Composite robot

Abstract

The utility model relates to a composite robot. The composite robot comprises a moving main body; the supporting assembly comprises a supporting platform arranged on the moving body and a carrying support arranged on the supporting platform; the carrying assembly comprises a lifting platform arranged between the carrying supports, a lifting mechanism arranged on the carrying supports to drive the lifting platform to ascend and descend, a moving platform movably arranged at the bottom of the lifting platform in the first direction, and a first linear module arranged between the lifting platform and the moving platform. The carrying units are arranged at the two ends of the moving platform in the second direction to carry materials. According to the utility model, the transfer of large-size, large-mass and low-position materials can be realized.

Description

Technical Field

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

[0002] Material transfer is one of the most common working links in the product manufacturing process. With the rapid development of the automation level, the composite robot with an AGV chassis has become one of the indispensable devices in the material transfer process. Through the composite robot, not only can the automatic transfer of materials be realized, but also the entire production line can be made more concise and safe.

[0003] The existing composite robots mainly fall into the following two structural types: one is the robotic arm structure, which grabs materials based on the robotic arm and then transfers them; the other is the support structure with a linear module at the bottom. In the first method, the load-bearing capacity of the robotic arm is limited and it is not suitable for the transfer of large-size and large-mass materials. Although the second method has a better load-bearing capacity, the space occupied in the vertical direction makes it impossible to carry and transfer materials placed relatively low. At the same time, both the first method and the second method have problems with material protection. Summary of the Utility Model

[0004] In view of the deficiencies of the prior art, the utility model discloses a composite robot.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A composite robot, comprising:

[0007] A moving body;

[0008] A support assembly, including a support platform provided on the moving body and a handling bracket provided on the support platform;

[0009] A handling assembly, including a lifting platform provided between the handling brackets, a lifting mechanism provided on the handling brackets to drive the lifting of the lifting platform, a moving platform movably provided at the bottom of the lifting platform along a first direction, a first linear module provided between the lifting platform and the moving platform, and handling units provided at both ends of the moving platform along a second direction to handle materials.

[0010] In an embodiment of the utility model, the handling bracket includes two side brackets arranged side by side along the second direction and a top bracket provided between the two side brackets; the side brackets are vertically arranged; the bottoms of the side brackets are fixed on the support platform; the two ends of the top bracket extend along the second direction and are respectively fixedly connected to positions near the tops of the two side brackets.

[0011] In an embodiment of the present utility model, the lifting mechanism includes a lifting drive module installed on the top bracket, a transmission shaft connected to the output end of the lifting drive module, a commutator connected to the transmission shaft, a lead screw connected to the commutator, a lead screw nut in threaded engagement with the lead screw, a lifting block fixedly connected to the lead screw nut, and a bottom support rotatably connected to the lead screw and fixed to the side bracket; the lifting block is fixedly connected to the lifting platform.

[0012] In an embodiment of the present utility model, the lifting mechanism further includes a guiding track installed on the side bracket, a guiding bracket installed on the lifting platform, and guiding rollers installed on the guiding bracket; the guiding rollers are restricted to roll along the guiding track.

[0013] In an embodiment of the present utility model, the first linear module includes a slide rail fixed to the bottom of the lifting platform and extending along a first direction, a slider slidably connected to the slide rail and fixedly connected to the top of the moving platform, a driving gear rotatably arranged on the moving platform, and a rack fixed to the bottom of the lifting platform along a second direction and meshing with the teeth of the driving gear; the driving gear has power input to rotate about its own axis.

[0014] In an embodiment of the present utility model, blocking blocks are provided at both ends of the slide rail.

[0015] In an embodiment of the present utility model, the handling unit includes a translation bracket installed at the end of the moving platform, two translation support blocks installed inside the translation bracket along a first direction, and a detection sensor arranged between the two translation support blocks.

