A composite robot with goods moving function

Abstract

The utility model relates to robot technical field, concretely relates to a compound robot with the function of carrying goods, include: the robot body with the function that travels and install the grabbing manipulator on its upper surface one end, the top of robot body is connected with rotating component, the top of rotating component is connected with the bearing platform frame of rectangle, the both sides of robot body are connected with the inclined swing type support leg mechanism respectively, the inclined swing type support leg mechanism includes the inclined mounting seat and the inclined swing rod, the side surface of inclined mounting seat is connected with the side of robot body, the side surface of inclined mounting seat is connected with the limit stop, the inclined swing rod's oblique upper end is connected through the trunnion between the inclined mounting seat, and the oblique lower end is connected with the support leg rod body, still include the telescopic drive part of driving the swing of inclined swing rod, the utility model discloses reasonable in structure, has strengthened use safety and use convenience.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a composite robot with cargo handling function. Background Technology

[0002] Robots, as a product of the deep integration of multiple disciplines, integrate core technologies such as mechanical engineering, electronic technology, computer science, and artificial intelligence (AI). They possess the ability to autonomously or semi-autonomously perceive their environment, process information, make decisions, and execute tasks. They can effectively replace or assist humans in completing complex, tedious, repetitive, high-risk, or precision-critical tasks, making them typical intelligent equipment. From an application scenario perspective, they mainly encompass three categories: industrial robots, service robots, and special-purpose robots. Among these, AGVs (Automated Guided Vehicles), widely used in the transportation industry, are an important branch of industrial robots. They can autonomously navigate according to preset paths or through dynamic path planning, accurately completing automated tasks such as material handling, cargo loading and unloading, and environmental inspection, providing crucial support for improving efficiency in the transportation process. To achieve cargo loading and unloading functions, robots are typically equipped with robotic arms. These arms can grasp goods and place them on the robot's platform, and also grasp goods from the platform and place them in designated areas, thus completing the loading and unloading operations.

[0003] However, in practical applications, since the robotic arm needs to extend a certain distance to grasp the goods, when the goods are heavy, the robotic arm is very likely to cause the robot's center of gravity to shift to one side during the process of grasping and lifting the goods, which increases the risk of the robot tipping over and reduces the safety of use. At the same time, in order to ensure a large cargo carrying area, the carrying platform is usually designed to be rectangular, which makes it difficult for the robotic arm to place the goods stably on the corner of the carrying platform away from itself, affecting the convenience of use. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a composite robot with cargo handling function, which enhances safety and convenience of use.

[0005] To solve the above-mentioned technical problems, the present invention adopts a technical solution as follows: a composite robot with a cargo handling function is provided, comprising: a robot body with a driving function and a gripping manipulator installed on one end of its upper surface, a rotating component connected to the top of the robot body, a rectangular support platform frame connected to the top of the rotating component, and tilting swing-type support leg mechanisms connected to both sides of the robot body. The tilting swing leg mechanism includes a tilting mounting base and a tilting swing rod. The tilting mounting base is connected to the side of the robot body. A limit plate is connected to one side of the tilting mounting base. The upper end of the tilting swing rod is connected to the tilting mounting base by a pin. The lower end is connected to the leg rod body. It also includes a telescopic drive component for driving the tilting swing rod to swing.

[0006] By adopting the above technical solution, during use, when the gripping manipulator is gripping goods on the side of the robot body, its gripping and lifting actions may cause the robot's center of gravity to shift to one side. At this time, the telescopic drive is operated to drive the tilting swing arm to swing outward. The tilting swing arm then drives the outrigger to swing to a specific angle until the lower end of the outrigger contacts the ground. Since the distance between the outriggers on the two tilting swing outrigger mechanisms is greater than the distance between the two rollers in the width direction of the robot body, the stability of the robot body supporting the gripping manipulator is effectively enhanced, the probability of the composite robot tipping over is reduced, and the safety of use is improved. When the gripping robot grabs and places goods onto the rectangular support platform, due to its limited extension length, the goods are easily placed at the two corners of the rectangular support platform closest to the gripping robot, while the two corners far from the gripping robot are difficult to place goods at due to operational inconvenience. At this time, operating the rotating component to rotate the rectangular support platform 180 degrees allows all four corners of the platform to be close to the gripping robot, which not only facilitates the gripping robot in placing goods on the rectangular support platform and improves operational convenience, but also increases the space utilization rate of the rectangular support platform.

