Composite robot

Abstract

The utility model belongs to the field of robot equipment, and discloses a composite robot which comprises a moving table, a mechanical arm, a pickup assembly, a first jacking mechanism and a second jacking mechanism, the mechanical arm is arranged on the moving table, the mechanical arm is connected with the pickup assembly to pick up trays or materials, and the first jacking mechanism is connected with the second jacking mechanism. The movable table is provided with a material taking station and a material placing station which are used for placing a plurality of trays in an overlapped mode, the material taking station is provided with a first jacking mechanism used for jacking the trays placed on the material taking station to a first picking height, and the material placing station is provided with a second jacking mechanism used for jacking the trays placed on the material placing station to a second picking height. The tray can be loaded and moved to a designated position, flexible and convenient material taking and placing operation can be carried out through an integrated mechanical arm, a mechanical arm can conveniently carry out picking at a fixed height, the problem that the mechanical arm needs complex execution logic to carry out material taking and placing is solved, and working efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic equipment technology, specifically relating to a composite robot. Background Technology

[0002] In the field of machining technology, to automate material handling, robotic arms are often used in conjunction with material loading equipment. Specifically, multiple pallet sets are stacked on the material loading equipment, each containing material to be processed. The equipment is then moved to the machine tool position, where a separate robotic arm picks up the material from the pallet and places it on the machine tool. The robotic arm then moves the empty pallet to another position, and the processed material is removed from the machine tool and placed into an empty pallet. This process is repeated to achieve automated loading and unloading. However, because the picking and unloading heights of the robotic arm are inconsistent, the execution logic of the controller controlling the robotic arm's movements becomes more complex, resulting in low efficiency. Furthermore, individual devices or mechanisms are independent and have limited functionality, hindering automation. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a composite robot to solve the problems of low working efficiency and low integration of existing loading and unloading equipment.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A composite robot includes a mobile platform, a robotic arm, a picking component, a first lifting mechanism, and a second lifting mechanism. The robotic arm is mounted on the mobile platform and connected to the picking component to pick up a pallet or material. The mobile platform has a picking station and a placing station for stacking several pallets. The picking station is equipped with a first lifting mechanism for lifting the pallet placed on the picking station to a first picking height, and the placing station is equipped with a second lifting mechanism for lifting the pallet placed on the placing station to a second picking height.

[0006] In a possible implementation, the mobile platform includes a material picking chamber located at the material picking station and a material discharging chamber located at the material discharging station. The material picking chamber is provided with a first material picking port and a first material discharging port, and the material discharging chamber is provided with a second material discharging port and a discharge port. The first lifting mechanism is located at the bottom of the material picking chamber, and the second lifting mechanism is located at the bottom of the material discharging chamber.

[0007] In a possible implementation, the material handling chamber includes a first material discharging chamber and a first buffer chamber. The first buffer chamber is connected to the first material discharging chamber and the first material discharging port to form a first conveying channel. The first conveying channel is provided with a first conveying mechanism for conveying a pallet.

[0008] The discharge chamber includes a second discharge chamber and a second buffer chamber. The second buffer chamber is connected to the second discharge chamber and the discharge port to form a second conveying channel. The second conveying channel is provided with a second conveying mechanism for conveying the pallet.

[0009] In a possible implementation, the first lifting mechanism is located at the bottom of the first discharge chamber, and the second lifting mechanism is located at the bottom of the second discharge chamber;

[0010] The first lifting mechanism and / or the second lifting mechanism include a first drive assembly and a support plate, the support plate being used to support the pallet, and the first drive assembly driving the support plate to perform lifting and lowering actions.

[0011] In a possible implementation, the first conveying mechanism and / or the second conveying mechanism includes two parallel conveyor belts spaced apart to carry pallets and a second drive assembly that drives the two conveyor belts to move synchronously. The first lifting mechanism is located between the two conveyor belts of the first conveying mechanism, and the second lifting mechanism is located between the two conveyor belts of the second conveying mechanism.

[0012] In a possible implementation, a first one-way limiting member is provided between the first discharge chamber and the first buffer chamber, and a second one-way limiting member is provided between the second discharge chamber and the second buffer chamber. The limiting direction of the first one-way limiting member is opposite to the conveying direction of the first conveying mechanism, and the limiting direction of the second one-way limiting member is opposite to the conveying direction of the second conveying mechanism.