[0016] In an embodiment of the present utility model, the handling unit further includes a second linear module installed inside the translation bracket; the translation support blocks are arranged inside the second linear module, and the second linear module drives the handling unit to move linearly in the first direction.

[0017] In an embodiment of the present utility model, a side enclosure baffle is further provided at the side of the lifting platform.

[0018] In an embodiment of the present utility model, a bellows cover is further provided between the top bracket and the lifting platform.

[0019] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0020] The composite robot described in the present utility model has sufficient load-bearing capacity to meet the handling requirements of large-size and large-mass materials.

[0021] The composite robot described in the present utility model considers the optimal utilization of the vertical space so as to be able to adapt to the material handling and transfer requirements for handling materials placed at low positions. In addition, based on the upper structures such as the lifting platform, it can protect the materials handled by the handling unit and prevent dust deposition. Description of the Drawings

[0022] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings.

[0023] Figure 1 It is a schematic structural diagram of the composite robot.

[0024] Figure 2 It is a schematic structural diagram of the composite robot (the housing is not shown).

[0025] Figure 3 It is a schematic structural diagram of the support assembly and the handling assembly.

[0026] Figure 4 It is a schematic structural diagram of the handling assembly (the bottom support is not shown).

[0027] Figure 5 It is a schematic structural diagram of the handling unit.

[0028] Explanation of the reference numerals in the drawings:

[0029] 10. Mobile body;

[0030] 20. Support assembly; 21. Support platform; 22. Handling bracket; 221. Side bracket; 222. Top bracket;

[0031] 30. Handling assembly;

[0032] 31. Lifting mechanism; 3101. First motor; 3102. First reducer; 3103. First coupling; 3104. Transmission shaft; 3105. Second coupling; 3106. Commutator; 3107. Third coupling; 3108. Lead screw; 3109. Lead screw nut; 3110. Lifting block; 3111. Lifting platform; 3112. Bearing seat; 3113. Bottom support; 3114. Guide rail; 3115. Guide bracket; 3116. Guide roller;

[0033] 32. First linear module; 3201. Moving platform; 3202. Second motor; 3203. Second reducer; 3204. Driving gear; 3205. Rack; 3206. Slide rail; 3207. Slide block; 3208. Blocking block;

[0034] 33. Handling unit; 3301. Translation bracket; 3302. Translation support block; 3303. Detection sensor; 3304. Second linear module;

[0035] 40. Housing; 50. Bellows cover; 60. Side enclosure baffle. Detailed implementation mode

[0036] The present utility model will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments cited do not limit the present utility model.

[0037] The applicant found that the existing composite robots are mainly of the following two structural types: one is the robotic arm structure, which grabs materials based on the robotic arm and then transfers them; the other is the support structure with a linear module arranged at the bottom. In the first method, the load-bearing capacity of the robotic arm is limited and it is not suitable for transferring large-size and large-mass materials. Although the second method has a better load-bearing capacity, the form of arranging the linear module at the bottom of the transfer structure will occupy space in the vertical direction, which will cause the transfer structure to be unable to handle and transfer relatively low-lying materials. At the same time, both the first method and the second method also have problems with material protection.

[0038] To solve the above problems, this embodiment discloses a composite robot.

[0039] Refer to Figure 1 As shown, a composite robot includes a moving body 10, a support assembly 20, a handling assembly 30, and a housing 40.

[0040] In this embodiment, the moving body 10 is equipped with an AMR, AGV or IGV chassis with a lidar and / or camera, which can move autonomously and achieve high-precision positioning and obstacle avoidance during the movement. In practical applications, the moving body 10 can also adopt other types of chassis structures, such as a chassis structure that realizes autonomous movement based on magnetic induction lines.