[0007] In a preferred embodiment, the present invention can be further configured as follows: the top of the robot body is provided with a mounting groove, and the two side walls of the mounting groove are respectively provided with rectangular clearance holes. The telescopic drive component includes an electric push rod passing through the rectangular clearance holes and a hinge seat connected to the tilting swing rod. The extended end of the electric push rod is connected to a fisheye connector, and the fisheye connector and the hinge seat are connected by a pin. The tail end of the electric push rod is connected to a fixed seat, and the fixed seat is provided with a circular mounting hole. A universal bearing is installed in the circular mounting hole, and a fixed shaft passes through the inner hole of the universal bearing. The lower end of the fixed shaft is connected to a circular connecting seat, and the circular connecting seat is connected to the bottom of the mounting groove. The upper end of the fixed shaft is provided with a limiting hole, and a cotter pin passes through the limiting hole.

[0008] By adopting the above technical solution, the telescopic rod of the electric actuator extends and retracts, thereby driving the tilting swing rod to tilt and swing. The fisheye joint at the extended end of the electric actuator is connected to the hinge seat by a pin, and the universal bearing in the circular mounting hole is fitted onto the fixed shaft, which allows the electric actuator itself to generate irregular offset and rotation when driving the tilting swing rod to swing.

[0009] In a preferred embodiment, the present invention can be further configured as follows: the rotating component includes a circular support plate and a plurality of support rods arranged in a circular array, the upper end of the support rods being connected to the circular support plate and the lower end being connected to the robot body, a rotary support is mounted on the circular support plate, the rotary support is connected to the rectangular bearing platform frame, and a circumferential drive component is also included to drive the rotary support to rotate.

[0010] By adopting the above technical solution, the circular support plate is indirectly connected to the robot body through the support rod, providing support and fixing for the rotary support. When the circumferential drive component is working, it drives the rotary support to rotate, which in turn drives the rectangular load-bearing platform frame to rotate, making it easier for the gripping robot arm to place the goods at the corner of the rectangular load-bearing platform frame, effectively improving the convenience of operation and the space utilization of the rectangular load-bearing platform frame.

[0011] In a preferred embodiment, the present invention can be further configured such that: the circumferential drive component includes a U-shaped mounting base, a motor is connected to the U-shaped mounting base, a gear is fitted onto the output shaft of the motor, and the gear is meshed with a rotary support.

[0012] By adopting the above technical solution, the motor drives the gear to rotate. Since the gear is meshed with the slewing support, the gear can indirectly drive the slewing support to rotate in a circle. That is, the slewing support drives the rectangular load-bearing platform frame to rotate.

[0013] In a preferred embodiment, the present invention can be further configured such that: a counterweight assembly is connected to the gripping robot arm, which is suitable for preventing the gripping robot arm from tipping over when gripping goods; The counterweight assembly includes a horizontal support plate and a cylinder. One end of the horizontal support plate is connected to the gripping robot, and the upper surface of the other end is connected to the lower end of the cylinder. An annular counterweight is fitted onto the outer circumference of the cylinder.

[0014] By adopting the above technical solution, the annular counterweight is fitted onto the outer circumference of the cylinder and contacts the horizontal support plate, with the cylinder limiting the position of the annular counterweight. The use of the annular counterweight helps to reduce the significant shift in the robot's center of gravity when the gripping robot grasps and lifts goods, thus enhancing the robot's stability.

[0015] In a preferred embodiment, the present invention can be further configured as follows: the rectangular support platform frame includes a rectangular plate and a rectangular frame located above it, a plurality of connecting rods are connected between the rectangular frame and the rectangular plate at intervals, and a rectangular placement groove is recessed at the upper end of the rectangular plate.

