Feeding and discharging composite robot based on AGV

Abstract

The utility model discloses a feeding and discharging composite robot based on an AGV. The feeding and discharging composite robot comprises the AGV, a cooperative mechanical arm, a material frame temporary storage mechanism and a material frame grabbing mechanism. The material frame grabbing mechanism comprises a fixing assembly connected to the cooperative mechanical arm, an electric clamping jaw assembly, a 3D camera and a photoelectric sensor connected to the electric clamping jaw assembly, wherein the electric clamping jaw assembly and the 3D camera are connected to the fixing assembly, and the electric clamping jaw assembly clamps the material frame from the two opposite sides of the material frame. The material frame temporary storage mechanism comprises a supporting assembly connected to the AGV trolley, a bearing flat plate connected to the supporting assembly, a material frame limiting assembly connected to the bearing flat plate and a liquid collecting assembly connected to the lower portion of the bearing flat plate, and a plurality of liquid leakage holes communicating with the liquid collecting assembly are formed in the bearing flat plate. The feeding and discharging composite robot can be applied to automatic feeding, discharging and transferring in screen glass production, the operation efficiency is improved, and the situation that residual cleaning liquid permeates into the composite robot, and consequently equipment is damaged can be avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment, and particularly relates to a loading and unloading composite robot based on an AGV. Background Art

[0002] In the 3C manufacturing industry, the assembly of a complete finished product requires the separate and sequential processing of multiple components. With the continuous development of the automation and intelligent control technologies of industrial production lines, the feeding efficiency and accuracy of the components to be processed or assembled have become the main factors affecting the overall production efficiency.

[0003] At present, in the automated production lines of some industries, robotic arms are already used in cooperation with AGV cars for automatic loading and unloading and material transfer to improve the operation efficiency. However, in the production of screen glass in the 3C manufacturing industry, since the screen glass is a small object and needs to be centrally transferred between various processes using a material box, the traditional feeding and picking methods are usually still used, that is, manual or manual-assisted feeding conveyor lines are mostly adopted, and the operation efficiency needs to be improved. Therefore, it is necessary to provide a loading and unloading composite robot based on an AGV that can be applied in the production of screen glass. In addition, in the screen glass production process, some processes (such as the polishing process) require the cleaning of glass workpieces. When using an AGV composite robot for loading and unloading or transfer, if the cleaning liquid remaining on the glass workpiece spills and seeps into the interior of the composite robot, there is a risk of damaging the internal electronic circuit of the robot. Summary of the Utility Model

[0004] Aiming at the problems existing in the prior art, the utility model provides a loading and unloading composite robot based on an AGV that can be applied in the production of screen glass, and solves the problem of how to avoid the cleaning liquid remaining on the glass workpiece from seeping into the interior of the composite robot.

[0005] In order to achieve the above object, the utility model adopts the following technical solutions:

[0006] A loading and unloading composite robot based on an AGV, comprising:

[0007] An AGV car;

[0008] A collaborative robotic arm and a material box temporary storage mechanism connected to the AGV car;

[0009] A material box grasping mechanism connected to the collaborative robotic arm; wherein,

[0010] The frame gripping mechanism includes a fixing component, an electric gripper component, a 3D camera, and a photoelectric sensor; the fixing component is connected to the free end of the collaborative robotic arm, the electric gripper component is connected below the fixing component and grips the frame from opposite sides of the frame, the 3D camera is connected to the side of the fixing component, and the photoelectric sensor is arranged on the electric gripper;

[0011] The frame temporary storage mechanism includes a support component, a carrying flat plate, a frame limiting component, and a liquid collection component; the support component is connected to the AGV trolley, the carrying flat plate is connected to the support component, the frame limiting component is connected to the carrying flat plate, the liquid collection component is connected below the carrying flat plate, and a plurality of liquid leakage holes communicating with the liquid collection component are provided on the carrying flat plate.