[0041] In this embodiment, the support assembly 20 includes a support platform 21 provided on the moving body 10, and a handling bracket 22 provided on the support platform 21. Among them, the handling bracket 22 has a portal structure. Specifically, it includes two side brackets 221 arranged side by side in the second direction and a top bracket 222 provided between the two side brackets 221. For this embodiment, the second direction is defined as the length direction of the support platform 21. In practical applications, it can be set by itself according to the specific structure of the support assembly 20. The side brackets 221 are vertically arranged, and the bottoms of the side brackets 221 are fixedly installed on the support platform 21. The top bracket 222 is provided between the two side brackets 221. The two ends of the top bracket 222 extend in the second direction and are respectively fixedly connected to the positions near the tops of the two side brackets 221.

[0042] In this embodiment, the housing 40 covers the handling bracket 22 of the support assembly 20, that is, the side brackets 221 and the top bracket 222, which can protect the side brackets 221 and the top bracket 222 from external impacts and damages; and form a space that can accommodate and protect electronic components and arrange cables.

[0043] Combined with Figure 2 and Figure 3 , the handling assembly 30 includes a lifting platform 3111 provided between the handling brackets 22, a lifting mechanism 31 provided on the handling brackets 22 to drive the lifting of the lifting platform 3111, a moving platform 3201 movably arranged along the first direction at the bottom of the lifting platform 3111, a first linear module 32 provided between the lifting platform 3111 and the moving platform 3201, and handling units 33 arranged at both ends of the moving platform 3201 along the second direction to handle materials. For this embodiment, the first direction in this embodiment refers to the width direction of the support platform 21. And the first direction and the second direction are horizontal and perpendicular to each other.

[0044] In this embodiment, combined with Figure 3 and Figure 4, the lifting mechanism 31 includes a first motor 3101, a first reducer 3102, a first coupling 3103, a transmission shaft 3104, a second coupling 3105, a commutator 3106, a third coupling 3107, a lead screw 3108, a lead screw nut 3109, a lifting block 3110, a lifting platform 3111, a bearing block 3112, and a bottom support 3113. The first motor 3101 and the first reducer 3102 form a lifting drive module. The output end of the first motor 3101 is connected to the input end of the first reducer 3102. The first reducer 3102 is installed on the top bracket 222. The lead screw nut 3109 is installed on the lifting block 3110, and the lifting block 3110 is fixedly connected to the lifting platform 3111. The output end of the first reducer 3102 is connected to the transmission shaft 3104 through the first coupling 3103. The transmission shaft 3104 is connected to the commutator 3106 through the second coupling 3105. The commutator 3106 is installed on the top of the side bracket 221. The top of the lead screw 3108 is connected to the commutator 3106 through the third coupling 3107. The bottom of the lead screw 3108 is installed on the bottom support 3113 through the bearing block 3112 and is rotatably connected to the bottom support 3113. The bottom support 3113 is fixedly installed on the side bracket 221. The lead screw nut 3109 is fixedly connected to the lifting block 3110 and is in threaded cooperation with the lead screw 3108. The lifting block 3110 is fixedly connected to the lifting platform 3111. The first motor 3101 and the first reducer 3102 drive the transmission shaft 3104 to rotate, and the transmission shaft 3104 transmits power to the lead screw 3108. The lead screw 3108 converts the rotational motion into a linear motion, thereby realizing the lifting of the lifting platform 3111 and further realizing the lifting of the mobile platform 3201.

[0045] In a further embodiment, as Figure 4 shown, the lifting mechanism 31 further includes a guide rail 3114, a guide bracket 3115, and a guide roller 3116. The guide rail 3114 is vertically installed on the side bracket 221. The guide bracket 3115 is installed on the lifting platform 3111. The guide roller 3116 is installed on the guide bracket 3115 and is restricted to roll up and down along the guide rail 3114. When the lifting platform 3111 is lifted or lowered, a stable lifting motion of the mobile platform 3201 is realized.

