Composite robot

Abstract

The utility model relates to the technical field of wafer processing, and particularly discloses a composite robot which comprises a base, a mechanical arm and a wheel set. Wherein the front part of the base is provided with a mounting part; the mechanical arm is arranged on the base; the wheel set is arranged at the bottom of the base and used for driving the base to move, the wheel set comprises a rear wheel assembly arranged at the rear end of the base and a front wheel assembly arranged at the front end of the base, the rear wheel assembly comprises a first rear roller and a second rear roller, and the first rear roller and the second rear roller are arranged at intervals in the width direction; in the width direction, the mounting part is positioned between the first rear roller and the second rear roller; the front wheel assembly comprises a bridging piece, a first front roller and a second front roller, a hinge part is arranged in the middle of the bridging piece, the bridging piece is hinged to the mounting part through the hinge part and can swing around the axis of the hinge part, and the first front roller and the second front roller are arranged at the two ends of the bridging piece respectively. According to the arrangement, the accuracy and safety of the wafer placing position at the tail end of the mechanical arm can be guaranteed.

Description

Technical Field

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

[0002] In a semiconductor manufacturing factory, wafers usually need to be precisely transferred and carried between different process modules on various production lines. It is usually completed by a combination of an AGV and a robotic arm, which can be called a mobile robot with a robotic arm (abbreviation: ARV). The semiconductor manufacturing has very strict environmental requirements. In particular, the ground flatness directly affects the smooth operation of the ARV and the accuracy of the wafer transfer position. Among them, when there are small (millimeter-level) pits on the ground, one of the four wheels of the ARV may be in a suspended state. During the movement of the robotic arm, the ARV may roll over due to the change of the center of gravity. That is, the suspended wheel may move downward and contact the bottom of the pit due to the change of the center of gravity, resulting in the overall rollover of the ARV. When the end of the robotic arm holds a wafer, the wafer will have a large position deviation, resulting in misplacement of the placement position, and seriously damaging the wafer in severe cases.

[0003] Therefore, it is urgent to research a composite robot to solve the problem that when there are small pits on the ground, the wafer at the end of the robotic arm has a large position deviation, resulting in misplacement or even damage of the wafer. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a composite robot to solve the problem that when there are small pits on the ground in the prior art, the wafer at the end of the robotic arm has a large position deviation, resulting in misplacement or even damage of the wafer.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] A composite robot, comprising:

[0007] A base, the front part of the base has a mounting part;

[0008] A robotic arm, the robotic arm is arranged on the base;

[0009] A wheel set, the wheel set is arranged at the bottom of the base and is used to drive the base to move. The wheel set includes a rear wheel assembly arranged at the rear end of the base and a front wheel assembly arranged at the front end of the base. The rear wheel assembly includes a first rear roller and a second rear roller, and the first rear roller and the second rear roller are arranged at intervals in the width direction; in the width direction, the mounting part is located between the first rear roller and the second rear roller.

[0010] The front wheel assembly includes a bridging member, a first front roller, and a second front roller. An articulated portion is provided in the middle of the bridging member. The bridging member is articulated to the mounting portion through the articulated portion and can swing around the axis of the articulated portion. The first front roller and the second front roller are respectively provided at both ends of the bridging member; when one of the first front roller and the second front roller rises, the other synchronously descends.

[0011] As an alternative technical solution of a composite robot, when the bridging member is in the initial position, the first front roller and the second front roller are at the same height. The front wheel assembly further includes an elastic member, which is provided between the bridging member and the base and can apply an elastic force to the bridging member to keep it in the initial position.

[0012] As an alternative technical solution of a composite robot, the elastic member includes springs. There are two springs, and the two springs are respectively provided at both ends of the bridging member and are both connected between the bridging member and the base.

[0013] As an alternative technical solution of a composite robot, the front wheel assembly further includes two guiding members. One end of each of the two guiding members is respectively articulated to both ends of the bridging member, and the other end respectively passes through two guiding holes in the base. The two springs are respectively sleeved on the corresponding guiding members.

[0014] As an alternative technical solution of a composite robot, the bridging member can swing between a first stop position and a second stop position. The front wheel assembly further includes a limiting assembly, which includes two limiting ends. Among the two limiting ends, one limiting end is adjustably provided on the base and is used to abut against the bridging member to stop it at the first stop position; the other limiting end is adjustably provided on the base and is used to abut against the bridging member to stop it at the second stop position.