[0012] Preferably, the fixing component includes an electric claw mounting plate and a guide rail mounting plate connected to each other by a connecting rod. The upper surface of the electric claw mounting plate is connected to the free end of the collaborative robotic arm through a flange. The guide rail mounting plate is provided with an electric claw avoidance hole, and a guide rail is respectively assembled on both sides of the guide rail mounting plate where the electric claw avoidance hole is located;

[0013] The electric gripper component includes an electric claw, a first connecting plate, a second connecting plate, a first gripper, and a second gripper. The electric claw is connected to the lower surface of the electric claw mounting plate, the output end of the electric claw extends through the electric claw avoidance hole to the lower surface of the guide rail mounting plate, a first driving block and a second driving block that can move in the reverse direction are arranged at the output end of the electric claw, the first connecting plate and the second connecting plate are respectively slidably connected to the guide rail through sliders, the first end of the first connecting plate is connected to the first driving block, the first gripper is connected to the second end of the first connecting plate, the first end of the second connecting plate is connected to the second driving block, the second gripper is connected to the second end of the second connecting plate, and the photoelectric sensor is respectively connected to the first gripper and the second gripper.

[0014] Preferably, a six-axis force sensor is arranged between the upper surface of the electric claw mounting plate and the flange.

[0015] Preferably, convex portions are provided on opposite side frames of the frame, and the first gripper and the second gripper are provided with grooves corresponding to the convex portions; when the first gripper and the second gripper grip the frame from opposite sides, the convex portions are inserted into the grooves.

[0016] Preferably, a camera protection cover is connected to the side of the fixing component, and the 3D camera is assembled in the camera protection cover; a code scanning camera is assembled on the collaborative robotic arm.

[0017] Preferably, the liquid collection assembly includes a liquid guide plate and a liquid container. The liquid guide plate is connected below the bearing flat plate. The first end of the liquid guide plate is higher than the second end, so that it has a certain inclination angle. The liquid container is arranged below the second end of the liquid guide plate. The liquid leakage hole communicates with the liquid guide plate.

[0018] Preferably, the inclination angle of the liquid guide plate is 2° to 5°; and / or, a hydrophobic film layer is provided on the surface of the liquid guide plate.

[0019] Preferably, peripheral waterproof plates are respectively arranged on the four peripheral edges of the bearing flat plate. Adjacent two peripheral waterproof plates are hermetically connected by water blocking blocks; a plurality of the liquid guide plates are connected below the bearing flat plate at intervals. A plurality of the liquid leakage holes are respectively arranged on the bearing flat plate corresponding to each of the liquid guide plates. A liquid guide groove communicating with the liquid container is arranged below the second ends of the plurality of liquid guide plates.

[0020] Preferably, the frame limiting assembly includes at least one frame storage unit. The frame storage unit includes a first limiting rod and a second limiting rod connected to the bearing flat plate. The first limiting rod and the second limiting rod extend along a first direction and are arranged at intervals in a second direction. First limiting seats and second limiting seats which are arranged at intervals are connected to both the first limiting rod and the second limiting rod. Limiting columns extending along a third direction are respectively inserted into the first limiting seats and the second limiting seats. The four limiting columns define a space for storing the frame.

[0021] Preferably, the first limiting seats and the second limiting seats are slidably connected to the first limiting rod and the second limiting rod and are configured with locking members. By adjusting the distance between the first limiting seats and the second limiting seats, a space for storing frames with different lengths is defined; the height of the limiting columns is several times greater than the height of the frame, so that the space defined by the four limiting columns can stack and store a plurality of the frames.

[0022] The material loading and unloading composite robot based on AGV provided by the embodiment of the present utility model coordinates the robotic arm with the AGV trolley and is provided with a material frame grabbing mechanism capable of grabbing the material frame, so that the material loading and unloading composite robot can be applied to the production of screen glass for automatic material loading and unloading and transportation, improving the operation efficiency. Moreover, by configuring the material frame grabbing mechanism, the material frame temporary storage mechanism and the 3D camera for visual positioning, it can comprehensively perform automated feeding operations with precise positioning, rapid material frame grabbing, and buffer transportation, realizing rapid and stable picking and placing of special material frames, opening up the material flow between different process equipment, and improving the product production efficiency and stable feeding. Further, a liquid collection component is provided in the material frame temporary storage mechanism, which can collect the cleaning liquid remaining after the screen glass is washed, and can prevent the remaining cleaning liquid from seeping into the interior of the composite robot and causing equipment damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the material loading and unloading composite robot in the embodiment of the present utility model;

[0024] Figure 2 is a schematic structural diagram of the material frame grabbing mechanism in the embodiment of the present utility model;

[0025] Figure 3 is a structural diagram showing the electric gripper assembly connected in the fixed assembly in the embodiment of the present utility model;

[0026] Figure 4 is as Figure 3 a schematic exploded view of the structural components shown;

[0027] Figure 5 is a schematic structural diagram of the material frame in the embodiment of the present utility model;