[0046] In this embodiment, as Figure 4 shown, the first linear module 32 includes a slide rail 3206 fixed to the bottom of the lifting platform 3111 and extending along the first direction, a slider 3207 slidably engaged with the slide rail 3206 and fixedly connected to the top of the mobile platform 3201, a driving gear 3204 rotatably provided on the mobile platform 3201, and a rack 3205 fixed to the bottom of the lifting platform 3111 along the second direction and meshing with the teeth of the driving gear 3204. The driving gear 3204 has power input to rotate about its own axis.

[0047] The first linear module 32 further includes a second motor 3202 and a second speed reducer 3203. Among them, the moving platform 3201 is horizontally arranged below the lifting platform 3111 and is slidably connected to the lifting platform 3111. Specifically, the second motor 3202 and the second speed reducer 3203 form a driving module. The second speed reducer 3203 is fixed to the moving platform 3201. The output end of the second motor 3202 is connected to the input end of the second speed reducer 3203. The driving gear 3204 is installed at the output end of the second speed reducer 3203. Through the cooperation of the slide rail 3206 and the slider 3207, movement guidance can be carried out in the second direction, and the moving platform 3201 can be supported in the vertical direction. The second motor 3202 drives the driving gear 3204 to rotate through the second speed reducer 3203. The driving gear 3204 meshes with the teeth of the rack 3205, and the driving gear 3204 moves along the arrangement direction of the rack 3205, thereby realizing the movement of the moving platform 3201 in the second direction. Compared with the prior art, the first linear module 32 in this embodiment is arranged above the moving platform 3201, only occupying the space above the handling unit 33, and will not affect the handling unit 33's clamping and transferring of materials with a relatively low height. At the same time, the lifting mechanism 31 will not affect it either.

[0048] In a further embodiment, blocking blocks 3208 are provided at both ends of the slide rail 3206. The blocking blocks 3208 can limit the moving range of the slider 3207 on the slide rail 3206, preventing the slider 3207 from moving to the end of the slide rail 3206 and colliding or sliding out of the slide rail 3206, thereby protecting the mechanical structure and operation safety. In addition, when the slider 3207 moves to both ends of the slide rail 3206, the blocking blocks 3208 can provide additional support to ensure the stability and load-bearing capacity of the slider 3207 at the extreme positions.

[0049] In this embodiment, combined Figure 4 and Figure 5 , the handling unit 33 includes a translation bracket 3301 installed at the end of the moving platform 3201, two translation support blocks 3302 installed inside the translation bracket 3301 along the first direction, and a detection sensor 3303 arranged between the two translation support blocks 3302. Among them, the materials are supported by the translation support blocks 3302. Based on the detection sensor 3303, it can be detected whether there are materials on the translation support blocks 3302, avoiding the situation where the translation support blocks 3302 do not support the materials stably and accurately in position.

[0050] In a further embodiment, in order to increase the translation distance, the handling unit 33 further includes a second linear module 3304 provided inside the translation support bracket 3301. The translation support block 3302 is provided inside the second linear module 3304. By providing the second linear module 3304, the transfer distance of the material is increased. Among them, the common types that the second linear module 3304 can adopt mainly include the synchronous belt type, the ball screw type, the rack and pinion type, and other types of linear modules. The synchronous belt type linear module is installed on the rotating shaft through a belt, and the slider is driven by the tension of the belt. The ball screw type linear module is composed of a ball screw, a linear guide rail, etc., and can achieve high-precision linear motion under high load. The rack and pinion type linear module converts the rotation of the gear into the linear motion of the rack. The second linear module 3304 adopts a rack and pinion type structure, and its specific structure has nothing to do with the technical problem to be solved by this application, so it will not be elaborated here. The second linear module 3304 can achieve the linear motion of the translation support block 3302 in the first direction.

