Composite robot trolley

Abstract

The utility model relates to the field of robot trolleys, and particularly provides a composite robot trolley. The trolley comprises a carriage, the top of the carriage is provided with the robot and a tray, the trolley is provided with an access cover, an access cover lock catch, pulleys, a console, a controller mounting frame, foot cups, supporting feet and pulleys, and the sliding access cover is opened and closed through one-hand operation of a magnetic lock catch. A closed cable management channel is formed by a cable fixing buckle on the inner side of the cover plate and the hollow cart grip, the equipment troubleshooting difficulty is lowered, an operator can complete state monitoring without changing the position when pushing the grip, meanwhile, through the matching structure of pulleys arranged at the four corners of the bottom and lifting foot cups, the safety of the operator is improved, and the safety of the operator is improved. Manual free pushing is achieved to adapt to a narrow space, stable parking can be achieved through rigid connection of the supporting feet and the anti-skid rubber pads after positioning, and the problem of track dependence of a traditional AGV is solved.

Description

Technical Field

[0001] This utility model relates to the field of robot vehicles, and in particular to a composite robot vehicle. Background Technology

[0002] With the rapid development of Industry 4.0 and intelligent manufacturing, traditional industrial robots, due to their lack of flexibility and safety, are unable to meet the increasingly complex production needs. Composite robots have emerged as a result, possessing advantages such as safety, reliability, flexibility, ease of use, and human-machine collaboration, and are gradually becoming a new favorite in the field of industrial automation.

[0003] The inventors of this application have discovered the following problems during practical use:

[0004] Currently, most existing composite robots are fixed or track-based, with limited mobility and difficulty in adapting to dynamically changing working environments. Although some composite robots are equipped with mobile bases, they usually use AGV technology, which is costly and requires pre-laid tracks or markings, thus limiting their flexibility.

[0005] Therefore, it is necessary to provide a composite robot vehicle to solve the above-mentioned technical problems. Utility Model Content

[0006] The technical problem to be solved by this utility model is that the existing composite robots have limited mobility and are difficult to adapt to dynamically changing working environments. Furthermore, the use of AGV technology is costly and relies on pre-laid tracks or markings, resulting in insufficient flexibility. In view of the above-mentioned defects of the existing technology, a composite robot vehicle is provided.

[0007] To achieve the above objectives, the technical solution of this utility model is: a composite robot trolley, including a trolley and a robot. The trolley includes a carriage, the top of which is equipped with a robot and a tray. The bottom of the carriage is provided with four foot cups, and their output ends are rigidly connected to the support feet. The rear end of the carriage is fixedly connected with a trolley handle. The inspection cover is detachably connected to the side of the carriage through an inspection cover latch.

[0008] The bottom of the carriage is equipped with casters at the four corners. The front of the carriage integrates a control console and a controller mounting bracket. The robot includes a mounting base, a robotic arm transmission component, and a gripper. The mounting base is fixed to the top of the carriage. The robotic arm transmission component and the gripper are connected in sequence. The robotic arm transmission component is connected to the gripper through a rotary joint. The tray is detachably installed on the top of the carriage.

[0009] By adopting the above technical solution, and integrating liftable support legs, modular robot installation platform and sliding pallet, a balance between manual pushing flexibility and operational stability is achieved, while also facilitating equipment function expansion and maintenance.

[0010] Furthermore, the foot cup is a double-acting pneumatic cylinder, and the bottom of the support foot is provided with an anti-slip rubber pad, forming four sets of synchronous lifting mechanisms with the foot cup. The foot cup causes the pulley to move away from the ground after the support foot contacts the ground. The bottom of the support foot is provided with an anti-slip rubber pad, and the anti-slip rubber pad is provided with anti-slip texture.

[0011] By adopting the above technical solution, the four sets of foot cups synchronously drive the support feet to rise and fall. During operation, the pulleys are raised to form rigid support, and the anti-slip rubber pads enhance the equipment's grip stability.

[0012] Furthermore, an inspection cover is installed on one side of the carriage, and an inspection cover latch is provided on the inspection cover. The inspection cover latch includes a magnetic latch and a latch groove. The latch is embedded in the edge of the inspection cover, and the latch groove is opened on the side wall of the carriage.

