CN219478245U - Composite robot cabinet - Google Patents

Abstract

The utility model provides a compound robot cabinet, which comprises a cabinet body, wherein a maintenance channel space is arranged between the cabinet body and an AGV chassis when the cabinet body is installed on the AGV chassis, and installation positions for installing a battery compartment module, a mechanical arm control box module, a demonstrator module, an electric control board module, an inverter module, an industrial personal computer module, an air exchange module, a side radar module, a mechanical arm installation module and a control handle fixing module are respectively arranged on the cabinet body. Each module can be independently installed on the cabinet body, so that the assembly efficiency can be improved, and the problems of low space utilization rate and inconvenient operation and maintenance of the prior cabinet are solved.

Description

Composite robot cabinet

Technical Field

The utility model belongs to the field of robots, and particularly relates to a compound robot cabinet.

Background

The compound robot is a novel automatic solution combining AGV technology and a cooperative mechanical arm, and is widely applied to industries of 3C, new energy, semiconductors and the like.

As a middle part connecting the two large modules of the composite robot, the AGV and the cooperative robot arm, the composite robot cabinet needs to face the cooperative robot arm and the internal functional components of various brands. The replacement and debugging of the functional components in the composite robot are concentrated in a narrow space, so that the reasonable layout in the cabinet of the composite robot is particularly important for debugging. However, the existing compound robot cabinet has the following problems: 1) The space is narrow, and the maintenance and the debugging are inconvenient; 2) The utilization rate of the internal space is low; 3) The modularization degree is low, and the development period is long. Therefore, a general cabinet which can combine different modules of a robot and has the characteristics of convenient maintenance and debugging is urgently needed.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model uses the modular design thinking, uses the assembly maintenance convenience as a core to re-layout the internal layout of the compound robot cabinet, increases the space utilization rate, improves the maintenance convenience, can independently install each module of the robot in the cabinet body, can improve the assembly efficiency, and solves the problems of inconvenient operation and maintenance and low space utilization rate of the traditional cabinet.

In order to achieve the above object, the utility model provides a compound robot cabinet, which comprises a cabinet body, wherein when the cabinet body is installed on an AGV chassis, a maintenance channel space is arranged between the cabinet body and the AGV chassis, the cabinet body is provided with installation positions for installing a battery compartment module, a mechanical arm control box module, a demonstrator module, an electric control board module, an inverter module, an industrial personal computer module, an air exchange module, a side radar module, a mechanical arm installation module and a control handle fixing module respectively, wherein the left side and the right side of the cabinet body are used for installing the battery compartment module and the demonstrator module respectively, the rear side of the cabinet body is used for installing the mechanical arm control box module, the outer side of the cooperative mechanical arm control box module is used for installing the air exchange module and the side radar module, the upper side of the mechanical arm control box module is used for installing the inverter module, the front side of the cabinet body is used for installing the industrial personal computer module, and the upper space of the air exchange module is used for installing the control handle fixing module and the mechanical arm installation module.

According to a further improvement of the utility model, the cabinet body is connected with the AGV chassis through bolts.

The cabinet body is fastened with the bolt for connection between the AGV chassis, and the design of bolt hole site avoids the interior module of rack to avoid interfering and sheltering from simultaneously, can remove the bolt under the condition of not demolishing other modules.

The cabinet body reserves the passageway space that can hold maintenance personnel arm to stretch into with the AGV chassis in the middle of, realizes changing at will or overhauling the inside components and parts in AGV chassis under the circumstances that does not remove upper cabinet.

The inside reservation of the cabinet body is applicable to various existing modules at each module installation position, and the quick installation and the disassembly are realized.

According to the utility model, the demonstrator hanging frame for installing the demonstrator is fixedly arranged at the position of the demonstrator module in the cabinet body.

The mounting positions of the demonstrator modules are reserved for mounting hole positions of various cooperative mechanical arm demonstrator hangers, and the demonstrator modules can be mounted by only requiring the demonstrator hanger of the brand type to be mounted in a targeted manner under the condition of not redesigning the demonstrator mounting plate.

According to a further improvement of the utility model, a sheet metal plate is arranged at the position for arranging the electric control plate module, and the sheet metal plate is provided with a mounting hole.