[0028] Figure 6 is a schematic structural diagram of the material frame temporary storage mechanism in the embodiment of the present utility model;

[0029] Figure 7 is a structural diagram showing the working platform of the AGV trolley in the embodiment of the present utility model;

[0030] Figure 8 is a structural diagram showing the bearing flat plate in the embodiment of the present utility model;

[0031] Figure 9 is a schematic structural diagram of the material frame limiting component in the embodiment of the present utility model;

[0032] Figure 10 is a schematic structural diagram of the material frame storage unit in the embodiment of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the objectives, technical solutions and advantages of the present utility model clearer, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the drawings. The embodiments of the present utility model shown in the drawings and described according to the drawings are merely exemplary, and the present utility model is not limited to these embodiments.

[0034] It should be noted that the same or similar reference numerals in the drawings of the embodiments of the present utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This 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, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] Here, it should also be noted that in order to avoid obscuring the present utility model with unnecessary details, only the structures and / or processing steps closely related to the solution of the present utility model are shown in the drawings, while other details less related to the present utility model are omitted.

[0036] The embodiments of the present utility model provide a loading and unloading composite robot based on an AGV, as Figure 1 shown. The loading and unloading composite robot mainly includes an AGV trolley 1, a collaborative robotic arm 2, a frame grasping mechanism 3, and a frame temporary storage mechanism 4. The collaborative robotic arm 2 and the frame temporary storage mechanism 4 are respectively connected to the AGV trolley 1, and the frame grasping mechanism 3 is connected to the collaborative robotic arm 2. Specifically, the AGV trolley 1 includes an electric control cabinet 11 and a working platform 12. One end of the collaborative robotic arm 2 is connected to the electric control cabinet 11, and the other end is a free end connected to the frame grasping mechanism 3; the frame temporary storage mechanism 4 is arranged on the working platform 12.

[0037] Among them, the AGV trolley 1 is the chassis walking device of the entire composite robot. The electric control cabinet 11 is internally provided with the automatic control components of the composite robot, and the working platform 12 is mainly used to support the frame temporary storage mechanism 4. The collaborative robotic arm 2 is a six-axis robotic arm, mainly used to control the position of the frame grasping mechanism 3 during work to ensure accurate grasping of the frame 5 and realize the loading and unloading operation of the frame 5. The frame grasping mechanism 3 is mainly used to grasp the frame 5 for storing glass workpieces. The frame temporary storage mechanism 4 is mainly used for temporarily storing and stacking the frame 5 during loading and unloading and transportation.

[0038] In this embodiment, referring to Figures 2 to 5 , the frame gripping mechanism 3 mainly includes a fixing component 31, an electric gripper component 32, a 3D camera 33, and a photoelectric sensor 34. The fixing component 31 is connected to the free end of the collaborative robotic arm 2. The fixing component 31 serves as the base structure of the frame gripping mechanism 3. On the one hand, it fixes other components of the frame gripping mechanism 3, and on the other hand, it connects the frame gripping mechanism 3 to the collaborative robotic arm 2. The electric gripper component 32 is connected below the fixing component 31 and grips the frame 5 from opposite sides of the frame 5. The 3D camera 33 is connected to the side of the fixing component 31. By taking pictures and supplemented with 3D vision algorithms, it obtains the specific position of the frame 5 relative to the collaborative robotic arm 2 in space, compensates for the deviation during equipment operation, and improves the gripping accuracy of the electric gripper component 32. Specifically, a camera protection cover 35 is connected to the side of the fixing component 31, and the 3D camera 33 is assembled in the camera protection cover 35. The photoelectric sensor 34 is arranged on the electric gripper component 32, mainly used to detect whether the glass workpieces in the frame 5 are placed correctly, and feedbacks to the terminal console to issue an alarm when the glass workpieces are abnormally warped.