[0013] In a possible implementation, clamping components are provided on both sides of the material taking chamber and the material discharging chamber, and the clamping components can extend into the material taking chamber or the material discharging chamber to clamp the tray.

[0014] In a possible implementation, the mobile platform is further provided with a rotary station, and the rotary station is provided with a material turning device;

[0015] And / or, the mobile platform is also provided with a buffer station.

[0016] In a possible implementation, the mobile platform includes a mobile trolley and a worktable mounted on the mobile trolley, with a robotic arm, a material handling station, and a material unloading station mounted on the worktable.

[0017] In one possible implementation, the workbench is provided with multiple support legs located outside the mobile trolley, and each support leg is provided with a top support component at its bottom.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This utility model's composite robot combines a robotic arm with a movable platform, enabling it to load pallets and move them to designated locations. It also allows for flexible and convenient material handling via the integrated robotic arm. Furthermore, by installing a first lifting mechanism and a second lifting mechanism at the picking and placing stations respectively, the lifting mechanisms maintain the same or fixed height even with varying stack sizes. This allows the robotic arm to pick up materials at a fixed height, avoiding the need for complex execution logic for material handling and improving work efficiency.

[0020] Moreover, the composite robot can continuously load and unload multiple stacked pallets of materials while picking up and placing materials. In conjunction with the conveying mechanism, it can switch between different types of pallets and input and output full pallets. It can be easily connected and coordinated with other process equipment and also has a more stable and reliable conveying effect. Attached Figure Description

[0021] Figure 1 A stereoscopic view of a composite robot from a first-person perspective;

[0022] Figure 2 A stereoscopic view of a composite robot from a second perspective;

[0023] Figure 3 This is a first-person perspective stereoscopic view of a composite robot with components such as the concealed workbench shell hidden. The staircase view only shows the topmost and bottommost trays.

[0024] Figure 4 This is a second-person perspective stereoscopic view of a composite robot with components such as the concealed workbench shell hidden. The staircase view only shows the topmost and bottommost trays.

[0025] Figure 5 This is a schematic diagram of the connection structure of a first lifting mechanism, a second lifting mechanism, a first conveying mechanism, a second conveying mechanism, and a clamping assembly of a composite robot;

[0026] Figure 6 for Figure 5 A stereoscopic view of the structure shown from another perspective;

[0027] Figure 7 A first-person perspective stereoscopic view of the tray of a composite robot.

[0028] Figure 8 A stereoscopic view of the tray of a composite robot from a second perspective;

[0029] Figure 9 A first-person perspective stereoscopic view of a material steering device for a composite robot.

[0030] Figure 10 A stereoscopic view of a material steering device for a composite robot from a second perspective;

[0031] Figure 11 This is a schematic diagram of the picking component of a composite robot.

[0032] In the diagram: 1-Moving stage; 11-Workbench; 111-Retrieving chamber; 1111-First discharge port; 1112-First discharge chamber; 1113-First buffer chamber; 1114-First retrieval port; 112-Discharge chamber; 1121-Discharge port; 1122-Second discharge port; 1123-Second buffer chamber; 1124-Second discharge chamber; 12-Retrieving station; 13-Discharge station; 14-Support leg; 15-Pneumatic top support cylinder; 16-Support pad; 17-Moving trolley; 2-Robotic arm; 3-Rotation station; 31-Material steering device; 311-Rotation drive device; 3 12-Rotating table; 313-Carrying plate; 314-Clamping component; 4-Second conveying mechanism; 5-First conveying mechanism; 51-Conveyor belt; 52-Second drive assembly; 6-Second lifting mechanism; 7-First lifting mechanism; 71-Supporting plate; 8-Clamping assembly; 81-Clamping cylinder; 82-Mounting column; 83-Clamping plate; 84-Opening; 9-Stop bar; 10-Full material detection sensor; 100-Second one-way limiting component; 1001-Electromagnetic one-way stopper; 1002-Latch; 200-Pattern; 2001-Positioning protrusion; 300-Pickup assembly; 400-First one-way limiting component. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to specific embodiments.

