Composite collaborative robot

Abstract

The utility model relates to the field of robots, and discloses a composite collaborative robot which comprises a base, a mechanical arm is arranged on the rear side of the upper surface of the base, a supporting plate is fixedly connected to the bottom end of the front surface of the base, an anti-skid assembly is arranged in the supporting plate, and a containing assembly is arranged on the upper surface of the base. And the anti-skid assembly comprises a motor, an output shaft of the motor is fixedly connected with a rotating shaft, the rear end of the outer wall of the rotating shaft is fixedly connected with a gear, the upper surface of the supporting plate penetrates through and is slidably connected with a connecting plate, and the right surface of the connecting plate is fixedly connected with a rack. According to the anti-skid device, through cooperation of the anti-skid assembly, when the anti-skid device brakes, the motor can drive the connecting plate and the anti-skid plate to move downwards, the bottom face of the anti-skid plate is tightly attached to the ground, the friction force between the anti-skid plate and the ground is increased, the braking performance of the anti-skid device is enhanced, the anti-skid device can brake in time, collision with other objects is avoided, and stability of the anti-skid device is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a composite collaborative robot. Background Art

[0002] With the continuous development of science and technology, the application of robotics in various fields continues to deepen. Composite collaborative robots have emerged as a fusion product of advanced technologies.

[0003] In traditional industrial scenarios, robots often have relatively simple functions and are unable to meet the increasingly complex and diverse task requirements. Composite collaborative robots cleverly combine mobile AGVs with collaborative robots to achieve the integration of flexible mobility and precise operation capabilities. However, there are some problems in practical applications.

[0004] Since indoor floors are often relatively smooth, when the robot is moving, its braking effect is poor and it is difficult to stop quickly at the moment it needs to stop. This can easily cause the robot to lose control and hit other objects in the room, causing damage to the robot itself or related objects, affecting production efficiency and increasing maintenance costs.

[0005] In addition, the robot is equipped with a robotic arm. Although the robotic arm can place the items to be carried on the AGV cart, the items placed on the AGV cart lack effective fixing measures and are easy to slip during movement. This may not only cause damage to the items, but also interfere with the normal operation of the robot and even cause safety hazards, bringing challenges to the smooth progress of the production process. Therefore, a composite collaborative robot is proposed to solve the above problems. Utility Model Content

[0006] In order to make up for the above shortcomings, the utility model provides a composite collaborative robot, which aims to improve the problem in the prior art that the indoor floor is usually smooth, which makes it difficult to brake the robot when it moves, and difficult to brake quickly at the moment of stopping. It is easy to lose control and collide with other objects, causing damage to the robot or objects, which not only affects production efficiency but also increases maintenance costs.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a composite collaborative robot, comprising a base, a mechanical arm is arranged on the rear side of the upper surface of the base, a support plate is fixedly connected to the bottom end of the front surface of the base, an anti-slip component is arranged inside the support plate, a placement component is arranged on the upper surface of the base, the anti-slip component comprises a motor, the output shaft of the motor is fixedly connected to a rotating shaft, a gear is fixedly connected to the rear end of the outer wall of the rotating shaft, a connecting plate is penetrated and slidably connected to the upper surface of the support plate, and a rack is fixedly connected to the right surface of the connecting plate.

[0008] As a further description of the above technical solution:

[0009] The anti-skid assembly also includes an anti-skid plate, the rack is elastically connected to a tooth block via a compression spring, and the left surface of the tooth block is slidably connected to the right surface of the connecting plate.

[0010] As a further description of the above technical solution:

[0011] The placement assembly comprises a mounting plate, the upper surface of which is fixedly connected with a hollow tube, and the inner wall of the hollow tube is elastically connected with a sliding rod via a connecting spring.

[0012] As a further description of the above technical solution:

[0013] The motor is arranged on the front surface of the support plate, the gear and the rack are meshed, and the rotating shaft passes through and is rotatably connected to the front surface of the support plate.

