All-hydraulic autonomous moving manipulator and moving method thereof

Abstract

The invention discloses an all-hydraulic autonomous moving manipulator and a moving method thereof and belongs to the technical field of manipulators. The all-hydraulic autonomous moving manipulator comprises an omnidirectional moving platform, a double manipulator, a power system, a visual system and a sensing and control system are arranged on the omnidirectional moving platform, a rotary waist device is arranged on the omnidirectional moving platform, the double manipulator is arranged on the omnidirectional moving platform through the rotary waist device and is of a human-simulated double arm structure with multiple degrees of freedom, the power system is in an engine-hydraulic driving mode, the visual system comprises a navigation camera, a large-visual-field servo camera and a hand-eye camera, and the sensing and control system comprises a joint force sensor, a joint position sensor and a six-dimensional sensor. The all-hydraulic autonomous moving manipulator can meet needs on wide-range moving of large-mass workpieces.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a full-hydraulic autonomous mobile mechanical arm and an action method thereof. Background technique [0002] In the past 30 years, my country's manufacturing industry has achieved rapid development and considerable progress under the advantage of low-cost labor, and has become a world manufacturing power. However, since the second decade of the 21st century, labor costs have risen sharply, and the labor population, mainly those born in the 1980s and 1990s, is less interested in engaging in monotonous and repetitive industrial jobs with poor working conditions. The manufacturing industry uses robots to replace human labor. demands are constantly motivating. [0003] Mobile robotic arms have huge market potential. Taking the tire manufacturing industry as an example, my country's tire production accounts for about 50% of the world's total. The work still needs to be done ...

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Problems solved by technology

[0003] Mobile robotic arms have huge market potential. Taking the tire manufacturing industry as an example, my country's tire production accounts for about 50% of the world's total. The work still needs to be done manually, and the flexible installation of the green tire to the vulcanizing machine also relies heavily on manual labor. Not only is the labor intensity high, but also the vulcanization pollution in the workshop is serious, which has caused great harm to the occupational health of workers, resulting in a large number of labor shortages in tire companies. Enterprises' demand for mobile robotic arms is about 3,000 units, and the market capacity is about 5 billion yuan; machining (clamping and forging of forgings, clamping and welding of weldments, assembly, selection, and transportation of large-quality parts and components, etc.) Enterprises in industries such as large-scale dangerous goods and ammunition operations, engineering and municipal construction also have a large demand for hydraulically driven mobile robotic arms, with a total market capacity of more than 20 billion yuan

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