[0034] Please refer to Figure 1-11 As shown, an embodiment of this application provides a composite robot, including a mobile platform 1, a robotic arm 2, a picking component 300, a first lifting mechanism 7, and a second lifting mechanism 6. The robotic arm 2 is mounted on the mobile platform 1 and is connected to the picking component 300 to pick up a tray 200 or materials. The mobile platform 1 is provided with a picking station 12 and a placing station 13 for stacking several trays 200. The picking station 12 is provided with a first lifting mechanism 7 for lifting the trays 200 placed on the picking station 12 to a first picking height. The placing station 13 is provided with a second lifting mechanism 6 for lifting the trays 200 placed on the placing station 13 to a second picking height.

[0035] The mobile platform 1 is movable, allowing the loaded pallets 200 and materials to be transported to the target location, facilitating loading, unloading, and material handling for machine processing. The robotic arm 2 mounted on the mobile platform 1 is flexible and can pick up materials and pallets 200 via a connected picking component 300. It can move materials or pallets 200 back and forth between the picking station 12 and the unloading station 13 on the mobile platform 1, as well as between the machine tool, making the process more convenient. The picking station 12 is used for stacking pallets 200 containing materials to be processed, while the unloading station 13 is used to place processed materials onto empty pallets 200. Through these two stations, the robotic arm 2 can pick up materials from the picking station 12 and transfer them to the machine tool for processing. During processing, it picks up empty pallets 200 from the picking station 12 and moves them to the unloading station 13. Then, the robotic arm 2 places the processed materials into empty pallets 200 on the unloading station 13. This repetitive process enables material handling. The first lifting mechanism 7 is located at the material picking station 12. This facilitates lifting the pallet 200 at the material picking station 12 to the first picking height when the overall height decreases by the height of one pallet 200 due to the transfer of a pallet 200 to the material dispensing station 13 by the robotic arm 2. This picking height is fixed or preset. Correspondingly, the second lifting mechanism 6 located at the material dispensing station 13 is used to lift the pallet 200 at the material picking station 12 to the fixed or preset second picking height. This ensures that the pallet 200 can be lifted to the picking height even when there are more or more pallets. The lifting action includes rising or falling according to different height conditions. Thus, the first lifting mechanism 7 and the second lifting mechanism 6 can lift the overall height of the pallets 200 at the material picking station 12 and the material dispensing station 13 to the fixed picking height or the same picking height, respectively. This allows the robotic arm 2 to pick up materials at a fixed picking height, reducing the complexity of the execution logic of the robotic arm 2, shortening the activity path, and facilitating more efficient material picking and dispensing.

[0036] By combining the robotic arm 2 with the movable platform 1, the robotic arm 2 can load the pallet 200 and move it to a designated position. It can also perform flexible and convenient material picking and placing operations through the integrated robotic arm 2. Furthermore, by setting the first lifting mechanism 7 and the second lifting mechanism 6 at the picking station 12 and the placing station 13 respectively, the picking station 12 and the placing station 13 can maintain the same or fixed height through lifting when the stacking quantity is different. This makes it easier for the robotic arm to pick up materials at a fixed height, avoiding the problem of the robotic arm 2 needing to perform complex execution logic for material picking and placing, and improving work efficiency.

[0037] In one embodiment, the moving platform 1 includes a material taking chamber 111 located at the material taking station 12 and a material discharging chamber 112 located at the material discharging station 13. The material taking chamber 111 is provided with a first material taking port 1114 and a first material discharging port 1111. The material discharging chamber 112 is provided with a second material discharging port 1122 and a discharge port 1121. The first lifting mechanism 7 is located at the bottom of the material taking chamber 111, and the second lifting mechanism 6 is located at the bottom of the material discharging chamber 112.