[0014] As a further description of the above technical solution:

[0015] The anti-skid plate passes through the lower surface of the supporting plate, the upper surface of the anti-skid plate is fixedly connected to the lower surface of the connecting plate, and the lower surface of the anti-skid plate is made of rubber material.

[0016] As a further description of the above technical solution:

[0017] The tooth block is meshed with the gear, one end of the compression spring is fixedly connected to the upper surface of the tooth block, and the other end of the compression spring is fixedly connected to the lower surface of the rack.

[0018] As a further description of the above technical solution:

[0019] The mounting plate is mounted on the upper surface of the base, the mounting plate is located at the front side of the mechanical arm, and the upper surface of the sliding rod is configured as an arc surface.

[0020] As a further description of the above technical solution:

[0021] The slide bar penetrates and is slidably connected to the upper surface of the hollow tube, one end of the connection spring is fixedly connected to the lower surface of the slide bar, and the other end of the connection spring is fixedly connected to the inner wall of the bottom end of the hollow tube.

[0022] The utility model has the following beneficial effects:

[0023] 1. In the utility model, through the cooperation of the anti-skid assembly, when the device brakes, the motor can drive the connecting plate and the anti-skid plate to move downward, so that the bottom surface of the anti-skid plate is closely fitted to the ground, increasing the friction with the ground, enhancing the braking performance of the device, so that it can stop in time, avoid collision with other objects, and ensure the stability of the device.

[0024] 2. In the present invention, through the cooperation of the placement components, when an object contacts the slide bar, the slide bar in contact with the object will move down under the influence of gravity, and the remaining slide bars will form a barrier around the object to ensure that the object does not slide and enhance stability. When the object is placed on the slide bar, the connecting spring can also play a buffering role to better protect the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view schematic diagram of the three-dimensional structure of the overall device in the utility model;

[0026] Figure 2 It is a schematic cross-sectional diagram of the three-dimensional structure of the support plate, the motor, and the rotating shaft in the utility model;

[0027] Figure 3 It is a cross-sectional schematic diagram of the three-dimensional structure of the hollow core tube of the utility model.

[0028] Legend:

[0029] 1. Base; 2. Robotic arm; 3. Support plate; 41. Motor; 42. Rotating shaft; 43. Gear; 44. Rack; 45. Connecting plate; 46. Anti-skid plate; 47. Gear block; 48. Compression spring; 51. Mounting plate; 52. Hollow tube; 53. Sliding rod; 54. Connecting spring. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] Reference Figure 1 - Figure 3The utility model provides an embodiment: a composite collaborative robot, including a base 1 for supporting the overall device, the base 1 is an AGV trolley, which can drive the overall device to move, a mechanical arm 2 is arranged on the rear side of the upper surface of the base 1, and the mechanical arm 2 can clamp the workpiece or object, the base 1 and the mechanical arm 2 are prior art, and can be implemented by technicians in this field. Since it is prior art, it will not be described in detail in this case. The combination of the base 1 and the mechanical arm 2 is a composite collaborative robot, and a support plate 3 is fixedly connected to the bottom end of the front surface of the base 1, and an anti-skid component is arranged inside the support plate 3, and the support plate 3 provides support for the anti-skid component, and the anti-skid component can increase the friction between the device and the ground when the device is braked, thereby improving the braking effect of the device and ensuring the stability of the device. The upper surface of the base 1 is provided with a placement Components, the placement component can ensure that the placed items will not slide, and can reduce the impact generated when the items are placed, and can effectively protect the items. The anti-slip component includes a motor 41. The motor 41 is a prior art and can be implemented by technicians in this field. Since it is a prior art, it will not be described in detail in this case. The output shaft of the motor 41 is fixedly connected to the rotating shaft 42. Starting the motor 41 can drive the rotating shaft 42 to rotate forward or reverse. The rear end of the outer wall of the rotating shaft 42 is fixedly connected to a gear 43, and the rotating shaft 42 can drive the gear 43 to rotate synchronously. The upper surface of the support plate 3 is penetrated and slidably connected with a connecting plate 45. The connecting plate 45 penetrates the lower surface of the support plate 3, and the connecting plate 45 slides longitudinally. The right surface of the connecting plate 45 is fixedly connected to a rack 44, and the rack 44 and the connecting plate 45 will move synchronously.