[0013] By adopting the above technical solution, the sliding inspection cover combined with the magnetic lock enables quick maintenance, and the internal cable clips prevent the cable harness from coming loose when moving.

[0014] Furthermore, the robotic arm transmission component includes a rotary joint and a pitch joint arranged in series, and the gripper is a parallel opening and closing pneumatic gripper with anti-slip protrusions on the inner side of the gripper.

[0015] By adopting the above technical solutions, the multi-degree-of-freedom robotic arm, combined with anti-slip grippers, can adapt to precise grasping in complex spaces and improve the compatibility of loading and unloading.

[0016] Furthermore, a control panel is provided on the front side of the carriage. The surface of the control panel integrates an emergency stop button, a mode switching knob, and a power switch. A controller mounting bracket is provided above the control panel, and the controller mounting bracket is connected to the carriage via a hinge.

[0017] By adopting the above technical solutions, the integrated console and adjustable-angle display screen optimize human-computer interaction, enabling simultaneous one-handed operation and status monitoring.

[0018] Furthermore, the inspection cover is a sliding cover with cable fixing buckles on the inner side, and the inside of the trolley handle is hollow, with a built-in emergency stop button cable channel.

[0019] By adopting the above technical solution, the hollow handle and the cable channel of the cover plate form a closed protection, avoiding the entanglement of mobile device cables and damage from external forces.

[0020] Compared with related technologies, the composite robot vehicle provided by this utility model has the following beneficial effects:

[0021] This utility model provides a composite robot trolley, which is equipped with an inspection cover, inspection cover latch, pulleys, console, controller mounting bracket, feet, support feet, and pulleys. The sliding inspection cover can be opened and closed with one hand via a magnetic latch. The cable fixing buckle on the inside of the cover and the hollow trolley handle form a closed cable management channel, reducing the difficulty of troubleshooting equipment faults. The front integrates a console and a hinged controller mounting bracket, allowing the operator to monitor the status without changing their position when pushing the handle. The serial robotic arm transmission component drives the gripper through rotation and pitch joints, and works with the stable base provided by the support feet. At the same time, the pulleys at the four corners of the bottom and the adjustable feet allow for both manual free pushing to adapt to narrow spaces and stable parking after positioning via the rigid connection of the support feet and anti-slip rubber pads, solving the problem of traditional AGV track dependence. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a bottom-view three-dimensional structural diagram of the present invention;

[0024] Figure 3 This utility model Figure 2 Enlarged structural diagram at point A;

[0025] Figure 4 This utility model Figure 2 A magnified structural diagram at point B in the middle.

[0026] Numbered in the diagram: 1. Cart; 101. Carriage; 102. Foot cup; 103. Support leg; 104. Cart handle; 105. Inspection cover; 106. Inspection cover latch; 107. Pulley; 108. Control console; 109. Controller mounting bracket; 2. Robot; 201. Mounting base; 202. Robotic arm transmission component; 203. Gripper; 3. Pallet. Detailed Implementation

[0027] To facilitate understanding of this utility model, a more comprehensive description will be provided below with reference to the accompanying drawings. The drawings show typical embodiments of this utility model.

[0028] like Figure 1 As shown, the present invention provides a composite robot trolley, including a trolley 1 and a robot 2. The trolley 1 includes a carriage 101. The robot 2 and a tray 3 are installed on the top of the carriage 101. Four foot cups 102 are provided at the bottom of the carriage 101, and their output ends are rigidly connected to the support feet 103. A trolley handle 104 is fixedly connected to the rear end of the carriage 101. An inspection cover 105 is detachably connected to the side of the carriage 101 through an inspection cover latch 106.