Preferably, the electronic control board module mounting location provides a sheet metal with an area of at least 500 x 280mm on which various types of mounting holes are arranged, which holes can be used by an assembler to quickly mount the desired electrical components.

According to a further improvement of the utility model, the position adjacent to the industrial personal computer module in the cabinet body is used for arranging the cooling fan.

According to a further development of the utility model, a grille is detachably arranged on the cabinet body corresponding to the outer side of the air exchange module.

According to a further development of the utility model, a cover plate is arranged on the cabinet body corresponding to the outer side of the side radar module.

According to the utility model, the cabinet body is formed by welding metal plates.

According to a further improvement of the utility model, the top of the cabinet body is provided with a storage area.

According to a further improvement of the utility model, a drawer module is arranged in the cabinet body and above the electric control plate module.

The battery compartment module is arranged on the battery compartment module, and the battery compartment module is arranged on the battery compartment module.

The mechanical arm control box module and the bottom of the cabinet body are provided with universal mounting screw holes, and the universal use of the cooperative mechanical arm control box is realized through the transfer metal plates according to different brand models of the cooperative mechanical arm control box.

The cooperation type mechanical arm control box module is convenient to wire in design, and enough space is reserved in the wire outlet direction of different cooperation type mechanical arm control boxes so as to be convenient for assembly maintenance personnel to operate.

The inverter module installation position provides an installation space capable of accommodating at least 1200W of inverter, and the reserved installation hole can be suitable for inverter modules with smaller power.

The industrial personal computer module is arranged on the back of the electric control board and is suitable for the condition with the vision module. And a cooling fan for cooling the industrial personal computer is also optionally arranged simultaneously with the industrial personal computer.

Wherein, the air exchange module is installed in cabinet body both sides, can dispose an axial fan respectively, and one side is admitted air and is one side is discharged and make the internal air convection of cabinet in order to reduce temperature, and the grid that this air exchange module outside set up can dismantle the washing fast, and the grid back has the filter screen to filter the dust. The width of the grille is smaller than 4mm, so that injury caused by the penetration of fingers or other foreign matters of personnel can be prevented.

The side radar modules are arranged on two sides of the cabinet body, each side is provided with a radar, the radar is connected with a universal mounting hole on the cabinet body through a transfer metal plate, the radar plays a role of obstacle avoidance in the side direction at high altitude, the installation or the non-installation can be selected, and the cover plate is locked at the radar installation position when the radar is not installed.

Wherein the storage area is mounted above the cabinet providing a space of at least 692 x 600mm for placement of different materials.

The installation position can be adapted to the collaborative mechanical arms of various brands and types, provides a wire passing hole and a pipeline package installation hole, and supports the wire outlet cladding of the collaborative mechanical arm.

Wherein the drawer module provides at least 470 x 180 x 60 space above the electronic control panel module to accommodate additional functional modules or accessories.

The control handle fixing module is opened on a mounting plate of the cooperative mechanical arm mounting module, a space which is at least 140 multiplied by 95 multiplied by 55 is downwards recessed to accommodate the control handle of the cooperative mechanical arm, the mounting plate is made of iron or aluminum or plastic, and the chassis can be attracted by a handle magnet through mounting an iron block or a magnet.

The visual clamping jaw module is arranged at the tail end of the cooperative mechanical arm, and is used as an execution module of the cooperative mechanical arm, an ISO9409-1-50-4-M6 standard mounting flange is provided, and the visual clamping jaw module can be matched with cooperative clamping jaws of various types or a custom mounting plate is added to be matched with non-cooperative clamping jaws, and the visual component and the industrial personal computer module are simultaneously selected or not.

The pipeline package module is arranged on the cooperative mechanical arm and consists of two groups of spherical movable joints, two groups of sliding joints, a group of terminal fixed joints of the cooperative mechanical arm and a group of base fixed joints of the cooperative mechanical arm, and can select two common corrugated pipes with the inner diameter of 16mm and the inner diameter of 22mm or corrugated pipes with other inner diameter specifications according to requirements.

Compared with the prior art, the utility model at least has the following beneficial effects:

according to the cabinet provided by the utility model, each module can be independently installed on the cabinet body, so that the assembly efficiency can be improved, and the problem of inconvenient operation and maintenance of the traditional cabinet is solved. The side door corresponds the battery storage position, opens and can quick replacement battery, and another side door corresponds the arm demonstrator, can open the door when starting and take out quick debugging, and the front door corresponds automatically controlled subassembly, can carry out quick maintenance to electrical components after opening, and the back door corresponds the arm switch board, is convenient for the arm debugging and wiring.