[0032] Reference Figure 1 - Figure 3 The anti-skid assembly also includes an anti-skid plate 46. When the anti-skid plate 46 moves to the bottom, it will contact the ground, increasing the contact area between the device and the ground, thereby enhancing the friction and improving the braking effect. The rack 44 is elastically connected to the tooth block 47 through the compression spring 48. The compression spring 48 and the tooth block 47 are provided with two groups, which are symmetrically distributed up and down with the center line of the rack 44. The left surface of the tooth block 47 is slidably connected to the right surface of the connecting plate 45, and slides longitudinally.

[0033] Reference Figure 1 - Figure 3 The placement component includes a mounting plate 51, which is mounted on the upper surface of the base 1 by bolts. The mounting plate 51 can be disassembled by loosening the bolts. A hollow tube 52 is fixedly connected to the upper surface of the mounting plate 51. The inner wall of the hollow tube 52 is elastically connected to a slide rod 53 through a connecting spring 54. The slide rod 53 slides longitudinally along the inner wall of the hollow tube 52.

[0034] Reference Figure 1 - Figure 3The motor 41 is arranged on the front surface of the support plate 3, and the support plate 3 provides support for the motor 41. The gear 43 and the rack 44 are meshed. When the gear 43 rotates, it will drive the rack 44 to move longitudinally. The rotating shaft 42 passes through and is rotatably connected to the front surface of the support plate 3.

[0035] Reference Figure 1 - Figure 3 The anti-skid plate 46 passes through the lower surface of the support plate 3, and the upper surface of the anti-skid plate 46 is fixedly connected to the lower surface of the connecting plate 45. When the connecting plate 45 moves, it will drive the anti-skid plate 46 to move synchronously. The lower surface of the anti-skid plate 46 is made of rubber material, which has strong deformation ability and can provide strong friction.

[0036] Reference Figure 1 - Figure 3 The tooth block 47 is meshed with the gear 43, and the gear 43 can drive the tooth block 47. One end of the compression spring 48 is fixedly connected to the upper surface of the tooth block 47, and the other end of the compression spring 48 is fixedly connected to the lower surface of the rack 44. When the tooth block 47 moves upward, it will squeeze the compression spring 48 to generate a reaction force.

[0037] Reference Figure 1 and Figure 3 The mounting plate 51 is mounted on the upper surface of the base 1 , and the mounting plate 51 is located at the front side of the robot arm 2 . The upper surface of the slide bar 53 is set as an arc surface to prevent the surface of the object from being scratched.

[0038] Reference Figure 1 and Figure 3 The slide rod 53 passes through and is slidably connected to the upper surface of the hollow tube 52. One end of the connecting spring 54 is fixedly connected to the lower surface of the slide rod 53. The other end of the connecting spring 54 is fixedly connected to the inner wall of the bottom end of the hollow tube 52. When the slide rod 53 moves downward, it squeezes the connecting spring 54 to generate a reaction force.

[0039] Working principle: When the device is in use, if the device is in a moving state and braking is required, the motor 41 will be started. The start of the motor 41 will drive the rotating shaft 42 and the gear 43 to rotate, and the rotating gear 43 will drive the rack 44 to move downward, and the downward moving rack 44 will drive the connecting plate 45 and the anti-skid plate 46 to move downward. When the anti-skid plate 46 contacts the ground, the contact area between the device and the ground will increase, which can enhance the friction with the ground and improve the braking effect. When the anti-skid plate 46 contacts the ground, the gear 43 will contact the tooth block 47 in the upper position and move it downward. When the tooth block 47 moves downward, it will slip with the gear 43 and squeeze the compression spring 48 to generate a reaction force. Under the influence of the reaction of the compression spring 48, the tooth block 47 and the gear 43 will continue to slip, ensuring that the anti-skid plate 46 is stable in the current position and the device will not be propped up due to excessive driving.