[0038] In this way, the moving platform 1 can facilitate the robotic arm 2 to pick up materials from the picking chamber 111 containing loaded pallets 200 and to discharge materials into the discharge chamber 112 containing empty pallets 200 via the picking chamber 111 and discharge chamber 112, respectively. The first picking port 1114 of the picking chamber 111 facilitates the robotic arm 2 to pick up materials from the picking station 12 and place empty pallets 200 into the discharge station 13, while the first discharge port 1111 facilitates the dispensing of materials from the picking station 12. The material pallet 200 is placed into the material picking chamber 111, either manually or by the loading / unloading machine from the previous process. The second discharge port 1122 of the discharge chamber 112 facilitates the robotic arm 2 to transfer empty pallets 200 from the picking station 12 into the discharge chamber 112 and to place machine-processed materials into the empty pallets 200 in the discharge chamber 112. The discharge port 1121 is used to remove the materials when the discharge chamber 112 is full. Correspondingly, the first lifting mechanism 7 and the second lifting mechanism 6 are respectively located at the bottom of the material picking chamber 111 and the bottom of the discharge chamber 112, thereby enabling the lifting of the pallets 200 in the chambers.

[0039] Furthermore, in order to achieve more continuous and larger batch processing of material picking and discharging, the picking chamber 111 includes a first discharging chamber 1112 and a first buffer chamber 1113. The first buffer chamber 1113 connects the first discharging chamber 1112 and the first discharging port 1111 to form a first conveying channel. The first conveying channel is provided with a first conveying mechanism 5 for conveying the pallet 200. The discharging chamber 112 includes a second discharging chamber 1124 and a second buffer chamber 1123. The second buffer chamber 1123 connects the second discharging chamber 1124 and the discharge port 1121 to form a second conveying channel. The second conveying channel is provided with a second conveying mechanism 4 for conveying the pallet 200.

[0040] In this way, the material picking chamber 111 can hold a stack of trays 200 for picking through the first material dispensing chamber 1112, while the first buffer chamber 1113 can easily hold at least one stack of trays 200 prepared for picking in advance. After the trays 200 in the first material dispensing chamber 1112 are transferred to the second material dispensing chamber 1124, the trays 200 prepared for picking can be transported to the first material picking chamber through the first conveying mechanism 5, thus enabling connected material picking. Similarly, the discharge chamber 112 can hold a stack of pallets 200 for discharging through the second discharge chamber 1124, while the second buffer chamber 1123 can easily hold at least one stack of pallets 200 after discharging. After the pallets 200 in the second discharge chamber 1124 have finished discharging, the second conveying mechanism 4 can transport the discharging pallets 200 to the second buffer chamber 1123, and then the empty pallets 200 transferred from the discharge station 13 can take over the discharging. This enables continuous material handling operations and greatly improves work efficiency.

[0041] In specific implementation, the first lifting mechanism 7 is located at the bottom of the first discharge cavity 1112, and the second lifting mechanism 6 is located at the bottom of the second discharge cavity 1124. The first lifting mechanism 7, located in the first discharge cavity 1112, can lift the pallet 200 placed within it. Similarly, the second lifting mechanism 6, located in the second discharge cavity 1124, facilitates the lifting of the pallet 200 therein.

[0042] Preferably, the first lifting mechanism 7 and / or the second lifting mechanism 6 may include a first drive assembly and a support plate 71. The support plate 71 supports the pallet 200, and the first drive assembly drives the support plate 71 to perform a lifting action. The support plate 71 can support the pallet 200 and can achieve a lifting action through the drive of the first drive assembly, thus allowing it to be raised and lowered. Specifically, the first drive mechanism may be driven by a lifting cylinder.

[0043] To better enable the first lifting mechanism 7 and the second lifting mechanism 6 to perform lifting while also facilitating the conveying of the first conveying mechanism 5 and the second conveying mechanism 4, the first conveying mechanism 5 and / or the second conveying mechanism 4 further include two parallel conveyor belts 51 spaced apart to support the pallet 200 and a second drive assembly 52 that drives the two conveyor belts 51 to move synchronously. The first lifting mechanism 7 is located between the two conveyor belts 51 of the first conveying mechanism 5, and the second lifting mechanism 6 is located between the two conveyor belts 51 of the second conveying mechanism 4.

