An assistive device suitable for use with a composite robot

Abstract

This utility model discloses an auxiliary device suitable for composite robots, relating to the field of automotive assembly equipment technology. It includes a composite robot AGV body; a guide support fixedly installed on the running path of the composite robot AGV body, the guide support having a guide groove in the length direction; and an anti-torsion component installed at the bottom of the composite robot AGV body, the anti-torsion component including an anti-torsion roller, the anti-torsion roller being rollably embedded in the guide groove. The above-mentioned auxiliary device for composite robots enables the interaction force between the anti-torsion roller and the guide groove to generate a reverse torsional torque when the composite robot AGV body is subjected to external forces that may cause a torsional tendency. This effectively resists the torsion of the composite robot AGV body, ensuring it maintains a stable running posture and accurately moves along a predetermined trajectory.

Description

Technical Field

[0001] This utility model relates to the field of automotive assembly equipment technology, and in particular to an auxiliary device suitable for composite robots. Background Technology

[0002] With the continuous advancement of automotive manufacturing technology, automated assembly has gradually become an important means to improve production efficiency and ensure product quality. In recent years, the application of composite robots in conjunction with automated tightening fixtures has provided a new solution for achieving assembly automation. However, many technical bottlenecks still exist in practical applications, especially in screw tightening stations with high torque requirements. First, the limited assembly space restricts the deployment of large composite robots, while small composite robots, although possessing better flexibility, have limited structural rigidity and load-bearing capacity, making it difficult to withstand the reaction force generated during high-torque tightening, and prone to slippage, thus affecting operational safety and equipment stability.

[0003] Therefore, how to provide an auxiliary device suitable for composite robots to improve operational stability is a technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide an auxiliary device suitable for composite robots, which solves the technical problem of unstable operation of existing composite robots.

[0005] To achieve the above objectives, this utility model provides an auxiliary device suitable for composite robots, comprising:

[0006] Composite robot AGV vehicle body;

[0007] A guide support is fixedly installed on the running path of the composite robot AGV body, and the guide support is provided with a guide groove in the length direction;

[0008] An anti-torsion component is installed at the bottom of the composite robot AGV body. The anti-torsion component includes an anti-torsion roller, which can be rolled and embedded in the guide groove.

[0009] Preferably, it also includes an anti-tipping component disposed at the bottom of the composite robot AGV body, the anti-tipping component including an anti-tipping roller, the anti-tipping roller being able to roll within the guide groove.

[0010] Preferably, the guide support includes a base plate and a guide guard plate. The base plate is fixed to the ground, and the two guide guard plates are symmetrically arranged on the base plate. A limiting plate is provided on the top edge of the opposite side of the two guide guard plates along the length direction. The space formed between the two guide guard plates and the two limiting plates is the guide groove.

[0011] Preferably, both ends of the guide plates are provided with bent plates facing away from each other, so that the openings of the two guide plates are V-shaped.

[0012] Preferably, the two anti-torsion components are symmetrically arranged at the bottom of the composite robot AGV body, and the two anti-torsion components are connected by a connecting frame;

[0013] The anti-torsion component includes:

[0014] Mounting plate, which is connected to the body of the composite robot AGV;

[0015] Side plates, the two side plates are symmetrically arranged on the bottom of the mounting plate;

[0016] A fixing rod is connected between the two side plates;

[0017] The mounting block is slidably mounted on the fixed rod. The mounting block has a support plate on the side opposite to the connecting frame. The support plate is used to connect the anti-torsion roller.

[0018] The first elastic element is sleeved on the fixing rod. One end of the first elastic element abuts against the side wall of the side plate, and the other end abuts against the side wall of the mounting block, so that the mounting block is located in the central area of ​​the fixing rod.

[0019] Preferably, the two side plates are symmetrically provided with mounting holes, the mounting holes are provided with internal threads, and a first adjusting bolt is connected to each of the two mounting holes. The ends of the two first adjusting bolts abut against the outer walls of the two ends of the mounting block.

[0020] Preferably, the anti-torsion roller is provided with a connecting rod at its top, and the support plate is provided with a connecting hole that mates with the connecting rod.