[0029] The bottom of the carriage 101 is equipped with four casters 107. The front of the carriage 101 integrates a control console 108 and a controller mounting bracket 109. The robot 2 includes a mounting base 201, a robotic arm transmission component 202, and a gripper 203. The mounting base 201 is fixed to the top of the carriage 101. The robotic arm transmission component 202 and the gripper 203 are connected in sequence. The robotic arm transmission component 202 is connected to the gripper 203 through a rotary joint. The tray 3 is detachably installed on the top of the carriage 101. The robot is fixed by a standardized mounting base. The tray adopts a quick-release slide rail structure, which can quickly change the gripping tools and material containers according to production needs. The carriage frame adopts a square tube welding and layered steel plate design. When the support feet touch the ground, they form a stable base, which effectively suppresses the vibration transmission during the operation of the robotic arm.

[0030] See Figure 1 , Figure 4 The foot cup 102 ensures that the force is evenly distributed at the four corners when the support foot touches the ground, preventing the equipment from tilting. The anti-slip rubber pad at the bottom of the support foot can still maintain stable grip on wet and slippery ground.

[0031] See Figure 3 , Figure 4 A maintenance cover 105 is installed on one side of the carriage 101, and a maintenance cover latch 106 is provided on the maintenance cover 105. The maintenance cover latch 106 includes a magnetic latch and a latch groove. The latch is embedded in the edge of the maintenance cover 105, and the latch is opened on the side wall of the carriage 101. After the maintenance cover is pushed open along the slide rail, the control module is fully exposed. The wiring can be inspected without tools. The inclined surface of the magnetic latch requires force to be applied in a specific direction to unlock, preventing accidental opening due to vibration during equipment movement. The spring clip inside the cover plate fixes the cable routing and forms a closed protection with the internal channel of the hollow handle to avoid cable wear.

[0032] See Figure 1 , Figure 2 The robotic arm transmission component 202 includes a series-connected rotary joint and a pitch joint. The gripper 203 is a parallel opening and closing pneumatic gripper with anti-slip protrusions on the inner side. The combination of the rotary and pitch joints allows the gripper to cover the three-dimensional space around the equipment, meeting the loading and unloading needs of the machine tool at different heights. The anti-slip protrusions on the inner side of the gripper increase the friction with the workpiece. Combined with pneumatic pressure adjustment, it can stably grip both smooth metal parts and rough castings. The standardized connection structure between the gripper and the end effector of the robotic arm supports the quick replacement of different end effectors.

[0033] See Figure 1 , Figure 4The front of the carriage 101 is equipped with a control console 108. The surface of the control console 108 integrates an emergency stop button, a mode switching knob, and a power switch. Above the control console 108 is a controller mounting bracket 109, which is connected to the carriage 101 via a hinge. The layout of the control console knob and emergency stop button is ergonomic, allowing the operator to switch modes with one hand while pushing the handle. The display screen angle is adjustable to adapt to standing or bending perspectives and displays the coordinates of the robotic arm in real time.

[0034] See Figure 3 , Figure 4 The inspection cover 105 is a sliding cover with cable fixing buckles on the inside. The trolley handle 104 is hollow inside and has a built-in emergency stop button cable channel. The S-shaped cable channel inside the handle allows the cable to extend and retract freely when the robotic arm moves, avoiding bending fatigue and breakage. The buckles on the inside of the inspection cover fix the power line and signal line in layers to prevent the wire harness from crossing and interfering. The closed channel prevents metal chips and coolant from entering the cable connection port in the processing site, reducing the risk of short circuit.

[0035] In practice, the operator can first hold the trolley handle 104 and push the trolley 1 to move freely within the work area and quickly reach the designated work area. The hollow structure of the trolley handle 104 provides a hidden and orderly channel for the emergency stop button cable, avoiding messy cables from affecting operation and aesthetics.

[0036] Upon arrival at the work area, start the composite robot trolley by turning on the power switch on the control panel 108. Then, the operator can select the appropriate working mode by using the mode switching knob according to the actual work requirements. If an emergency occurs during the work process, the emergency stop button on the surface of the control panel 108 can be pressed immediately to stop the entire system quickly and ensure the safety of personnel and equipment.

[0037] During the operation, robot 2 plays a key role. The rotation and pitch joints in the robotic arm transmission component 202 work together to enable the robotic arm to flexibly adjust its posture in three-dimensional space and accurately move the gripper 203 to the location of the target object. The parallel opening and closing pneumatic gripper 203 achieves fast and stable opening and closing action under the drive of the pneumatic system. The anti-slip protrusions on the inner side of the gripper increase the friction between it and the target object, ensuring that it can firmly grasp items of various shapes and materials.