[0016] By adopting the above technical solution, the gripping robot places the goods into the rectangular placement slot of the rectangular plate, preventing the goods from slipping off the rectangular plate when the composite robot starts and stops. The use of the rectangular frame also reduces the probability of goods tipping over.

[0017] In summary, this utility model has at least one of the following beneficial technical effects: 1. When grasping goods, the tilting and swinging outrigger mechanism can increase the spacing between the outriggers, counteract the shift in the robot's center of gravity, enhance support stability, reduce the risk of tipping over, and improve safety.

[0018] 2. With the help of the rotating component, the support platform frame can be rotated 180 degrees, which solves the problem of inconvenient placement of rectangular support platform frames at corners due to the extension limitation of the gripping robot. This not only improves the convenience of operation, but also increases the utilization rate of platform space. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of a preferred embodiment of a composite robot with cargo handling function according to the present invention.

[0020] Figure 2 yes Figure 1 A schematic diagram of the rotating component.

[0021] Figure 3 yes Figure 1 A schematic diagram of the telescopic drive component.

[0022] In the diagram: 1. Robot body; 2. Grasping manipulator; 40. Rotating component; 50. Rectangular support platform frame; 60. Tilt-and-swing outrigger mechanism; 7. Mounting slot; 8. Rectangular clearance hole; 90. Counterweight component; 41. Circular support plate; 42. Support rod; 43. Slewing bearing; 44. Circumferential drive component; 441. U-shaped mounting bracket; 442. Motor; 443. Gear; 51. Rectangular plate; 52. Rectangular frame; 53. Connecting rod; 54. Rectangular placement slot; 61. Inclined mounting base; 62. Inclined swing arm; 63. Limiting plate; 64. Outrigger rod; 65. Telescopic drive component; 651. Electric actuator; 652. Hinge seat; 653. Fisheye connector; 654. Fixed seat; 655. Circular mounting hole; 656. Universal bearing; 657. Fixed shaft; 658. Circular connecting seat; 659. Limiting hole; 659a. Cotter pin; 91. Horizontal support plate; 92. Cylinder; 93. Annular counterweight. Detailed Implementation

[0023] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] It should be noted that these figures are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0025] Reference Figures 1-3 The present invention discloses a composite robot with a cargo handling function, comprising: a robot body 1 with a driving function and a gripping manipulator 2 installed on one end of its upper surface; a rotating component 40 is connected to the top of the robot body 1; and a rectangular support platform frame 50 is connected to the top of the rotating component 40.

[0026] The rectangular support platform 50 includes a rectangular plate 51 and a rectangular frame 52 located above it. Several connecting rods 53 are spaced apart between the rectangular frame 52 and the rectangular plate 51. A rectangular placement groove 54 is recessed at the upper end of the rectangular plate 51. The gripping robot 2 grips goods and places them in the rectangular placement groove 54 of the rectangular plate 51 to prevent goods from slipping off the rectangular plate 51 when the composite robot starts and stops. The use of the rectangular frame 52 reduces the probability of goods tipping over.

[0027] The robot body 1 is equipped with tilting swing leg mechanisms 60 on both sides. The tilting swing leg mechanism 60 includes a tilting mounting base 61 and a tilting swing rod 62. The tilting mounting base 61 is connected to the side of the robot body 1. A limit plate 63 is connected to one side of the tilting mounting base 61. The upper end of the tilting swing rod 62 is connected to the tilting mounting base 61 by a pin. The lower end is connected to the leg rod 64. The mechanism also includes a telescopic drive member 65 that drives the tilting swing rod 62 to swing. When the telescopic drive member 65 drives the tilting swing rod 62 to contact the limit plate 63, the leg rod 64 is perpendicular to the ground.