[0021] Preferably, the two anti-overturning components are symmetrically arranged on the connecting frame, wherein the anti-overturning components include:

[0022] A linear bearing is installed through the connecting frame, and a support rod is provided at the top of the anti-overturning roller, the support rod being disposed inside the linear bearing;

[0023] The second elastic element and the second adjusting bolt are both mounted on the connecting frame and are used to adjust the height of the anti-overturning roller.

[0024] Preferably, both the anti-torsion roller and the anti-overturning roller have rubber sleeves on their outer peripheral surfaces.

[0025] Preferably, the base plate is fixed to the ground by expansion bolts.

[0026] Compared to the aforementioned background technology, this utility model provides an auxiliary device suitable for composite robots. When the composite robot AGV body runs along a preset path, the anti-torsion rollers installed in the anti-torsion assembly at the bottom are embedded in the guide grooves on the guide support. As the composite robot AGV body moves, the anti-torsion rollers roll within the guide grooves. During the rolling process, guide guards from both sides provide horizontal constraints on the anti-torsion rollers to prevent them from shifting left or right; while limiting plates from above provide vertical constraints on the anti-torsion rollers to prevent them from jumping out of the guide grooves. Because the guide grooves limit the rolling direction and position of the rollers, when the composite robot AGV body is subjected to external forces that may cause a torsional tendency, the interaction force between the anti-torsion rollers and the guide grooves will form a reverse torsional torque, thereby effectively resisting the torsion of the composite robot AGV body, ensuring that it always maintains a stable running posture and accurately moves along the predetermined trajectory. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the composite robot AGV body structure provided in an embodiment of the present utility model;

[0029] Figure 2 This is a schematic diagram of the guide support structure provided in an embodiment of the present utility model;

[0030] Figure 3 Axonometric drawing of the auxiliary device provided in the embodiment of this utility model;

[0031] Figure 4 This is a front view of the auxiliary device provided in an embodiment of the present utility model;

[0032] Figure 5 This is a side view of the auxiliary device provided in an embodiment of the present utility model.

[0033] in:

[0034] 1-Composite robot AGV body, 2-Guide support component, 21-Base plate, 22-Guide guard plate, 23-Limiting plate, 3-Guide groove, 4-Anti-torsion component, 41-Anti-torsion roller, 42-Mounting plate, 43-Side plate, 44-Fixing rod, 45-Mounting block, 46-Support plate, 47-First elastic component, 48-First adjusting bolt, 49-Connecting rod, 5-Anti-overturning component, 51-Anti-overturning roller, 52-Second elastic component, 53-Second adjusting bolt, 6-Connecting frame. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] See Figure 1 This application provides an auxiliary device for a composite robot, including a composite robot AGV body 1 (Automated Guided Vehicle); a guide support 2, which is fixedly installed on the running path of the composite robot AGV body 1, the guide support 2 having a guide groove 3 in the length direction; and an anti-torsion component 4, which is installed at the bottom of the composite robot AGV body 1, the anti-torsion component 4 including an anti-torsion roller 41, the anti-torsion roller 41 being able to roll and be embedded in the guide groove 3.

[0038] Specifically, the composite robot AGV body 1 is equipped with a cooperative arm, which is equipped with a tightening gun. The cooperative arm is used to move the tightening gun.

[0039] The composite robot AGV body 1 can run stably according to the preset path and instructions. The composite robot AGV body is a direct application of existing mature technology, and its specific structure will not be described in detail here.

[0040] The guide support 2 is fixedly installed on the running path of the composite robot AGV body 1 to ensure accurate matching with the composite robot AGV body 1. The guide support 2 has a guide groove 3 in the length direction. The anti-torsion component 4 is installed at the bottom of the composite robot AGV body 1. The anti-torsion component 4 includes an anti-torsion roller 41, which can be rolled and embedded in the guide groove 3. During the operation of the composite robot AGV body 1, through the interaction with the guide groove 3, the torsional movement of the composite robot AGV body 1 is effectively restricted, thereby improving its operational stability and accuracy.

