Transfer robot based on mobile mechanical arm

Abstract

The invention discloses a transfer robot based on a mobile mechanical arm, and relates to the field of robots. The transfer robot comprises MACNUM wheels, a vehicle body base, a revolving platform and the mechanical arm; the MACNUM wheels are arranged on the lower portion of the vehicle body base, the revolving platform is arranged on the upper portion of the vehicle body base through a revolving mechanism, and the mechanical arm is arranged on the revolving platform and comprises a first arm, a second arm, a third arm, a wrist joint and a mechanical grasper which are sequentially connected; the mechanical arm is further provided with a first oil cylinder, a second oil cylinder and a third oil cylinder which are used for driving the first arm, the second arm and the third arm respectively, and the portion, at the end of a screw, of the mechanical arm is provided with a revolving motor. According to the transfer robot, a mobile vehicle body based on the MACNUM wheels and the hydraulic mechanical arm are combined together, and the advantages that moving is flexible, the power density is high, and energy supply is convenient are achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a handling robot based on a mobile mechanical arm. Background technique [0002] Due to the limitation of human labor capacity and labor efficiency, especially the development of automated production, the status of robots in industrial production has been continuously improved. In terms of handling machinery, forklifts or intelligent handling robots are usually used, but forklifts usually can only carry relatively regular ones. items, and the flexibility of conventional forklifts is still lacking; and intelligent handling robots, such as common stacking robots, generally need to be fixed at a fixed position, and most of them are driven by motors, which are large and The force it bears during handling is relatively small. [0003] At present, most of the manipulator joints of the handling robot generally adopt the method of motor acceleration and deceleration. Usually, this kind of manipula...

AI Technical Summary

Problems solved by technology

Moreover, the mobile hydraulic mechanical arm mostly adopts crawler-type car body movement. Although the current crawler-type wheels are easy to move under the condition of poor road conditions, the flexibility of the crawler-type wheels is still very limited.

If the mobile body wheels of the handling robot based on the mobile hydraulic mechanical arm adopt crawler wheels, its moving speed and flexibility will be greatly reduced, which greatly limits the handling efficiency of the handling robot.

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