[0028] The top of the robot body 1 is provided with a mounting groove 7. The two side walls of the mounting groove 7 are respectively provided with rectangular clearance holes 8. The telescopic drive component 65 includes an electric push rod 651 passing through the rectangular clearance holes 8 and a hinge seat 652 connected to the tilting swing rod 62. The extended end of the electric push rod 651 is connected to a fisheye connector 653. The fisheye connector 653 and the hinge seat 652 are connected by a pin. The tail of the electric push rod 651 is connected to a fixed seat 654. The fixed seat 654 is provided with a circular mounting hole 655. A universal bearing 656 is installed in the circular mounting hole 655. A fixed shaft 657 passes through the inner hole of the universal bearing 656. The lower end of the fixed shaft 657 is connected to a circular connecting seat 658. The circular connecting seat 658 is connected to the bottom of the mounting groove 7. The upper end of the fixed shaft 657 is provided with a limiting hole 659. A cotter pin 659a passes through the limiting hole 659 to prevent the fixed shaft 657 from falling out of the inner hole of the universal bearing 656. The telescopic rod of the electric actuator 651 extends and retracts, thereby driving the tilting swing rod 62 to tilt and swing. The fisheye joint 653 at the extended end of the electric actuator 651 is connected to the hinge seat 652 by a pin, and the universal bearing 656 in the circular mounting hole 655 is fitted on the fixed shaft 657, so that when the electric actuator 651 drives the tilting swing rod 62 to swing, the electric actuator 651 itself can generate irregular offset and rotation.

[0029] The rotating assembly 40 includes a circular support plate 41 and several support rods 42 arranged in a circular array. The upper end of each support rod 42 is connected to the circular support plate 41, and the lower end is connected to the robot body 1. A rotary support 43 is mounted on the circular support plate 41 and is connected to the rectangular support platform frame 50. The assembly also includes a circumferential drive component 44 that drives the rotary support 43 to rotate. The circular support plate 41 is indirectly connected to the robot body 1 via the support rods 42, providing support and fixing for the rotary support 43. When the circumferential drive component 44 is working, it drives the rotary support 43 to rotate, thereby causing the rectangular support platform frame 50 to rotate. This facilitates the gripping robot 2 in placing goods at the corners of the rectangular support platform frame 50, effectively improving operational convenience and the space utilization of the rectangular support platform frame 50.

[0030] The circumferential drive component 44 includes a U-shaped mounting base 441, on which a motor 442 is connected. A gear 443 is fitted onto the output shaft of the motor 442, and the gear 443 meshes with the slewing support 43. When the motor 442 operates, it drives the gear 443 to rotate. Because the gear 443 meshes with the slewing support 43, it can indirectly drive the slewing support 43 to rotate in a circular motion; that is, the slewing support 43 drives the rectangular support platform frame 50 to rotate.

[0031] A counterweight assembly 90 is connected to the gripping robot 2 to prevent it from tipping over when gripping goods. The counterweight assembly 90 includes a horizontal support plate 91 and a cylinder 92. One end of the horizontal support plate 91 is connected to the gripping robot 2, and the upper surface of the other end is connected to the lower end of the cylinder 92. An annular counterweight block 93 is fitted onto the outer circumference of the cylinder 92. The annular counterweight block 93 is fitted onto the outer circumference of the cylinder 92 and contacts the horizontal support plate 91, with the cylinder 92 limiting the position of the annular counterweight block 93. The use of the annular counterweight block 93 helps to reduce the large displacement of the robot body 1's center of gravity when the gripping robot 2 grips and lifts goods, thus enhancing the stability of the robot body 1.

[0032] The implementation principle of this embodiment is as follows: During use, when the gripping robot 2 performs a gripping operation on the side of the robot body 1, its gripping and lifting actions can easily cause the center of gravity of the robot body 1 to shift to one side. At this time, the telescopic drive component 65 is operated to drive the tilting swing rod 62 to swing outward. The tilting swing rod 62 then drives the support leg 64 to swing to a specific angle until the lower end of the support leg 64 contacts the ground. Since the distance between the support leg 64 on the two tilting swing support leg mechanisms 60 is greater than the distance between the two rollers in the width direction of the robot body 1, the support stability of the robot body 1 on the gripping robot 2 is effectively enhanced, the probability of the composite robot tipping over is reduced, and the safety of use is improved. When the gripping robot 2 grabs the goods and places them on the rectangular support platform 50, due to its limited extension length, the goods are easily placed at the two corners of the rectangular support platform 50 near the gripping robot 2, while the two corners far from the gripping robot 2 are difficult to place goods at due to inconvenience in operation. At this time, operating the rotating component 40 to rotate the rectangular support platform 50 by 180 degrees allows all four corners of the platform to be close to the gripping robot 2, which not only makes it easier for the gripping robot 2 to place the goods on the rectangular support platform 50, improving operational convenience, but also improves the space utilization rate of the rectangular support platform 50.