[0041] When the composite robot AGV body 1 runs along the preset path, the anti-torsion roller 41 installed in the anti-torsion component 4 at the bottom will be embedded in the guide groove 3 on the guide support 2. As the composite robot AGV body 1 moves, the anti-torsion roller 41 rolls in the guide groove 3. Since the guide groove 3 limits the rolling direction and position of the anti-torsion roller 41, when tightening is performed, the tightening gun is transmitted to the composite robot AGV body 1. When the composite robot AGV body 1 is subjected to external force and may have a torsional tendency, the interaction force between the anti-torsion roller 41 and the guide groove 3 will form a reverse torsional torque, thereby effectively resisting the torsion of the composite robot AGV body 1, so that it always maintains a stable running posture and ensures accurate movement along the predetermined trajectory.

[0042] Based on the above embodiments, see Figure 2 The guide support 2 includes a base plate 21 and a guide guard plate 22. The base plate 21 is fixed on the ground. The two guide guard plates 22 are symmetrically arranged on the base plate 21. The top edge of the opposite side of the two guide guard plates 22 is provided with a limiting plate 23 along the length direction. The space formed between the two guide guard plates 22 and the two limiting plates 23 is a guide groove 3. The anti-torsion roller 41 is located in the guide groove 3, and the limiting plate 23 is located above the anti-torsion roller 41.

[0043] Specifically, see Figure 2 The base plate 21 is made of high-strength, corrosion-resistant metal materials, such as stainless steel or alloy steel. The base plate 21 is firmly fixed to the ground by high-strength bolts or expansion bolts to ensure that the base plate 21 is in close contact with the ground.

[0044] Two guide plates 22 are symmetrically arranged on the base plate 21. The distance between the two guide plates 22 is determined according to the diameter of the anti-torsion roller 41 and the operating requirements. It is necessary to ensure that the anti-torsion roller 41 can roll smoothly in the guide groove 3, and to provide sufficient constraint force to prevent the anti-torsion roller 41 from deviating or falling out during operation.

[0045] A limiting plate 23 is provided along the length direction at the top edge of the opposite side of the two guide guards 22. The limiting plate 23 is firmly fixed to the guide guards 22 by welding or bolt connection. The function of the limiting plate 23 is to further limit the range of motion of the anti-torsion roller 41 in the vertical direction, and prevent it from jumping out of the guide groove 3 due to external force during the operation of the composite robot AGV body 1. The space formed between the two guide guards 22 and the two limiting plates 23 is the guide groove 3, which provides a guiding channel for the anti-torsion roller 41.

[0046] When the composite robot AGV body 1 runs along the preset path, the anti-torsion roller 41 installed in the anti-torsion component 4 at the bottom will embed into the guide groove 3 on the guide support 2. As the composite robot AGV body 1 moves, the anti-torsion roller 41 rolls within the guide groove 3. During the rolling process, the guide guard plate 22 constrains the anti-torsion roller 41 horizontally from both sides to prevent it from deviating to the left or right; while the limiting plate 23 restricts the anti-torsion roller 41 vertically from above to prevent it from jumping out of the guide groove 3. Since the guide groove 3 limits the rolling direction and position of the roller, when the composite robot AGV body 1 is subjected to external force and may have a torsional tendency, the interaction force between the anti-torsion roller 41 and the guide groove 3 will form a reverse torsional torque, thereby effectively resisting the torsion of the composite robot AGV body 1, keeping it in a stable running posture, and ensuring accurate movement along the predetermined trajectory.

[0047] Based on the above embodiments, see Figure 2 Both ends of the two guide plates 22 are provided with bent plates 24 that move away from each other, so that the openings of the two guide plates 22 are V-shaped.

[0048] Specifically, both ends of the two guide plates 22 are provided with bent plates 24 facing away from each other. The bent plates 24 and the guide plates 22 are manufactured using an integral molding process. The setting of the bent plates 24 makes the openings of the two guide plates 22 present a unique V-shaped structure. When the composite robot AGV body approaches the guide support, the V-shaped opening can play an excellent guiding role. Since there may be some errors in the movement of the composite robot AGV body during actual operation, the gradual expansion characteristic of the V-shaped opening is like a funnel, which can guide the anti-torsion roller 41 to enter the guide groove 3 more easily and accurately.