[0015] As an alternative technical solution of a composite robot, when the bridging member is in the initial position, it extends in the width direction. The first front roller and the second front roller are arranged at intervals in the width direction, and the axis of the articulated portion extends in the length direction of the base.

[0016] As an alternative technical solution of a composite robot, at least one of the first rear roller and the second rear roller is a steering wheel; and / or,

[0017] At least one of the first front roller and the second front roller is a steering wheel.

[0018] As an optional technical solution for a composite robot, the first rear roller and the second front roller are both steering wheels, the second rear roller and the first front roller are both universal wheels, and the two steering wheels are diagonally arranged, and the two universal wheels are diagonally arranged.

[0019] As an optional technical solution for a composite robot, the base includes a support frame, a bearing platform arranged on the support frame, and a vibration damping member arranged between the support frame and the bearing platform, and the robotic arm is arranged on the bearing platform.

[0020] As an optional technical solution for a composite robot, the composite robot includes a battery and a wireless charging component. The receiver in the wireless charging component is arranged on the base, and is used to cooperate with the transmitter in the wireless charging component to charge the battery. The transmitter is arranged in the material picking area and / or material placing area of ​​the composite robot.

[0021] The beneficial effects of the utility model are:

[0022] The utility model provides a composite robot, which comprises a rear wheel assembly and a front wheel assembly arranged at the bottom of a base, wherein the first rear roller and the second rear roller in the rear wheel assembly are arranged at intervals at the rear end of the base in the width direction, and the bridge member in the front wheel assembly is hinged through a hinge part and a mounting part, and in the width direction, the mounting part is located between the first rear roller and the second rear roller, so that the base is supported by the first rear roller, the second rear roller and the mounting part at three positions, and when there is no pit, the four rollers are in the same plane; when the first front roller encounters a pit on the ground, it will move down into the pit, and under the action of the bridge member, the second front roller moves up and can maintain contact with the ground, in this state, the mounting part moves down, and the distance of the downward movement is half of the depth of the pit, so as to keep the flatness of the base as much as possible, in this state, when the center of gravity of the composite robot changes during the movement of the robot arm, the probability of the base tilting is greatly reduced, which is conducive to ensuring the accuracy and safety of the wafer placement position at the end of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic structural diagram of the composite robot from the first perspective in an embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the composite robot from a second viewing angle in an embodiment of the utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the composite robot from the third perspective in an embodiment of the utility model;

[0026] Figure 4 This is a schematic diagram of the structure of the composite robot from a fourth perspective in an embodiment of the utility model;

[0027] Figure 5 This is a schematic structural diagram of the cross-section of the composite robot in the embodiment of the present utility model;

[0028] Figure 6 This is a schematic structural diagram of the front wheel assembly in the embodiment of the present utility model;

[0029] Figure 7 This is a schematic cross-sectional structural diagram of the front wheel assembly in the embodiment of the present utility model.

[0030] In the figure:

[0031] 100, base; 110, support frame; 120, carrier platform; 130, shock absorber; 140, receiver; 141, side cover; 142, battery; 150, safety touch edge; 160, touch screen; 170, turn signal;

[0032] 200, robotic arm;

[0033] 300, rear wheel assembly; 310, first rear roller; 320, second rear roller;

[0034] 400, front wheel assembly; 410, bridging member; 411, bridging body; 412, cross plate; 413, vertical plate; 420, first front roller; 430, second front roller; 440, rotating pin; 450, elastic member; 460, guiding member; 461, limit nut; 462, limit pin; 470, limiting assembly; 471, limit screw; 472, lock nut. Detailed implementation manners

[0035] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0036] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature has a lower horizontal height than the second feature.