[0033] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A composite robot with cargo handling function, comprising: A robot body (1) with driving function and a gripping manipulator (2) installed on one end of its upper surface, characterized in that a rotating component (40) is connected to the top of the robot body (1), a rectangular support platform frame (50) is connected to the top of the rotating component (40), and tilting swing leg mechanisms (60) are connected to both sides of the robot body (1). The tilting swing leg mechanism (60) includes a tilting mounting base (61) and a tilting swing rod (62). The tilting mounting base (61) is connected to the side of the robot body (1). A limit plate (63) is connected to one side of the tilting mounting base (61). The upper end of the tilting swing rod (62) is connected to the tilting mounting base (61) by a pin. The lower end is connected to the leg rod body (64). It also includes a telescopic drive component (65) for driving the tilting swing rod (62) to swing.

2. The composite robot with cargo handling function according to claim 1, characterized in that, The top of the robot body (1) is provided with a mounting groove (7), and the two side walls of the mounting groove (7) are respectively provided with rectangular clearance holes (8). The telescopic drive component (65) includes an electric push rod (651) passing through the rectangular clearance hole (8) and a hinge seat (652) connected to the tilting swing rod (62). The protruding end of the electric push rod (651) is connected to a fisheye connector (653). The fisheye connector (653) and the hinge seat (652) are connected by a pin. The tail of the electric push rod (651) is connected to a fixed seat. (654) The fixed base (654) is provided with a circular mounting hole (655), a universal bearing (656) is installed in the circular mounting hole (655), a fixed shaft (657) is passed through the inner hole of the universal bearing (656), a circular connecting seat (658) is connected to the lower end of the fixed shaft (657), the circular connecting seat (658) is connected to the bottom of the mounting groove (7), and a limiting hole (659) is provided at the upper end of the fixed shaft (657), a cotter pin (659a) is passed through the limiting hole (659).

3. The composite robot with cargo handling function according to claim 1, characterized in that, The rotating component (40) includes a circular support plate (41) and a plurality of support rods (42). The support rods (42) are arranged in a circular array. The upper end of the support rod (42) is connected to the circular support plate (41), and the lower end is connected to the robot body (1). A rotary support (43) is installed on the circular support plate (41). The rotary support (43) is connected to the rectangular bearing platform frame (50). It also includes a circumferential drive component (44) for driving the rotary support (43) to rotate.

4. The composite robot with cargo handling function according to claim 3, characterized in that, The circumferential drive component (44) includes a U-shaped mounting base (441), on which a motor (442) is connected. The output shaft of the motor (442) is fitted with a gear (443), which meshes with a slewing support (43).

5. The composite robot with cargo handling function according to claim 1, characterized in that, The gripping robot (2) is connected to a counterweight assembly (90) which is suitable for preventing the gripping robot (2) from tipping over when gripping goods; The counterweight assembly (90) includes a horizontal support plate (91) and a cylinder (92). One end of the horizontal support plate (91) is connected to the gripping robot (2), and the upper surface of the other end is connected to the lower end of the cylinder (92). The outer circle of the cylinder (92) is fitted with an annular counterweight block (93).

6. The composite robot with cargo handling function according to claim 1, characterized in that, The rectangular support platform frame (50) includes a rectangular plate (51) and a rectangular frame (52) located above it. A number of connecting rods (53) are connected between the rectangular frame (52) and the rectangular plate (51) at intervals. A rectangular placement groove (54) is recessed at the upper end of the rectangular plate (51).

Images