[0049] Based on the above embodiments, see Figure 3 , Figure 4Two anti-torsion components 4 are symmetrically arranged at the bottom of the composite robot AGV body 1, and the two anti-torsion components 4 are connected by a connecting frame 6. The anti-torsion component 4 includes a mounting plate 42, which is connected to the composite robot AGV body 1; a side plate 43, which is symmetrically arranged at the bottom of the mounting plate 42; a fixing rod 44, which is connected between the two side plates 43; a mounting block 45, which is slidably mounted on the fixing rod 44, and a support plate 46 is provided on the side of the mounting block 45 away from the connecting frame 6, which is used to connect the anti-torsion roller 41; and two first elastic elements 47, which are both sleeved on the fixing rod 44. One end of the first elastic element 47 abuts against the side wall of the side plate 43, and the other end abuts against the side wall of the mounting block 45, so that the mounting block 45 is located in the central area of ​​the fixing rod 44.

[0050] Specifically, see [link / reference] Figure 3 , Figure 4 It can be seen that the two anti-torsion components 4 are securely connected by the connecting bracket 6. The specific structure of the anti-torsion component 4 is as follows:

[0051] Mounting plate 42 serves as a connecting bridge between anti-torsion component 4 and composite robot AGV body 1, and is made of high-strength, corrosion-resistant metal materials, such as stainless steel or high-strength alloy steel.

[0052] The two side plates 43 are symmetrically and securely mounted on the bottom of the mounting plate 42. The side plates 43 are also made of high-strength materials, such as high-strength aluminum alloy or alloy steel, to ensure that they have sufficient rigidity and strength to withstand the lateral force and impact force generated by the anti-torsion roller 41 during operation.

[0053] The fixing rod 44 connects between the two side plates 43, serving to support and guide the mounting block 45. The fixing rod 44 is made of high-strength, high-precision metal, such as stainless steel or alloy steel, and its surface undergoes precision grinding and polishing, exhibiting extremely high straightness and roundness to ensure that the mounting block 45 can slide smoothly and steadily on it. The two ends of the fixing rod 44 are fixed to the side plates 43 by means of connection, a common method being threaded connection, and another being welding connection; this application preferably uses a threaded connection.

[0054] Mounting block 45 is slidably mounted on fixed rod 44. Mounting block 45 has a support plate 46 on the side away from connecting frame 6. Support plate 46 is used to connect anti-torsion roller 41.

[0055] Both first elastic elements 47 are sleeved on the fixed rod 44. The first elastic elements 47 are made of highly elastic and fatigue-resistant springs. One end of the first elastic element 47 is in close contact with the side wall of the side plate 43, and the other end is in close contact with the side wall of the mounting block 45. Through the elastic force of the two first elastic elements 47, the mounting block 45 can always be located in the central area of ​​the fixed rod 44. When the composite robot AGV body 1 is running normally, the two first elastic elements 47 can provide a stable preload, keeping the mounting block 45 and the anti-torsion roller 41 in the correct position and ensuring the accuracy of guidance. When the composite robot AGV body 1 encounters uneven ground or other external interference, the anti-torsion roller 41 may be subjected to lateral force, causing the mounting block 45 to shift on the fixed rod 44. At this time, the first elastic element 47 can quickly exert its elastic recovery function, generating an elastic force opposite to the offset direction, so that the mounting block 45 quickly returns to the center position, thereby ensuring that the anti-torsion roller 41 is always in the correct guiding position, effectively resisting the torsion of the composite robot AGV body 1, and improving the stability and guiding accuracy of operation.

[0056] Based on the above embodiment, mounting holes are symmetrically provided on both side plates 43. The mounting holes are provided with internal threads. Each mounting hole is connected to a first adjusting bolt 48. The ends of the two first adjusting bolts 48 abut against the outer walls of the two ends of the mounting block 45.

[0057] Specifically, each of the two mounting holes is connected to a first adjusting bolt 48, which is made of high-strength, wear-resistant high-quality alloy steel.