[0039] Specifically, the fixing component 31 includes an electric claw mounting plate 311 and a guide rail mounting plate 312 connected to each other through a connecting rod 313. The upper surface of the electric claw mounting plate 311 is connected to the free end of the collaborative robotic arm 2 through a flange 36. The guide rail mounting plate 312 is provided with an electric claw avoidance hole 314. On both sides of the guide rail mounting plate 312 located at the electric claw avoidance hole 314, a guide rail 315 is respectively assembled. The electric gripper component 32 includes an electric claw 321, a first connecting plate 322, a second connecting plate 323, a first claw 324, and a second claw 325. The electric claw 321 is connected to the lower surface of the electric claw mounting plate 311. The output end of the electric claw 321 passes through the electric claw avoidance hole 314 and extends to the lower surface of the guide rail mounting plate 312. The output end of the electric claw 321 is provided with a first driving block 326 and a second driving block 327 that can move in the reverse direction. The first connecting plate 322 and the second connecting plate 323 are respectively slidably connected to the guide rail 315 through sliders 316. The first end of the first connecting plate 322 is connected to the first driving block 326, the first claw 324 is connected to the second end of the first connecting plate 322, the first end of the second connecting plate 323 is connected to the second driving block 327, the second claw 325 is connected to the second end of the second connecting plate 323, and the photoelectric sensor 34 is respectively connected to the first claw 324 and the second claw 325.

[0040] The first driving block 326 and the second driving block 327 of the electric claw 321 drive the first connecting plate 322 and the second connecting plate 323 to move toward or away from each other, thereby driving the first clamping claw 324 and the second clamping claw 325 to clamp and grasp the material frame 5 or release and place it at a designated position.

[0041] In this embodiment, the material frame 5 has protrusions 51 on the two opposite sides of the frame, and the first clamping jaw 324 and the second clamping jaw 325 are provided with grooves 328 corresponding to the protrusions 51. When the first clamping jaw 324 and the second clamping jaw 325 clamp the material frame 5 from the opposite sides, the protrusions 51 are inserted into the grooves 328. The material frame 5 is provided with a two-dimensional code 52 for recording information of the material frame 5, and the collaborative robot arm 2 is equipped with a code scanning camera 6, which is used to read the two-dimensional code 52 and upload the information to the terminal console to check whether the captured material frame 5 is correct.

[0042] Furthermore, in this embodiment, a six-dimensional force sensor 37 is provided between the upper surface of the electric claw mounting plate 311 and the flange 36. The six-dimensional force sensor 37 has a built-in force perception system, which can sensitively perceive the full force information in space, and is mainly used to detect the force condition at the end of the collaborative robot arm 2 in real time, perform force control on the process of grabbing the material frame 5 and realize closed-loop feedback, and can also assist the force control program to alarm for abnormal force and automatically disconnect the enabling of the collaborative robot arm 2 when necessary. Because there is a certain deviation in the size of different material frames 5, the six-dimensional force sensor 37 can adjust the loading and unloading process by detecting the force and torque of the material frame 5 and automatically identifying the force condition, so as to realize flexible loading and unloading, reduce the risk of damage to the glass products in the material frame 5, and ensure the success rate of loading and unloading.

[0043] In this embodiment, refer to Figures 6 to 10 The material frame temporary storage mechanism 4 mainly includes a support component 41, a carrying plate 42, a material frame limiting component 43 and a liquid collecting component 44. The support component 41 is connected to the AGV trolley 1, the carrying plate 42 is connected to the support component 41, the material frame limiting component 43 is connected to the carrying plate 42, and the liquid collecting component 44 is connected below the carrying plate 42. The carrying plate 42 is provided with a plurality of leakage holes 421 connected to the liquid collecting component 44. The liquid collecting component 44 collects liquid leaked from the material frame 5 through the leakage holes 421. The liquid is, for example, a screen glass cleaning liquid.

[0044] In this embodiment, the support assembly 41 is connected to the working platform 12 of the AGV cart 1. The support assembly 41 includes a plurality of aluminum profile plates, and the plurality of aluminum profile plates are arranged in parallel at intervals on the working platform 12. The bearing flat plate 42 is connected to the plurality of aluminum profile plates. Peripheral waterproof plates 422 are provided at the four peripheral edges of the bearing flat plate 42, and adjacent two peripheral waterproof plates 422 are hermetically connected through water blocking blocks 423.

[0045] Specifically, the liquid collection assembly 44 includes a liquid diversion plate 441 and a liquid container 442. The liquid diversion plate 441 is connected to the support assembly 41 and is located below the bearing flat plate 42. The first end of the liquid diversion plate 441 is higher than the second end so that it has a certain inclination angle. The liquid container 442 is arranged below the second end of the liquid diversion plate 441. The liquid container 442 can be directly connected to the working platform 12 of the AGV cart 1, and the liquid leakage hole 421 communicates with the liquid diversion plate 441.