Drawings

Fig. 1 is a schematic view of the overall structure of a compound robot.

Fig. 2 is a schematic structural diagram of a composite robot cabinet according to an embodiment of the present utility model.

Fig. 3 is a schematic structural diagram of another view angle of a composite robot cabinet according to an embodiment of the present utility model.

In the figure, a cabinet body 1; a battery compartment 2; a cooperative mechanical arm control box module 3; a demonstrator module 4; an electric control board module 5; an inverter module 6; the industrial personal computer module 7; an air exchange module 8; a side radar module 9; a reservoir region 10; a cooperative arm installation module 11; a drawer module 12; a handle fixing module 13; a vision jaw module 14; a pipeline package module 15.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-3, the compound robot cabinet provided by the utility model comprises a cabinet body 1 and mounting positions arranged on the cabinet body 1 and used for respectively mounting a battery compartment module 2, a cooperative mechanical arm control box module 3, a demonstrator module 4, an electric control board module 5, an inverter module 6, an industrial personal computer module 7, an air exchange module 8, a side radar module 9, a storage area 10, a cooperative mechanical arm mounting module 11, a drawer module 12 and a control handle fixing module 13.

The cabinet body 1 can be installed on an AGV chassis and used as a carrier of each functional module, so that each functional module of the robot forms a certain spatial relationship, and the cabinet body 1 plays a role in installing each functional module and supporting an upper cooperative mechanical arm and a storage area 10. Preferably, the connection between the cabinet body 1 and the AGV chassis is fastened by bolts, and the design of the bolt hole sites avoids the modules in the cabinet body 1 so as to avoid interference shielding, so that the bolts can be removed without removing other modules installed in the cabinet body 1.

The cabinet body 1 and the AGV chassis are provided with a maintenance channel space capable of accommodating the arm of a maintenance person to stretch in, and components inside the AGV chassis can be replaced or overhauled at will under the condition that an upper cabinet is not removed.

The battery compartment module 2, the mechanical arm control box module 3, the demonstrator module 4, the electric control board module 5, the inverter module 6, the industrial personal computer module 7, the side radar module 9, the mechanical arm installation module 11, the control handle fixing module 13 and other installation positions are reserved on the cabinet body 1, and the battery compartment module 2 is positioned on the side surface of the cabinet body, so that battery replacement is facilitated; the mounting position of the demonstrator module 4 is positioned at the other side door, so that the demonstrator module can be conveniently taken out for operation during debugging and use; the inverter module 6 and the mechanical arm control box module 3 are arranged at the rear door of the cabinet body 1, so that the mechanical arm control box is convenient to connect and maintain; the side radar module 9 is used as an optional accessory and is positioned at the lower position of the cabinet, so that the recognition of the obstacle at the high side can be realized; the control handle is arranged on the table top at the position of the module 13, the ground clearance is approximately 900mm, the equipment is convenient for operators to operate, the industrial personal computer module 7 and the electric control plate module 5 are positioned at the main door of the cabinet, and the main door can be opened for quick maintenance. The module is applicable to various existing modules and can be quickly assembled and disassembled.

In some embodiments of the utility model, the metal door outside the cabinet 1 can be locked or not locked according to the requirement, and the door lock assembly with the lock can be replaced when the metal door is locked.

In some embodiments of the utility model, the battery compartment module 2 may be configured to accommodate batteries of different capacities as desired.

The modules in the cabinet body 1 can replace specified functional modules according to requirements, such as control boxes of collaborative mechanical arms with different brands and models, batteries with different capacities, and the like.

In some embodiments of the present utility model, the robot control box module 3 may install control boxes of cooperative robot of different brands and models according to requirements.

In some embodiments of the present utility model, the demonstrator module 4 may be installed or not installed according to requirements, and may also be used for installing different brands of demonstrators.

In some embodiments of the present utility model, the electronic control board module 5 can install different numbers or different specifications of electrical components according to requirements, and the front maintenance door can be opened for quick maintenance.

In some embodiments of the present utility model, the inverter module 6 may be selectively installed or uninstalled according to the requirements, and the installed inverter model may be selected to be different according to the adapted power requirements.