[0058] The ends of the two first adjusting bolts 48 are in close contact with the outer walls of both ends of the mounting block 45. When it is necessary to adjust the position of the mounting block 45, the operator can do so by rotating the first adjusting bolts 48.

[0059] Based on the above embodiments, the top of the anti-torsion roller 41 is provided with a connecting rod 49, and the support plate 46 is provided with a connecting hole that cooperates with the connecting rod 49.

[0060] Specifically, to ensure a stable connection between the anti-torsion roller 41 and the support plate 46, a connecting rod is provided at the top of the anti-torsion roller 41. The connecting rod is made of 42CrMo alloy steel. To further enhance the connection strength and stability between the anti-torsion roller 41 and the support plate 46, an anti-loosening device is also used in addition to the matching of the connecting rod and the connecting hole. For example, after the connecting rod is inserted into the connecting hole and the position of the anti-torsion roller 41 is adjusted, the locking nut is tightened on the top of the connecting rod, so that the locking nut is tightly fitted to the surface of the support plate 46. Through the threaded connection between the locking nut and the connecting rod and the pressure of the locking nut on the support plate 46, the loosening of the connecting rod due to vibration or external force during operation is effectively prevented. Another anti-loosening method is to use a cotter pin. A small hole is drilled at the top of the connecting rod. After the connecting rod is inserted into the connecting hole, the cotter pin is passed through the small hole and unfolded, so that the two ends of the cotter pin are respectively locked on the connecting rod and the support plate 46, thereby preventing the rotation and axial movement of the connecting rod and ensuring a firm and reliable connection.

[0061] Based on the above embodiments, see Figure 3 and Figure 5 It also includes an anti-tipping component 5, which is located at the bottom of the composite robot AGV body 1. The anti-tipping component 5 includes an anti-tipping roller 51, which can roll within the guide groove 3. Two anti-tipping components 5 are symmetrically arranged on the connecting frame 6. The anti-tipping component 5 includes: a linear bearing, which is installed through the connecting frame 6; a support rod is provided at the top of the anti-tipping roller 51, and the support rod is installed inside the linear bearing; a second elastic element 52 and a second adjusting bolt 53 are both installed on the connecting frame 6 for adjusting the height of the anti-tipping roller 51.

[0062] Specifically, the anti-overturning assembly 5 is equipped with a linear bearing, which is installed through the connecting frame 6. The top of the anti-overturning roller 51 is equipped with a support rod. The support rod is made of high-strength, high-rigidity alloy steel, such as 45# steel or 40Cr steel. The size and shape of the support rod are designed according to the inner diameter of the linear bearing and the installation requirements of the anti-overturning roller 51 to ensure that the support rod can be tightly installed in the linear bearing to achieve stable up and down movement.

[0063] The second elastic element 52 is mounted on the connecting frame 6. Its function is to provide elastic support for the anti-tipping roller 51, enabling the anti-tipping roller 51 to automatically adjust its position according to the height change of the guide groove 3, always maintaining good contact with the guide groove 3. One end of the second elastic element 52 is connected to a fixed part on the connecting frame 6, and the other end is connected to a support rod. During normal operation of the composite robot, the second elastic element 52 is in a certain pre-compression state, providing a stable elastic force to keep the anti-tipping roller 51 tightly fitted inside the guide groove 3, ensuring accurate guidance. When the composite robot encounters uneven ground or other external interference, the height of the guide groove 3 may change. At this time, the second elastic element 52 can quickly exert its elastic recovery function, automatically adjusting the position of the anti-tipping roller 51 according to the height change of the guide groove 3, so that the anti-tipping roller 51 always maintains the correct guiding position, effectively resisting the overturning moment of the composite robot, and improving the stability and safety of operation.

[0064] The second adjusting bolt 53 is also set on the connecting frame 6 and is used to adjust the height of the anti-overturning roller 51. By rotating the second adjusting bolt 53, its position on the connecting frame 6 can be changed, thereby realizing the adjustment of the height of the anti-overturning roller 51.