[0046] By setting the liquid diversion plate 441 to have a certain inclination angle, the liquid leaking from the liquid leakage hole 421 can be better guided to the second end of the liquid diversion plate 441 and flow to the liquid container 442 located below the second end of the liquid diversion plate 441. As a preferred solution, the inclination angle of the liquid diversion plate 441 is set to 2° - 5°. Further preferably, a hydrophobic film layer is provided on the surface of the liquid diversion plate 441 to improve the liquid diversion ability of the liquid diversion plate 441.

[0047] As a preferred solution, in this embodiment, as Figure 7 and Figure 8 shown, a plurality of the liquid diversion plates 441 are connected at intervals below the bearing flat plate 42. A plurality of the liquid leakage holes 421 are respectively provided on the bearing flat plate 42 corresponding to each liquid diversion plate 441. A liquid guide groove 443 communicating with the liquid container 442 is provided below the second ends of the plurality of liquid diversion plates 441.

[0048] When the screen glass production process involves cleaning glass workpieces, the composite robot provided in this embodiment is used for loading, unloading and transporting. Based on the above-mentioned frame temporary storage mechanism 4, the cleaning liquid remaining in the glass workpieces first falls onto the bearing flat plate 42, then flows into the liquid diversion plate 441 through the liquid leakage holes 421, and then is introduced into the liquid container 442 by the liquid diversion plate 441 for centralized storage. Thereby, the problem that the cleaning liquid remaining in the glass workpieces seeps into the composite robot and causes equipment damage is avoided, and the problem that the remaining liquid spills onto the ground during transportation and pollutes the working environment can also be avoided.

[0049] Among them, referring to Figure 9 and Figure 10 , the frame limiting component 43 includes at least one frame storage unit 43a. The frame storage unit 43a includes a first limiting rod 431 and a second limiting rod 432 connected to the bearing flat plate 42. The first limiting rod 431 and the second limiting rod 432 extend along a first direction (such as the Y direction in Figure 9 ) and are spaced apart from each other in a second direction (such as the X direction in Figure 9 ). First limiting seats 433 and second limiting seats 434 which are spaced apart from each other are connected to both the first limiting rod 431 and the second limiting rod 432. The first limiting seats 433 and the second limiting seats 434 are respectively inserted with limiting columns 435 extending along a third direction (such as the Z direction in Figure 9 ). The four limiting columns 435 define a space for storing the frame 5. In this embodiment, the frame limiting component 43 includes a plurality of the frame storage units 43a, and the plurality of frame storage units 43a are arranged in an array. In the Y direction, the frame storage units 43a in the same row can share a first limiting rod 431 and a second limiting rod 432.

[0050] As a preferred solution, in this embodiment, the first limiting seats 433 and the second limiting seats 434 are slidably connected to the first limiting rod 431 and the second limiting rod 432 and are configured with locking members. When the locking members are unlocked, the positions of the first limiting seats 433 and the second limiting seats 434 on the first limiting rod 431 and the second limiting rod 432 can be moved and adjusted. When the first limiting seats 433 and the second limiting seats 434 are moved to predetermined positions, they are locked by the locking members. By adjusting the distance between the first limiting seats 433 and the second limiting seats 434, spaces for storing frames of different lengths are defined, which is applicable to frames 5 of different lengths and improves the versatility of the equipment.

[0051] Further, the height of the limiting column 435 is several times greater than the height of the frame 5, so that the space defined by the four limiting columns 435 (each frame storage unit 43a) can stack and store a plurality of the frames 5.

[0052] To sum up, the loading and unloading composite robot based on AGV provided by the embodiment of the present invention coordinates the robotic arm with the AGV trolley and is provided with a frame grasping mechanism capable of grasping the material frame, so that the loading and unloading composite robot can be applied to automatic loading and unloading and transfer in the production of screen glass, improving the operation efficiency. Further, a liquid collection component is arranged in the frame temporary storage mechanism, which can collect the cleaning liquid remaining after the screen glass is washed, and can avoid the remaining cleaning liquid seeping into the interior of the composite robot and causing equipment damage.

[0053] The above are only specific embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. An AGV-based loading and unloading composite robot, characterized in that, Comprising: AGV cart; A collaborative robotic arm and a frame temporary storage mechanism connected to the AGV cart; A frame grasping mechanism connected to the collaborative robotic arm; wherein, The frame grasping mechanism includes a fixing component, an electric gripper component, a 3D camera, and a photoelectric sensor; the fixing component is connected to the free end of the collaborative robotic arm, the electric gripper component is connected below the fixing component and grabs the frame from opposite sides of the frame, the 3D camera is connected to the side of the fixing component, and the photoelectric sensor is arranged on the electric gripper component; The frame temporary storage mechanism includes a support component, a carrying flat plate, a frame limiting component, and a liquid collection component; the support component is connected to the AGV cart, the carrying flat plate is connected to the support component, the frame limiting component is connected to the carrying flat plate, the liquid collection component is connected below the carrying flat plate, and a plurality of liquid leakage holes communicating with the liquid collection component are formed on the carrying flat plate.

