Membrane type joint of mobile robot, robot and multi-machine cooperative carrying system

Abstract

The embodiment of the invention provides a membrane type joint of a mobile robot, a robot with the membrane type joint and a multi-machine cooperative carrying system. The membrane type joint of the mobile robot comprises an adapter, an air bag, a bearing plate, a lower joint arm and an upper joint arm, the upper joint arm is provided with a first cavity, a part of the lower joint arm is arranged in the first cavity, and the lower portion of the lower joint arm is connected with the adapter. An annular limiting cavity is defined between the side wall face of the first cavity and the side face of the lower joint arm, one part of the air bag is located in the limiting cavity and is annular, the outer circumferential face of one part of the air bag can abut against the outer wall face of the limiting cavity, and the inner circumferential face of one part of the air bag can abut against the inner wall face of the limiting cavity. The bearing plate is connected with the upper portion of the upper joint arm. Therefore, the membrane type joint of the mobile robot has the advantages that the joint deformation is prevented from being too large, the rigidity is adjustable, the service life is long, and the movement stability is good.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a membrane-type joint of a mobile robot, a robot having the joint, and a multi-machine cooperative handling system. Background technique [0002] Mobile robots have been widely used in warehousing and logistics, home services, military defense and planetary exploration, and the market prospects are very optimistic. However, at present, mobile robots are mostly designed with special specifications and models according to the load size, weight and other special requirements. The specifications of robots are increasing day by day. A single robot has poor adaptability to the type and weight of items, which in turn causes problems such as low robot utilization, inconvenient storage and transportation. [0003] The cooperation of multiple mobile robots is used to realize the handling of loads of different sizes and weights. For example, joints are set on each mobile robot to f...

AI Technical Summary

Problems solved by technology

For example, joints are set on each mobile robot to form a multi-machine cooperative handling system composed of mobile robots. The multi-machine system based on the Mecanum wheel mobile robot is difficult to drive on uneven roads. The multi-machine cooperative handling system composed of each mobile robot The joints are connected to the load. The existing joints are connected by flexible connections. When the road surface is poor and the load is too large, there are problems such as difficult adjustment of stiffness, excessive joint offset and poor stability during driving.

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