[0037] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0038] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0039] Embodiment 1

[0040] Such as Figures 1 to 7As shown in the figure, this embodiment provides a composite robot for transferring wafers in the loading area to the unloading area, and the transfer process can ensure the accuracy of the wafer placement position and the safety of the wafers. The composite robot includes a base 100, a robotic arm 200, and a wheel set. Among them, the front part of the base 100 has a mounting part; the robotic arm 200 is arranged on the base 100; the wheel set is arranged at the bottom of the base 100 and is used to drive the base 100 to move. The wheel set includes a rear wheel assembly 300 arranged at the rear end of the base 100 and a front wheel assembly 400 arranged at the front end of the base 100. The rear wheel assembly 300 includes a first rear roller 310 and a second rear roller 320, and the first rear roller 310 and the second rear roller 320 are arranged at intervals in the width direction; in the width direction, the mounting part is located between the first rear roller 310 and the second rear roller 320; the front wheel assembly 400 includes a bridging member 410, a first front roller 420, and a second front roller 430. The middle part of the bridging member 410 is provided with a hinge part, and the bridging member 410 is hinged to the mounting part through the hinge part and can swing around the axis of the hinge part. The first front roller 420 and the second front roller 430 are respectively arranged at both ends of the bridging member 410, and when one of the first front roller 420 and the second front roller 430 rises, the other synchronously descends.

[0041] On the basis of the above structure, during the traveling process of the composite robot, when there is no pit, the four rollers are in the same plane; when the first front roller 420 encounters a pit on the ground, it will move down into the pit, and under the action of the bridging member 410, the second front roller 430 will synchronously move up and can maintain contact with the ground. In this state, the mounting part moves down, that is, the front end of the base 100 moves down, and the moving distance is half of the depth of the pit, so as to keep the base 100 as flat as possible. In this state, when the center of gravity of the composite robot changes during the movement of the robotic arm 200, the probability of the base 100 tilting is greatly reduced, which is beneficial to ensuring the accuracy and safety of the wafer placement position at the end of the robotic arm 200.

[0042] Similarly, when the second front roller 430 encounters a pit, the second front roller 430 moves down and enters the bottom of the pit, and the first front roller 420 synchronously moves up. During this process, the base 100 descends, and the descending distance is half of the depth of the pit. In some embodiments, to adapt to the stability of the center of gravity, in some embodiments, the front wheel assembly 400 and the rear wheel assembly 300 can be interchanged. Among them, the robotic arm 200 is fixedly connected between two rollers of the rear wheel assembly 300 so that the center of gravity of the robotic arm 200 is located between the first rear roller 310 and the second rear roller 320.

[0043] The bridging member 410 is rod-shaped and is also provided with a hinge hole, and the hinge hole forms a hinge part. The base 100 is provided with a mounting hole to form a mounting part. The front wheel assembly 400 further includes a rotating pin 440, and the rotating pin 440 sequentially passes through the hinge hole and the mounting hole.

[0044] In some embodiments, the bridging member 410 is strip-shaped, the axis of the hinge portion extends in the length direction, and the first front roller 420 and the second front roller 430 are arranged at intervals in the width direction. This arrangement enables one of the first front roller 420 and the second front roller 430 to rise and the other to descend synchronously after one of them encounters a pit. During the movement of the composite robot, the first front roller 420 and the second front roller 430 are arranged at intervals left and right, preventing the first front roller 420 and the second front roller 430 from passing through the same pit successively, and improving the smoothness of the movement of the composite robot. Herein, the length direction is the front-rear direction, and the width direction is the left-right direction.

[0045] When encountering a pit, to prevent the first front roller 420 or the second front roller 430 from suddenly sinking and causing violent vibration, in some embodiments, when the bridging member 410 is in the initial position, the first front roller 420 and the second front roller 430 are at the same height. The front wheel assembly 400 further includes an elastic member 450. The elastic member 450 is arranged between the bridging member 410 and the base 100 and can apply an elastic force to the bridging member 410 to keep it in the initial position. The elastic member 450 can play a buffering role, enabling the first front roller 420 or the second front roller 430 to slowly move downward when the composite robot encounters a pit, so that the bridging member 410 can slowly swing, improving the stability of the front end of the base 100 during the downward inclination process, avoiding jerky situations, and ensuring the safety of the wafer.

[0046] It should be noted that when the bridging member 410 is in the initial position, the first front roller 420, the second front roller 430, the first rear roller 310, and the second rear roller 320 are all in the same plane.