[0065] Based on the above embodiments, the outer peripheral surfaces of the anti-torsion roller 41 and the anti-overturning roller 51 are provided with rubber sleeves, and the surface of the rubber sleeves is provided with anti-slip textures to increase the friction between the rollers and the guide groove 3 and prevent the rollers from slipping in the guide groove 3.

[0066] Based on the above embodiments, the base plate 21 of the guide support 2 is fixedly installed on the ground by expansion bolts. There are multiple expansion bolts, which are evenly distributed around the base plate 21 to ensure the stability of the guide support 2 installation.

[0067] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0068] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. An auxiliary device suitable for composite robots, characterized in that, include: Composite robot AGV body (1); The guide support (2) is fixedly installed on the running path of the composite robot AGV body (1), and the guide support (2) is provided with a guide groove (3) in the length direction. An anti-torsion component (4) is installed at the bottom of the composite robot AGV body (1). The anti-torsion component (4) includes an anti-torsion roller (41), which can be rolled and embedded in the guide groove (3).

2. The auxiliary device for composite robots according to claim 1, characterized in that, It also includes an anti-tipping component (5), which is disposed at the bottom of the composite robot AGV body (1). The anti-tipping component (5) includes an anti-tipping roller (51), which can roll in the guide groove (3).

3. The auxiliary device for composite robots according to claim 2, characterized in that, The guide support (2) includes a base plate (21) and a guide guard plate (22). The base plate (21) is fixed on the ground. The two guide guard plates (22) are symmetrically arranged on the base plate (21). A limiting plate (23) is provided on the top edge of the opposite side of the two guide guard plates (22) along the length direction. The space formed between the two guide guard plates (22) and the two limiting plates (23) is the guide groove (3).

4. The auxiliary device for composite robots according to claim 3, characterized in that, Both guide plates (22) have bent plates (24) at both ends of their edges facing away from each other, so that the openings of the two guide plates (22) are V-shaped.

5. The auxiliary device for composite robots according to claim 4, characterized in that, The two anti-torsion components (4) are symmetrically arranged at the bottom of the composite robot AGV body (1), and the two anti-torsion components (4) are connected by a connecting frame (6); The anti-torsion component (4) includes: Mounting plate (42), which is connected to the composite robot AGV body (1); Side plates (43), the two side plates (43) are symmetrically arranged on the bottom of the mounting plate (42); A fixing rod (44) is connected between the two side plates (43); Mounting block (45) is slidably mounted on the fixing rod (44). The mounting block (45) has a support plate (46) on the side away from the connecting frame (6). The support plate (46) is used to connect the anti-torsion roller (41). The first elastic element (47) is sleeved on the fixing rod (44). One end of the first elastic element (47) abuts against the side wall of the side plate (43), and the other end abuts against the side wall of the mounting block (45), so that the mounting block (45) is located in the central area of ​​the fixing rod (44).

6. The auxiliary device for composite robots according to claim 5, characterized in that, The two side plates (43) are symmetrically provided with mounting holes, the mounting holes are provided with internal threads, and the two mounting holes are connected with first adjusting bolts (48). The ends of the two first adjusting bolts (48) abut against the outer walls of the two ends of the mounting block (45).

7. The auxiliary device for composite robots according to claim 5, characterized in that, The top of the anti-torsion roller (41) is provided with a connecting rod (49), and the support plate (46) is provided with a connecting hole that cooperates with the connecting rod (49).

8. The auxiliary device for composite robots according to claim 5, characterized in that, Two anti-overturning components (5) are symmetrically disposed on the connecting frame (6), wherein the anti-overturning component (5) includes: A linear bearing is installed through the connecting frame (6), and a support rod is provided on the top of the anti-overturning roller (51), which is installed inside the linear bearing; The second elastic element (52) and the second adjusting bolt (53) are both provided on the connecting frame (6) for adjusting the height of the anti-overturning roller (51).

9. The auxiliary device for composite robots according to claim 8, characterized in that, Both the anti-torsion roller (41) and the anti-overturning roller (51) have rubber sleeves on their outer circumferential surfaces.

10. The auxiliary device for composite robots according to claim 9, characterized in that, The base plate (21) is fixed to the ground by expansion bolts.

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