2. The loading and unloading composite robot according to claim 1, wherein, The fixing component includes an electric gripper mounting plate and a guide rail mounting plate connected to each other by a connecting rod, the upper surface of the electric gripper mounting plate is connected to the free end of the collaborative robotic arm through a flange, the guide rail mounting plate is provided with an electric gripper avoidance hole, and a guide rail is respectively assembled on both sides of the guide rail mounting plate where the electric gripper avoidance hole is located; The electric gripper component includes an electric gripper, a first connecting plate, a second connecting plate, a first gripper, and a second gripper; the electric gripper is connected to the lower surface of the electric gripper mounting plate, the output end of the electric gripper extends through the electric gripper avoidance hole to the lower surface of the guide rail mounting plate, a first driving block and a second driving block that can move reversely are arranged at the output end of the electric gripper, the first connecting plate and the second connecting plate are respectively slidably connected to the guide rail through sliders, the first end of the first connecting plate is connected to the first driving block, the first gripper is connected to the second end of the first connecting plate, the first end of the second connecting plate is connected to the second driving block, the second gripper is connected to the second end of the second connecting plate, and the photoelectric sensor is respectively connected to the first gripper and the second gripper.

3. The loading and unloading composite robot according to claim 2, wherein A six-axis force sensor is arranged between the upper surface of the electric gripper mounting plate and the flange.

4. The loading and unloading composite robot according to claim 2, characterized in that Convex portions are provided on opposite side frames of the frame, and grooves corresponding to the convex portions are provided on the first gripper and the second gripper; when the first gripper and the second gripper grab the frame from opposite sides, the convex portions are inserted into the grooves.

5. The loading and unloading composite robot according to claim 1, wherein A camera protection cover is connected to the side of the fixing component, and the 3D camera is assembled in the camera protection cover; a code scanning camera is assembled on the collaborative robotic arm.

6. The loading and unloading composite robot according to any one of claims 1-5, characterized in that, The liquid collection component includes a liquid diversion plate and a liquid container, the liquid diversion plate is connected below the carrying flat plate, the first end of the liquid diversion plate is higher than the second end to make it have a certain inclination angle, the liquid container is arranged below the second end of the liquid diversion plate, and the liquid leakage holes communicate with the liquid diversion plate.

7. The loading and unloading composite robot according to claim 6, characterized in that, The inclination angle of the liquid diversion plate is 2° - 5°; and / or, a hydrophobic film layer is arranged on the surface of the liquid diversion plate.

8. The loading and unloading composite robot according to claim 6, wherein Peripheral waterproof plates are respectively arranged at the four peripheral edges of the bearing flat plate, and adjacent two peripheral waterproof plates are hermetically connected through water retaining blocks; a plurality of liquid guide plates which are arranged at intervals with each other are connected below the bearing flat plate, a plurality of liquid leakage holes are respectively arranged on the bearing flat plate corresponding to each liquid guide plate, and a liquid guide groove communicating with the liquid container is arranged below the second ends of the plurality of liquid guide plates.

9. The loading and unloading composite robot according to claim 6, wherein The frame limiting assembly includes at least one frame storage unit, and the frame storage unit includes a first limiting rod and a second limiting rod connected to the bearing flat plate. The first limiting rod and the second limiting rod extend along a first direction and are arranged at intervals in a second direction. First limiting seats and second limiting seats which are arranged at intervals with each other are connected to both the first limiting rod and the second limiting rod. Limiting columns extending along a third direction are respectively inserted into the first limiting seats and the second limiting seats, and a space for storing the frame is defined by the four limiting columns.

10. The loading and unloading composite robot according to claim 9, wherein The first limiting seats and the second limiting seats are slidably connected to the first limiting rod and the second limiting rod and are configured with locking pieces. By adjusting the distance between the first limiting seats and the second limiting seats, a space for storing frames with different lengths is defined; the height of the limiting columns is several times greater than the height of the frame, so that the space defined by the four limiting columns can stack and store a plurality of the frames.

Images