[0047] Exemplarily, the elastic member 450 includes springs. There are two springs, which are respectively arranged at both ends of the bridging member 410 and are both connected between the bridging member 410 and the base 100. One end of one of the two springs abuts against one end of the bridging member 410 and is located above the first front roller 420, and the other end abuts against the base 100; one end of the other spring abuts against one end of the bridging member 410 and is located above the second front roller 430, and the other end abuts against the base 100. The structure of the spring is simple and it is convenient for installation.

[0048] The front wheel assembly 400 further includes two guiding members 460. One end of each of the two guiding members 460 is respectively hinged to both ends of the bridging member 410, and the other end of each of the two guiding members 460 respectively passes through two guiding holes of the base 100. Two springs are respectively sleeved on the corresponding guiding members 460. In this embodiment, the springs are compression springs. A stud is provided at the upper end of the guiding member 460, a limiting hole is opened in the stud, and a limiting nut 461 is screwed onto the stud to limit the guiding member 460 from separating downward from the base 100, and a limiting pin 462 is inserted into the limiting hole to prevent the limiting nut 461 and the guiding member 460 from separating. In other embodiments, the springs can also be tension springs, and the tension springs can be directly connected between the bridging member 410 and the base 100 without the need to provide a guiding structure.

[0049] Wherein, to ensure the smooth sliding of the guiding member 460 in the guiding hole, a sliding groove extending in the left - right direction is opened at the lower end of the guiding member 460. The hinge pin is connected to the bridging member 410 and passes through the sliding groove and can slide in the sliding groove.

[0050] In some embodiments, the elastic member 450 can be a torsion spring. The torsion spring is sleeved on the rotating pin 440, and one end abuts against the base 100 and the other end abuts against the bridging member 410.

[0051] The bridging member 410 can swing between a first stop position and a second stop position. The front wheel assembly 400 further includes a limiting assembly 470. The limiting assembly 470 includes two limiting ends. Among the two limiting ends, one limiting end is adjustably arranged on the base 100 and is used to abut against the bridging member 410 to stop it at the first stop position; the other limiting end is adjustably arranged on the base 100 and is used to abut against the bridging member 410 to stop it at the second stop position.

[0052] Wherein, the limiting assembly 470 includes two limiting screws 471. The base 100 is provided with two limiting screw holes spaced along the width direction. The limiting screws 471 pass through the limiting screw holes and are in threaded cooperation with them. The lower end of the limiting screw 471 forms a limiting end. The first front roller 420 rises and stops against one of the limiting screws 471, and the second front roller 430 rises and stops against the other limiting screw 471.

[0053] In this embodiment, the position of the limiting end of the limiting screw 471 is adjustable, so that the two stop positions of the bridging member 410 can be adjusted to adapt to different working conditions. In some embodiments, the limiting assembly 470 further includes a locking nut 472. The locking nut 472 is screwed onto the limiting screw 471 and can abut against the base 100 to lock the limiting screw 471.

[0054] The bridging member 410 is integrally arc-shaped with an opening facing downward, and the hinge portion is provided at the highest position so that it will not collide with or interfere with the base 100 during the swinging process. Two abutting portions are provided on the bridging member 410 for the limit screw 471 to abut against. Among them, the bridging member 410 includes a bridging body 411 and two cross plates 412. The cross plates 412 are welded to the bridging body 411, and the top surface of the cross plate 412 forms the abutting portion. To improve the connection strength between the cross plate 412 and the bridging body 411, the bridging member 410 further includes a vertical plate 413 extending in the vertical direction. The vertical plate 413 is welded between the bridging member 410 and the cross plate 412 and is located at the bottom of the cross plate 412, acting as a reinforcing rib.

[0055] To improve the convenience of steering, a steering wheel needs to be provided among the four rollers. In the first implementation manner of this embodiment, at least one of the first rear roller 310 and the second rear roller 320 is a steering wheel. In the second implementation manner of this embodiment, at least one of the first front roller 420 and the second front roller 430 is a steering wheel. In the third implementation manner of this embodiment, at least one of the first rear roller 310 and the second rear roller 320 is a steering wheel, and at least one of the first front roller 420 and the second front roller 430 is a steering wheel. This setting can improve the reliability of steering, and the method of setting steering wheels at both the front and the rear can improve the flexibility of steering.