In some embodiments of the present utility model, the industrial personal computer module 7 may be selectively installed or not installed according to the requirements.

In some embodiments of the present utility model, the air exchange module 8 may be easily removable for cleaning.

In some embodiments of the utility model, the side radar module 9 may be selectively installed or uninstalled as desired.

In some embodiments of the present utility model, the storage area 10 may be provided with material fixing components with different functions according to requirements, and various mounting holes may be processed according to requirements.

In some embodiments of the present utility model, the arm installation module 11 may install different cooperative mechanical arms of different brands according to the requirements, and may process the installation hole according to the required hole.

In some embodiments of the present utility model, the drawer module 12 may optionally house an external display or a mouse-keyboard or a cooperating mechanical arm teach pendant.

In some embodiments of the present utility model, the control handle fixation module 13 may be used or not used as desired.

In some embodiments of the present utility model, the vision jaw module 14 may adapt the jaws and vision components to different brands of specifications as desired.

In some embodiments of the present utility model, the pipeline package module 15 may be selectively installed or uninstalled according to requirements, and at least two pipeline package collocation schemes may be provided when installation is selected.

The battery compartment module 2 is used for realizing manual quick replacement of the batteries by blocking the batteries by the elastic sheets, and is simple to operate, and at least two batteries with different capacities and different external dimensions can be adapted by using or not using selected accessories.

The maintenance passage space is hollowed out below the battery compartment module 2, so that maintenance personnel can conveniently overhaul components inside the AGV chassis.

The installation screw holes are formed in the bottoms of the cooperative mechanical arm control box module 3 and the cabinet body 1, different brand models of the cooperative mechanical arm control box are fixed in the installation screw holes through transfer metal plates, and universal installation of the cooperative mechanical arm control box is achieved.

The cooperative mechanical arm control box module 3 is convenient to wire in design, and enough space is reserved in the wire outlet direction of different cooperative mechanical arm control boxes to facilitate the operation of assembly maintenance personnel.

The demonstrator module 4 reserves mounting hole sites for various cooperative mechanical arm demonstrator hangers, and can meet the mounting of the demonstrators of the brand type only by purposefully mounting the demonstrator hangers of the brand type without redesigning the demonstrator mounting plate.

The electric control board module 5 provides a sheet metal with an area of at least 500 x 280mm, on which various mounting holes are arranged, which can be used by an assembler to rapidly mount the required electrical components.

The inverter module 6 provides a mounting space for at least 1200W of inverter, and the reserved mounting holes can be suitable for inverter modules with smaller power.

The industrial personal computer module 7 is arranged on the back surface of the electric control board module 5 and is suitable for the condition with a vision module. And a cooling fan for cooling the industrial personal computer is also optionally arranged simultaneously with the industrial personal computer.

The air exchange module 8 is arranged at two sides of the cabinet body, an axial flow fan is respectively arranged, one side of the air exchange module is air-in, and the air is exhausted from one side of the air exchange module to enable the air in the cabinet body to be convected so as to reduce the temperature, the grille at the outer side of the air exchange module 8 can be rapidly disassembled and cleaned, and the filter screen is arranged at the back of the grille so as to filter dust. The width of the grille is smaller than 4mm, so that injury caused by the penetration of fingers or other foreign matters of personnel can be prevented.

The side radar modules 9 are arranged on two sides of the cabinet body, each side is provided with a radar, the radar is arranged on a radar mounting hole formed in the cabinet body through a transfer sheet metal, the radar plays a role in avoiding barriers in the side direction, the radar can be selectively installed or not installed, and the cover plate is locked at the radar installation position when the radar is not installed.

The storage area 10 is mounted above the cabinet providing a space of at least 692 x 600mm for placement of different materials. Such as may be used to place rollers, belt lines, etc.

The cooperative mechanical arm installation module 11 is installed on the highest plane of the cabinet body 1, can be adapted to cooperative mechanical arms of various brands and models, provides a wire passing hole and a pipeline package installation hole, and supports wire outlet cladding of the cooperative mechanical arms.

The drawer module 12 provides at least 470 x 180 x 60 space above the electronic panel module 5 to accommodate additional functional modules or accessories.