[0051] In a further embodiment, in combination with Figure 2 , the composite robot further includes a bellows cover 50 and a side enclosure baffle 60. The bellows cover 50 is provided between the top support bracket 222 and the lifting platform 3111. The side enclosure baffle 60 is provided on the side of the lifting platform 3111. Similarly, the side enclosure baffle 60 cooperates with the bellows cover 50 to protect some components of the handling assembly 30 from erosion by dust, etc., thereby extending the service life of the handling assembly 30. More importantly, the lifting platform 3111 can protect the handled material from above to prevent dust deposition on the material. Of course, the bellows cover 50 and the side enclosure baffle 60 can further play a role in protecting the material, and there is no need to set up an additional protective support structure.

[0052] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. 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 enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present utility model.

Claims

1. A composite robot, characterized in that, Comprising: A moving body (10); A supporting component (20), including a supporting platform (21) provided on the moving body (10) and a handling bracket (22) provided on the supporting platform (21); A handling component (30), including a lifting platform (3111) provided between the handling brackets (22), a lifting mechanism (31) provided on the handling brackets (22) to drive the lifting of the lifting platform (3111), a moving platform (3201) movably provided at the bottom of the lifting platform (3111) along a first direction, a first linear module (32) provided between the lifting platform (3111) and the moving platform (3201), and handling units (33) provided at both ends of the moving platform (3201) along a second direction to handle materials.

2. The composite robot according to claim 1, wherein The handling bracket (22) includes two side brackets (221) arranged side by side along the second direction and a top bracket (222) provided between the two side brackets (221); the side brackets (221) are vertically arranged; the bottom of the side brackets (221) is fixed to the supporting platform (21); both ends of the top bracket (222) extend along the second direction and are respectively fixedly connected to positions near the top of the two side brackets (221).

3. The composite robot according to claim 2, wherein The lifting mechanism (31) includes a lifting drive module installed on the top bracket (222), a transmission shaft (3104) connected to the output end of the lifting drive module, a commutator (3106) connected to the transmission shaft (3104), a lead screw (3108) connected to the commutator (3106), a lead screw nut (3109) in threaded cooperation with the lead screw (3108), a lifting block (3110) fixedly connected to the lead screw nut (3109), and a bottom support (3113) rotatably connected to the lead screw (3108) and fixed to the side bracket (221); the lifting block (3110) is fixedly connected to the lifting platform (3111).

4. The composite robot according to claim 3, characterized in that, The lifting mechanism (31) further includes a guiding track (3114) installed on the side bracket (221), a guiding bracket (3115) installed on the lifting platform (3111), and a guiding roller (3116) installed on the guiding bracket (3115); the guiding roller (3116) is restricted to roll along the guiding track (3114).

5. The composite robot according to claim 3, characterized in that The first linear module (32) includes a slide rail (3206) fixed to the bottom of the lifting platform (3111) and extending along the first direction, a slider (3207) slidably connected to the slide rail (3206) and fixedly connected to the top of the moving platform (3201), a driving gear (3204) rotatably provided on the moving platform (3201), and a rack (3205) fixed to the bottom of the lifting platform (3111) along the second direction and meshing with the teeth of the driving gear (3204); the driving gear (3204) has power input to rotate about its own axis.

6. The composite robot according to claim 5, characterized in that, Blocking blocks (3208) are provided at both ends of the sliding rail (3206).

7. The composite robot according to claim 1, wherein The handling unit (33) includes a translation bracket (3301) installed at the end of the moving platform (3201), two translation support blocks (3302) installed on the inner side of the translation bracket (3301) along the first direction, and a detection sensor (3303) provided between the two translation support blocks (3302).

8. The composite robot according to claim 7, characterized in that, The handling unit (33) further includes a second linear module (3304) provided on the inner side of the translation bracket (3301); the translation support block (3302) is provided on the inner side of the second linear module (3304), and the second linear module (3304) drives the handling unit (33) to move linearly in the first direction.

9. The composite robot according to claim 1, wherein It further includes a side enclosure baffle (60) provided on the side of the lifting platform (3111).

10. The composite robot according to claim 2, characterized in that, It further includes a bellows cover (50) provided between the top bracket (222) and the lifting platform (3111).

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