[0056] Exemplarily, the first rear roller 310 and the second front roller 430 are both steering wheels, the second rear roller 320 and the first front roller 420 are both universal wheels, and the two steering wheels are arranged diagonally, and the two universal wheels are arranged diagonally. The cooperation of the two diagonally arranged steering wheels and the two universal wheels can achieve omnidirectional movement, that is, the base 100 can move in any direction and can achieve flexible steering at any angle. The structures and working principles of the steering wheel and the universal wheel are well known to those skilled in the art, so they will not be described in detail here.

[0057] Since the base 100 carries wafers, in order to avoid vibration damage to the wafers during the movement of the composite robot, in some embodiments, the base 100 includes a support frame 110, a carrier table 120 provided on the support frame 110, and a shock absorber 130 provided between the support frame 110 and the carrier table 120. The robotic arm 200 is provided on the carrier table 120.

[0058] Specifically, a plurality of shock absorbers 130 are provided. The plurality of shock absorbers 130 are dispersedly arranged and at least support at three corners of the carrier table 120. Exemplarily, the carrier table 120 is square with four corners, and four shock absorbers 130 are provided, respectively located at the four corners of the carrier table 120. Among them, the shock absorber 130 is an air damper.

[0059] During operation, the compound robot can transport wafers from the loading area to the unloading area. To avoid stopping for separate charging after the battery 142 runs out of power, which would affect work efficiency. In some embodiments, the compound robot includes a battery 142 and a wireless charging component. The receiver 140 in the wireless charging component is disposed on the base 100 and is used to cooperate with the transmitter in the wireless charging component to charge the battery 142. The transmitter is disposed in the loading area and / or the unloading area of the compound robot. Among them, the battery 142 is used to provide power for each roller. Preferably, the battery 142 only provides power for the steering wheel. Optionally, the capacity of the battery 142 is 80 ampere-hours.

[0060] This setting enables the compound robot to charge the battery 142 by utilizing the time of picking up or placing wafers when moving to the loading area and / or the unloading area, thus realizing the non-stop operation of the compound robot. Exemplarily, the power consumption of the compound robot in one pick-and-place cycle is A, the residence time in the loading area and / or the unloading area is T, and the charging power is W, and W≥A / T.

[0061] It should be noted that this embodiment only limits the charging opportunity. Among them, the specific structure and charging principle of the wireless charging component can be set according to the prior art.

[0062] In some embodiments, the base 100 is provided with a receiving groove and an opening disposed on the side wall of the base 100 and communicating with the receiving groove. The battery 142 is placed in the receiving groove. The side cover 141 covers the opening to seal the receiving groove. This setting makes it easy to take out and place the battery 142, improving the convenience of subsequent maintenance.

[0063] To improve the safety of human-machine interaction, the base 100 further includes a safety touch edge 150. The safety touch edge 150 is strip-shaped and is arranged around the circumference of the support frame 110. Among them, the safety touch edge 150 is a rubber strip-shaped pressure-sensitive switch, also known as a safety edge or anti-collision strip. It is a flexible and bendable strip fixed on the edge of the support frame 110.

[0064] Turn signal lights 170 are provided at the four corners of the base 100, which are used to indicate the steering direction of the compound robot to provide a warning for the staff and reduce the probability of collision. The height of the turn signal lights 170 is higher than that of the safety touch edge 150 for easy observation.

[0065] To improve the efficiency of loading and unloading, E84 communication mechanisms are provided on both sides in the width direction of the base 100. To detect the real-time state, a driving recorder is provided on the base 100 or on the robotic arm 200. A 10-inch touch screen 160 is provided on the rear side wall of the base 100 to facilitate touch control of the working parameters of the compound robot, making the operation more convenient.

[0066] In some embodiments, for the convenience of flexible movement in the workshop, the external dimensions of the composite robot are as follows: the length is 1050 mm - 1100 mm, the width is 590 mm - 600 mm, and the height is 780 mm - 800 mm. The distance between the left and right rollers is 300 mm, and the wheelbase of the rear wheel assembly 300 and the front wheel assembly 400 is 600 mm - 700 mm.