[0044] In this way, the two sides of the pallet 200 can be supported by two parallel conveyor belts 51, and a corresponding lifting mechanism is set between the two conveyor belts 51. This can achieve conveying without interfering with the lifting mechanism. When the second discharge chamber 1124 is full, the bottom pallet 200 is supported by the conveyor belt 51, and the second lifting mechanism 6 is in a non-working state. At this time, the second conveying mechanism 4 can convey a stack of full pallets 200 to the second buffer chamber 1123 for buffering or directly convey them out through the discharge port 1121. Correspondingly, the stacked pallets 200 placed into the first buffer chamber through the first discharge port 1111 can be conveyed to the first discharge chamber 1112 through the first conveying mechanism 5. This can achieve more flexible and continuous conveying switching, which is more convenient and faster.

[0045] To achieve unidirectional conveying and prevent the pallet 200 from tipping back or moving and interfering with the operation of adjacent stacks of pallets 200 during conveying, a first unidirectional limiting member 400 is provided between the first discharge chamber 1112 and the first buffer chamber 1113, and a second unidirectional limiting member 100 is provided between the second discharge chamber 1124 and the second buffer chamber 1123. The limiting direction of the first unidirectional limiting member 400 is opposite to the conveying direction of the first conveying mechanism 5, and the limiting direction of the second unidirectional limiting member 100 is opposite to the conveying direction of the second conveying mechanism 4.

[0046] The first one-way limiting member 400 is disposed between the first discharge chamber 1112 and the first buffer chamber 1113, and its limiting direction is opposite to the conveying direction of the first conveying mechanism 5. In this way, the first one-way limiting member 400 can separate the trays 200 of the first discharge chamber 1112 and the first buffer chamber 1113 to avoid interference, and can also prevent the trays 200 from tipping back during the conveying process, thus better achieving the blocking of the trays 200 in the two placement positions. Similarly, the second one-way limiting member 100 has the same function.

[0047] Preferred, combined Figure 6 As shown, the first feeding port 1111 and the discharge port 1121 are located on the same side of the moving table 1, and the limiting direction of the second one-way limiting member 100 is opposite to the limiting direction of the first one-way limiting member 400. In this way, it is convenient to feed and discharge the material-loaded tray 200 on the same side of the moving table 1.

[0048] Specifically, both the first one-way limiting member 400 and the second one-way limiting member 100 adopt an electromagnet one-way stopper 1001, which has a retractable latch 1002 and can be controlled.

[0049] In order to ensure that the stacked pallets 200 in the picking chamber 111 and the discharging chamber 112 can be stably placed and transported, in one embodiment, clamping components 8 are provided on both sides of the picking chamber 111 and the discharging chamber 112. The clamping components 8 can extend into the picking chamber 111 or the discharging chamber 112 to clamp the pallets 200.

[0050] The clamping components 8 are arranged in pairs and can clamp the pallets 200 from both sides, thereby improving the neatness of the pallet stacking and facilitating neat transportation and placement. Specifically, the clamping components 8 are mainly used to clamp the upper pallets 200 of a stack of pallets 200. Since there are positioning protrusions 2001 between the pallets 200 stacked vertically and vertically, clamping can ensure that the upper pallets 200, including the topmost pallet 200, maintain positional accuracy for easy and accurate picking, and also prevent the pallets 200 from shifting during rapid transportation.

[0051] Specifically, in combination Figure 2-6 As shown, the clamping assembly 8 may include a mounting column 82 and a clamping cylinder 81 mounted on the mounting column 82. The output end of the clamping cylinder 81 is connected to a clamping plate 83. The side wall of the material picking chamber 111 or the material discharging chamber 112 is provided with an opening 84 for the clamping plate 83 to pass through. The clamping cylinder 81 can drive the clamping plate 83 to pass through the opening 84 to clamp the pallet, thus achieving the clamping of the pallet 200.

[0052] In some application scenarios, due to different processing technology or different loading directions of machine tool materials, it is necessary to turn the materials to meet the material processing requirements. In order to facilitate the turning of materials during the unloading process, the moving table 1 is also provided with a rotary station 3, and the rotary station 3 is provided with a material turning device 31.

[0053] In a preferred embodiment of the material turning device 31, combined with Figure 2 , Figure 3 , Figure 9 and Figure 10 As shown, the material turning device 31 may include a rotary table 312, a rotary drive device 311 for driving the rotary table 312 to rotate, a carrying plate 313 fixed on the rotary table 312, and a set of clamping members 314 disposed around the carrying plate 313 to clamp the material placed on the carrying plate 313 from the outside. The clamping members 314 clamp the material by moving in relative directions, and after clamping, stable turning can be achieved.

