both the first guide assembly and the second guide assembly being fixed on the mobile chassis and located on one side of the cable hook mechanism to define the guiding direction of the rope, each of the first guide assemblies including two swing assemblies and a swing platform, the bottoms of the two swing assemblies being hinged to the second support plate, and the tops of the two swing assemblies being hinged to the swing platform, and the two swing assemblies being spaced apart by a predetermined distance.

3. The composite robot according to claim 2, wherein the composite robot further includes a limiting bracket, the limiting bracket includes a limiting plate, the limiting plate has a cavity structure, both ends of the cavity structure are connected to the outside, and one end of the hook body passes through the cavity structure.

4. The composite robot according to claim 3, wherein the first guiding component further includes two second sensors, and two opposing first sensors are also provided at the limiting plate, wherein the second sensors are configured to detect the state of the hook body, and the two first sensors are configured to detect the state of the rope.

5. The composite robot according to claim 1, wherein the connecting hook of the external truck includes a fixing plate and a hook body structure, the fixing plate is directly fixed to the head or tail of the external truck, the hook body structure is directly disposed on the fixing plate, and the end of the hook body structure facing away from the fixing plate has a recessed cavity with an opening, the recessed cavity being configured to cooperate with the hook body.

6. The composite robot according to claim 5, wherein the end of the hook body away from the notch further has a shaft, the shaft being arranged laterally and configured to pass through the opening and be placed in the cavity, and the first drive assembly can make the shaft rigidly contact the wall forming the cavity by pulling the rope, thereby causing the shaft to be fastened at the cavity.

7. The composite robot according to claim 5, wherein the opening of the cavity is further provided with at least one electronic latch, the electronic latch including at least one swing arm, the swing arm being rotatably disposed at the opening of the cavity to limit the closure of the opening of the cavity by means of automatic opening and closing.

8. The composite robot according to claim 1, wherein the connecting hook of the external truck includes a fixing plate and a hook body structure, the fixing plate is directly fixed to the head or tail of the external truck, the hook body structure is directly disposed on the fixing plate, and the end of the hook body structure away from the fixing plate has a closed cavity, the cavity is configured to cooperate with the hook body, and the end of the hook body away from the notch also has at least one electronic latch, the electronic latch is configured to be disposed on the hook body structure by means of automatic opening and closing.

9. The composite robot according to claim 5, wherein the end of the hook body provided with the shaft has two oppositely arranged insertion portions, the shaft is located between the two insertion portions, and the fixing plate has two oppositely arranged slots on the side facing the insertion portion, the two insertion portions are configured to cooperate with the two slots respectively to define the position of the hook body, and the slots are fully enclosed slots or semi-enclosed slots.

10. The composite robot according to claim 9, wherein the end of the hook structure facing away from the fixing plate further has at least one marking.

11. The composite robot according to claim 1, wherein the composite robot further comprises at least one ground anchor assembly, the ground anchor assembly being mounted on the first support plate and located on the side of the first drive component opposite to the first guide assembly, the ground anchor assembly comprising a second drive component with adjustable height and an electromagnet disposed on the second drive component, and the first support plate further comprising a through slot facing the electromagnet, the electromagnet being configured to descend a predetermined height toward the through slot, wherein the bottom of the first support plate further comprises a ground anchor hook, the composite robot further comprising a base assembly, the base assembly comprising a rotating rod, the electromagnet being configured to attract the rotating rod, and simultaneously moving the chassis a predetermined distance so that the connecting rod engages with the ground anchor hook.

12. The composite robot of claim 11, wherein the electromagnet may be replaced by a metal component for hooking the connecting rod.

13. The composite robot according to claim 4, wherein the composite robot further includes a guide wheel mechanism located on one side of the limiting plate, and the guide wheel mechanism is composed of at least two rollers, and the rope is configured to cooperate with at least two of the rollers.

14. A matching vehicle, characterized in that, The supporting vehicle includes a vehicle body, which cooperates with the composite robot, and the composite robot is any one of claims 1 to 13.

15. A detection method for a composite robot, used to ensure that the hook body in claim 4 is retracted into place, characterized in that, The detection method for the composite robot includes: S1: The first drive component operates to retract the rope, while the hook body moves toward the limiting plate: S2: If the two first sensors detect that the rope is taut and the two second sensors detect that the hook body is reset, the first drive component stops operating. If the two first sensors detect that the rope is in a normal state and the two second sensors detect that the hook body is in an abnormal state, then step S3 is initiated. S3: If the hook body does not reset and the rope is already taut, the hook body may be stuck by something else. In this case, the first drive component releases the line to change the position of the hook body. Then the first drive component retracts the rope. If neither the first sensor nor the second sensor is abnormal, the first drive component stops operating.

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