The control handle fixing module 13 is opened on the mounting plate of the cooperative mechanical arm mounting module 11, a space for accommodating the control handle of the cooperative mechanical arm is recessed downwards, the mounting plate is made of iron or aluminum or plastic, and the chassis can be attracted by the handle magnet through mounting iron blocks or magnets.

The vision clamping jaw module 14 is arranged at the tail end of the cooperative mechanical arm, and is used as an execution module of the cooperative mechanical arm, an ISO9409-1-50-4-M6 standard mounting flange is provided, and the vision clamping jaw module can be matched with each type of cooperative clamping jaw or a mounting plate matched with a non-cooperative clamping jaw is added, and the vision assembly and the industrial personal computer module 7 are simultaneously selected or not installed.

The pipeline package module 15 is installed on the cooperative mechanical arm and consists of two groups of spherical movable joints, two groups of sliding joints, a group of fixed joints at the tail end of the cooperative mechanical arm and a group of fixed joints at the base of the cooperative mechanical arm, and can select two common corrugated pipes with the inner diameter of 16mm and the inner diameter of 22mm or corrugated pipes with other inner diameter specifications according to requirements.

In the past, the rack adopts aluminum plate concatenation or section bar to build, and overall structure is complicated, the assembly is numerous, reduces complete machine weight when changing into panel beating welding assurance intensity now, and inside from ergonomic's angle, independently installs the corresponding module that the components and parts of robot are constituteed on the cabinet body, can improve assembly efficiency, has solved the inconvenient problem of operation of cabinet in the past, maintenance. The side door corresponds the battery storage position, opens and can be quick faster the battery, and another side door corresponds the arm demonstrator, can open the door when starting and take out quick debugging, and the front door corresponds automatically controlled subassembly, can carry out quick maintenance to electrical components after opening, and the back door corresponds the arm switch board, is convenient for the arm debugging and wiring. The drawer module is added, and the drawer module can be used for placing a mouse, a display screen and the like.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a compound robot cabinet, a serial communication port, including the cabinet body (1), when cabinet body (1) installs in the AGV chassis, be provided with the maintenance passageway space between cabinet body (1) and the AGV chassis, be provided with on cabinet body (1) and be used for installing battery compartment module (2) respectively, arm control box module (3), demonstrator module (4), automatically controlled board module (5), inverter module (6), industrial computer module (7), air exchange module (8), side radar module (9), the installation position of arm installation module (11) and control handle fixed module (13), wherein, the left and right sides in cabinet body (1) are used for setting up battery compartment module (2) and demonstrator module (4) respectively, the rear side in cabinet body (1) is used for setting up arm control box module (3), the outside position of cooperation type arm control box module (3) is used for setting up air exchange module (8) and side radar module (9), the upside of arm control box module (3) is used for installing inverter module (6), the front side in cabinet body (1) is used for setting up board (5) and is used for installing automatically controlled board (5) at the back of automatically controlled board (7), the space above the air exchange module (8) is used for arranging a control handle fixing module (13) and a mechanical arm installing module (11).

2. A composite robot cabinet according to claim 1, characterized in that the cabinet body (1) is bolted to the chassis of the AGV.

3. The compound robot cabinet according to claim 1, wherein a teach pendant for installing a teach pendant is fixedly arranged at a position for installing a teach pendant module (4) in the cabinet body (1).

4. A compound robot cabinet according to claim 1, characterized in that a sheet metal plate is provided at the position for arranging the electric control plate module (5), and mounting holes are provided in the sheet metal plate.

5. A compound robot cabinet according to claim 1, characterized in that a position in the cabinet body (1) adjacent to the industrial personal computer module (7) is used for arranging a radiator fan.

6. A compound robot cabinet according to claim 1, characterized in that the cabinet body (1) is detachably provided with a grille corresponding to the outside of the air exchange module (8).

7. A composite robot cabinet according to claim 1, characterized in that the cabinet body (1) is provided with a cover plate on the outside corresponding to the side radar module (9).

8. A composite robot cabinet according to claim 1, characterized in that the cabinet body (1) is formed by sheet metal welding.

9. A compound robot cabinet according to claim 1, characterized in that the top of the cabinet body (1) is provided with a storage area (10).

10. A compound robot cabinet according to any of claims 1-9, characterized in that a drawer module (12) is arranged in the cabinet above the electric control board module (5).