[0054] In addition, to facilitate temporary storage when there is no extra space during material transfer intervals, the moving table 1 is also equipped with a buffer platform (not shown in the figure). The buffer platform facilitates temporary storage and makes it more convenient.

[0055] Please refer to Figure 1 As shown in the embodiment of this application, the mobile platform 1 includes a mobile trolley 17 and a worktable 11 disposed on the mobile trolley 17. The worktable 11 is provided with a robotic arm 2, a material picking station 12 and a material unloading station 13.

[0056] The mobile platform 1 is a combination of a mobile trolley 17 and a worktable 11. The worktable 11 is placed on the mobile trolley 17 and the two can be separated, which facilitates flexible disassembly or replacement. The robotic arm 2, the material handling station 12, and the material unloading station 13 are set on the worktable. Specifically, the mobile trolley 17 is an AGV mobile trolley.

[0057] Based on this, to prevent the robot from tilting when the ground is uneven, the workbench 11 is equipped with multiple support legs 14 located outside the mobile trolley 17, and each support leg 14 has a top support component at its bottom. Multiple support legs 14 are arranged around the bottom perimeter of the workbench 11, and the length of each support leg 14 is close to or equal to the length of the support leg 14. By setting the top support component on the support leg 14, tilting can be prevented by adjusting the support on the corresponding side when the ground is uneven. Specifically, the top support component is implemented using a pneumatic top support cylinder 15 connected to a support pad 16.

[0058] In the specific implementation process, combined with Figure 11 As shown, the pickup component 300 uses vacuum adsorption to pick up the tray 200 and the material.

[0059] Combination Figure 3-6 As shown, the composite robot also includes a controller (not shown) and a full-material detection sensor 10. The controller is connected to the robotic arm 2, the first lifting mechanism 7, the second lifting mechanism 6, the first conveying mechanism 5, and the second conveying mechanism 4. The full-material detection sensor 10 is located at the top of the stop bar 9 connected to the support plate 71. When the pallet 200 is stacked to the corresponding height, it can detect this and send feedback to the controller, which then controls the full pallet 200 to be conveyed to the second buffer cavity 1123.

[0060] The working principle of a composite robot according to an embodiment of this application:

[0061] 1. 200 sets of pallets loaded with materials waiting to be processed are transported from the automatic loading and unloading rack to the first conveying mechanism 5 in the picking chamber 111 of the composite robot via belt conveyor.

[0062] 2. The first set of 200 pallets is transferred from the first buffer chamber 1113 to the first discharge chamber 1112 via the first conveying mechanism 5. The second set of 200 pallets is then transferred to the first buffer chamber 1113. After the entire machine is filled, it is moved to the workbench to prepare for loading and unloading.

[0063] 3. The robotic arm 2 first grabs the material in the pallet 200 of the first discharge chamber 1112 through the picking component 300 and loads it onto the machine tool of the workbench, and then grabs the empty pallet 200 of the first discharge chamber 1112.

[0064] 4. The robotic arm 2 places the empty pallet 200 into the second discharge chamber 1124;

[0065] 5. Robotic arm 2 extends into the machine tool;

[0066] 6. Robotic arm 2 picks up the material that has been processed on the machine tool;

[0067] 7. The robotic arm 2 places the processed material into the empty tray 200 on the second discharge chamber 1124;

[0068] 8. Repeat steps 3-7 above;

[0069] 9. When the second discharge chamber 1124 is full of materials, the entire pallet 200 set is moved to the second buffer chamber 1123 by the second conveying mechanism 4.

[0070] 10. Repeat steps 3-7;

[0071] 11. When the second discharge chamber 1124 and the second buffer chamber 1123 are completely full, or when the first discharge chamber 1112 and the first buffer chamber 1113 are completely empty, the operation stops and the composite robot moves to the loading and unloading position to load materials.

