Movable type super-redundancy compound robot

Abstract

The invention relates to the field of robots, in particular to a movable type super-redundancy compound robot. The movable type super-redundancy compound robot comprises a robot chassis, a vehicle body, a regulating mechanical arm, a super-redundancy mechanical arm and a super-redundancy mechanical arm drive module, wherein the vehicle body is arranged on the robot chassis; the regulating mechanical arm is arranged on the vehicle body; the super-redundancy mechanical arm is connected to the tail end of the regulating mechanical arm; the super-redundancy mechanical arm drive module is arrangedon the vehicle body; each drive cable of the super-redundancy mechanical arm passes through the regulating mechanical arm and is connected with the corresponding super-redundancy mechanical arm drivemodule. The movable type super-redundancy compound robot is suitable for operation under a complex working environment, is great in working range, and is flexible in motion.

Description

technical field [0001] The invention relates to the field of robots, in particular to a mobile super redundant composite robot. Background technique [0002] With the development of the social industrial level, the industrial environment has become more and more complex, such as the inspection and maintenance of the reactor cooling pipeline of the nuclear power plant and the drilling operation in the narrow environment of the wing, etc., there are great problems in conventional manual inspection and maintenance. Therefore, it is necessary to study a device with flexible movement and strong environmental adaptability to adapt to various harsh working environments. [0003] As an automated mobile device, mobile robots have been gradually used in industrial production and have played a huge role. However, mobile robots in the prior art are usually equipped with six-axis robots for various operations. For the above-mentioned complex working environment, it is difficult to Meet ...

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