[0040] After the device stops, the motor 41 is started to drive the rotating shaft 42 and the gear 43 to rotate in the opposite direction. The gear 43 rotating in the opposite direction will drive the rack 44, the connecting plate 45, and the anti-skid plate 46 to move upward. When the anti-skid plate 46 is retracted into the support plate 3, the motor 41 is turned off.

[0041] When the robot arm 2 needs to place the clamped object, it can be placed directly on the slide bar 53. The slide bar 53 in contact with the object will move downward and retract into the hollow tube 52. When placing the object, the reaction force of the connecting spring 54 can play a buffering role to protect the object. After placement, the slide bar 53 that is not in contact with the object will block the surroundings of the object, limit the object and prevent it from slipping.

[0042] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A composite collaborative robot, comprising a base (1), characterized in that: A mechanical arm (2) is arranged on the rear side of the upper surface of the base (1); a support plate (3) is fixedly connected to the bottom end of the front surface of the base (1); an anti-skid component is arranged inside the support plate (3); a placement component is arranged on the upper surface of the base (1); the anti-skid component comprises a motor (41); an output shaft of the motor (41) is fixedly connected to a rotating shaft (42); a rear end of an outer wall of the rotating shaft (42) is fixedly connected to a gear (43); a connecting plate (45) is penetrated through and slidably connected to the upper surface of the support plate (3); a rack (44) is fixedly connected to the right surface of the connecting plate (45).

2. A composite collaborative robot according to claim 1, characterized in that: The anti-skid assembly also includes an anti-skid plate (46), the rack (44) is elastically connected to a tooth block (47) via a compression spring (48), and the left surface of the tooth block (47) is slidably connected to the right surface of the connecting plate (45).

3. A composite collaborative robot according to claim 1, characterized in that: The placement assembly comprises a mounting plate (51), the upper surface of the mounting plate (51) is fixedly connected to a hollow tube (52), and the inner wall of the hollow tube (52) is elastically connected to a sliding rod (53) via a connecting spring (54).

4. A composite collaborative robot according to claim 1, characterized in that: The motor (41) is arranged on the front surface of the support plate (3), the gear (43) and the rack (44) are meshed, and the rotating shaft (42) passes through and is rotatably connected to the front surface of the support plate (3).

5. A composite collaborative robot according to claim 2, characterized in that: The anti-skid plate (46) passes through the lower surface of the support plate (3), the upper surface of the anti-skid plate (46) is fixedly connected to the lower surface of the connecting plate (45), and the lower surface of the anti-skid plate (46) is made of rubber.

6. A composite collaborative robot according to claim 2, characterized in that: The tooth block (47) is meshed with the gear (43), one end of the compression spring (48) is fixedly connected to the upper surface of the tooth block (47), and the other end of the compression spring (48) is fixedly connected to the lower surface of the rack (44).

7. The composite collaborative robot according to claim 3, characterized in that: The mounting plate (51) is mounted on the upper surface of the base (1), the mounting plate (51) is located at the front side of the mechanical arm (2), and the upper surface of the sliding rod (53) is configured as a curved surface.

8. The composite collaborative robot according to claim 3, characterized in that: The slide bar (53) passes through and is slidably connected to the upper surface of the hollow tube (52), one end of the connection spring (54) is fixedly connected to the lower surface of the slide bar (53), and the other end of the connection spring (54) is fixedly connected to the inner wall of the bottom end of the hollow tube (52).

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