[0072] The above are merely preferred embodiments of this utility model. It should be noted that the above preferred embodiments should not be considered as limitations on this utility model, and the scope of protection of this utility model should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A composite robot, characterized in that, The device includes a mobile platform (1), a robotic arm (2), a picking component (300), a first lifting mechanism (7), and a second lifting mechanism (6). The robotic arm (2) is mounted on the mobile platform (1) and is connected to the picking component (300) to pick up a pallet (200) or material. The mobile platform (1) is provided with a picking station (12) and a discharging station (13) for stacking several pallets (200). The picking station (12) is provided with a first lifting mechanism (7) for lifting the pallets (200) placed on the picking station (12) to a first picking height. The discharging station (13) is provided with a second lifting mechanism (6) for lifting the pallets (200) placed on the discharging station (13) to a second picking height.

2. The composite robot as described in claim 1, characterized in that, The moving platform (1) includes a material taking chamber (111) located at the material taking station (12) and a material discharging chamber (112) located at the material discharging station (13). The material taking chamber (111) is provided with a first material taking port (1114) and a first material discharging port (1111). The material discharging chamber (112) is provided with a second material discharging port (1122) and a material discharge port (1121). The first lifting mechanism (7) is located at the bottom of the material taking chamber (111), and the second lifting mechanism (6) is located at the bottom of the material discharging chamber (112).

3. A composite robot as described in claim 2, characterized in that, The material handling chamber (111) includes a first material discharging chamber (1112) and a first buffer chamber (1113). The first buffer chamber (1113) connects the first material discharging chamber (1112) and the first material discharging port (1111) to form a first conveying channel. The first conveying channel is provided with a first conveying mechanism (5) for conveying a pallet (200). The discharge chamber (112) includes a second discharge chamber (1124) and a second buffer chamber (1123). The second buffer chamber (1123) connects the second discharge chamber (1124) and the discharge port (1121) to form a second conveying channel. The second conveying channel is provided with a second conveying mechanism (4) for conveying the pallet (200).

4. A composite robot as described in claim 3, characterized in that, The first lifting mechanism (7) is located at the bottom of the first discharge chamber (1112), and the second lifting mechanism (6) is located at the bottom of the second discharge chamber (1124). The first lifting mechanism (7) and / or the second lifting mechanism (6) include a first drive assembly and a support plate (71), the support plate (71) being used to support the pallet (200), and the first drive assembly driving the support plate (71) to perform lifting and lowering actions.

5. A composite robot as described in claim 3, characterized in that, The first conveying mechanism (5) and / or the second conveying mechanism (4) include two parallel conveyor belts (51) spaced apart to carry the pallet (200) and a second drive assembly (52) that drives the two conveyor belts (51) to move synchronously; the first lifting mechanism (7) is located between the two conveyor belts (51) of the first conveying mechanism (5), and the second lifting mechanism (6) is located between the two conveyor belts (51) of the second conveying mechanism (4).

6. A composite robot as described in claim 3, characterized in that, A first one-way limiting member (400) is provided between the first discharge chamber (1112) and the first buffer chamber (1113), and a second one-way limiting member (100) is provided between the second discharge chamber (1124) and the second buffer chamber (1123). The limiting direction of the first one-way limiting member (400) is opposite to the conveying direction of the first conveying mechanism (5), and the limiting direction of the second one-way limiting member (100) is opposite to the conveying direction of the second conveying mechanism (4).

7. A composite robot as described in claim 2, characterized in that, Clamping components (8) are provided on both sides of the material taking chamber (111) and the material discharging chamber (112). The clamping components (8) can extend into the material taking chamber (111) or the material discharging chamber (112) to clamp the tray (200).

8. A composite robot as described in claim 1, characterized in that, The mobile platform (1) is also equipped with a rotary station (3), and the rotary station (3) is equipped with a material turning device (31); And / or, the mobile station (1) is also provided with a buffer station.

9. A composite robot as described in claim 1, characterized in that, The mobile platform (1) includes a mobile trolley (17) and a worktable (11) on the mobile trolley (17). The worktable (11) is equipped with a robotic arm (2), a material picking station (12), and a material unloading station (13).

10. A composite robot as described in claim 9, characterized in that, The workbench (11) is provided with multiple support legs (14) located outside the mobile trolley (17), and each support leg (14) is provided with a top support component at its bottom.

Images