[0067] Embodiment 2

[0068] This embodiment provides a composite robot, which is generally the same as the composite robot in Embodiment 1, except for the arrangement of the first front roller 420 and the second front roller 430. Among them, the bridging member 410 is strip-shaped, the axis of the hinge portion extends along the width direction, and the first front roller 420 and the second front roller 430 are arranged at intervals along the length direction, that is, during the forward movement of the composite robot, the first front roller 420 and the second front roller 430 are one in front and the other behind. The above settings reduce the probability that the front wheel assembly 400 encounters a pothole during the forward movement of the composite robot, making the movement smoother; at the same time, the outer contour of the top view of the base 100 can be triangular, with more choices in shape settings, which is convenient for applying to more different application scenarios.

[0069] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Composite robot, characterized in that, Comprising: A base (100), the front part of the base (100) having a mounting portion; A robotic arm (200), the robotic arm (200) being provided on the base (100); A wheel set, the wheel set being provided at the bottom of the base (100) for driving the base (100) to move, the wheel set including a rear wheel assembly (300) provided at the rear end of the base (100) and a front wheel assembly (400) provided at the front end of the base (100), the rear wheel assembly (300) including a first rear roller (310) and a second rear roller (320), the first rear roller (310) and the second rear roller (320) being spaced apart in the width direction; in the width direction, the mounting portion is located between the first rear roller (310) and the second rear roller (320); The front wheel assembly (400) includes a bridging member (410), a first front roller (420) and a second front roller (430), the middle of the bridging member (410) being provided with a hinge portion, the bridging member (410) being hinged to the mounting portion through the hinge portion and capable of swinging around the axis of the hinge portion, the first front roller (420) and the second front roller (430) being respectively provided at both ends of the bridging member (410); when one of the first front roller (420) and the second front roller (430) rises, the other synchronously descends.

2. The composite robot according to claim 1, characterized in that, When the bridging member (410) is in the initial position, the first front roller (420) and the second front roller (430) are at the same height, the front wheel assembly (400) further including an elastic member (450), the elastic member (450) being provided between the bridging member (410) and the base (100) and capable of applying an elastic force to the bridging member (410) to keep it in the initial position.

3. The composite robot according to claim 2, wherein The elastic member (450) includes springs, there are two springs, the two springs being respectively provided at both ends of the bridging member (410) and both connected between the bridging member (410) and the base (100).

4. The composite robot according to claim 3, characterized in that, The front wheel assembly (400) further includes two guiding members (460), one ends of the two guiding members (460) being respectively hinged to both ends of the bridging member (410), and the other ends being respectively inserted into two guiding holes of the base (100), the two springs being respectively sleeved on the corresponding guiding members (460).

5. The composite robot according to claim 1, characterized in that The bridging member (410) can swing between a first stop position and a second stop position, the front wheel assembly (400) further including a limiting assembly (470), the limiting assembly (470) including two limiting ends, among the two limiting ends, one limiting end is adjustably provided on the base (100) and is used for abutting against the bridging member (410) to stop it at the first stop position; the other limiting end is adjustably provided on the base (100) and is used for abutting against the bridging member (410) to stop it at the second stop position.

6. The composite robot according to claim 1, wherein, When the bridging member (410) is in the initial position, it extends in the width direction. The first front roller (420) and the second front roller (430) are arranged at intervals in the width direction, and the axis of the hinge portion extends in the length direction of the base (100).

7. The composite robot according to any one of claims 1-6, characterized in that, At least one of the first rear roller (310) and the second rear roller (320) is a steering wheel; and / or, At least one of the first front roller (420) and the second front roller (430) is a steering wheel.

8. The composite robot according to claim 6, characterized in that, The first rear roller (310) and the second front roller (430) are both steering wheels, the second rear roller (320) and the first front roller (420) are both universal wheels, and the two steering wheels are arranged diagonally, and the two universal wheels are arranged diagonally.

9. The composite robot according to any one of claims 1-6, characterized in that, The base (100) includes a support frame (110), a bearing platform (120) provided on the support frame (110), and a damping member (130) provided between the support frame (110) and the bearing platform (120). The robotic arm (200) is provided on the bearing platform (120).

10. The composite robot according to any one of claims 1-6, characterized in that, The composite robot includes a battery (142) and a wireless charging component. The receiver (140) in the wireless charging component is provided on the base (100) and is used to cooperate with the transmitter in the wireless charging component to charge the battery (142). The transmitter is provided in the material taking area and / or the material placing area of the composite robot.

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