[0038] The tray 3 can be detachably installed inside the carriage 101 via a sliding rail mechanism, allowing operators to flexibly change or adjust the layout and quantity of the tray 3 according to different work tasks to store different types of tools, materials or processing parts. When it is necessary to inspect and maintain the electrical components, mechanical parts, etc. inside the carriage 101, the magnetic locking tongue on the inspection cover 105 separates from the locking groove on the side wall of the carriage 101. Since the inspection cover 105 is a sliding cover, the operator can easily slide to open the inspection cover 105. The cable fixing buckle set on the inside of the inspection cover 105 can fix the complex internal cables in an orderly manner, avoiding cable mess during the maintenance process and affecting the efficiency and accuracy of maintenance.

[0039] Operators can view the working status, operating parameters, and work progress of the composite robot in real time through the display screen installed on the controller mounting bracket 109. The controller mounting bracket 109 is connected to the carriage 101 through a hinge, which allows the display screen to be flexibly adjusted according to the operator's viewing angle needs, providing a more comfortable viewing experience.

[0040] The advantages of this technical solution in practical applications include, but are not limited to, the following:

[0041] 1. Achieves full rigid support during operation, effectively solving the vibration transmission problem of traditional AGVs, while combining the flexibility of manual pushing with the stability of equipment operation;

[0042] 2. The sliding inspection cover can be opened and closed with one hand, forming a closed cable management channel and reducing the difficulty of troubleshooting equipment faults; the operator can complete the status monitoring without changing the position when pushing the handle.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A composite robotic cart, characterized by: The system includes a trolley (1) and a robot (2). The trolley (1) includes a carriage (101). The robot (2) and a tray (3) are installed on the top of the carriage (101). Four foot cups (102) are provided at the bottom of the carriage (101), and the foot cups (102) are rigidly connected to the support feet (103). A trolley handle (104) is fixedly connected to the rear end of the carriage (101). An inspection cover (105) is detachably connected to the side of the carriage (101) via an inspection cover latch (106). The bottom four corners of the carriage (101) are provided with pulleys (107). The front side of the carriage (101) is integrated with a control console (108) and a controller mounting bracket (109). The robot (2) includes a mounting base (201), a robotic arm transmission component (202), and a gripper (203). The mounting base (201) is fixed on the top of the carriage (101). The robotic arm transmission component (202) and the gripper (203) are connected in sequence. The robotic arm transmission component (202) is connected to the gripper (203) through a rotary joint. The tray (3) is detachably installed on the top of the carriage (101).

2. The composite robotic cart of claim 1, wherein: The bottom of the support foot (103) is provided with an anti-slip rubber pad, and the anti-slip rubber pad is provided with anti-slip texture.

3. The composite robotic cart of claim 1, wherein: A maintenance cover (105) is installed on one side of the carriage (101), and a maintenance cover latch (106) is provided on the maintenance cover (105). The maintenance cover latch (106) includes a magnetic latch and a latch groove. The latch is embedded in the edge of the maintenance cover (105), and the latch groove is opened on the side wall of the carriage (101).

4. The composite robot vehicle according to claim 1, characterized in that: The robotic arm transmission component (202) includes a rotary joint and a pitch joint arranged in series, and the gripper (203) is a parallel opening and closing pneumatic gripper with anti-slip protrusions on the inner side of the gripper.

5. The composite robot vehicle according to claim 1, characterized in that: The front of the carriage (101) is provided with a control panel (108). The surface of the control panel (108) integrates an emergency stop button, a mode switching knob and a power switch. Above the control panel (108) is a controller mounting bracket (109). The controller mounting bracket (109) is connected to the carriage (101) by a hinge.

6. The composite robot vehicle according to claim 1, characterized in that: The inspection cover (105) is a sliding cover plate with a cable fixing buckle on the inner side. The trolley handle (104) is hollow inside and has a built-in emergency stop button cable channel.

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