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

A mobile robot and robot technology, applied in the field of mobile robots, can solve problems such as difficult adjustment of stiffness, poor stability, large joint offset, etc., and achieve the effect of preventing excessive offset and avoiding direct collision

Pending Publication Date: 2022-08-05
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 e

Method used

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

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Embodiment Construction

[0045] The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

[0046] Reference below Figure 1-Figure 8 The membrane joint 100 of the mobile robot, the robot having the joint and the multi-machine cooperative handling system according to the embodiment of the present invention are described.

[0047] The membrane joint 100 of the mobile robot according to the embodiment of the present invention includes an adapter seat 1 , an air bag 4 , a carrier plate 5 , a plurality of linear displacement sensors 101 , a lower joint arm 2 and an upper joint arm 3 .

[0048] The upper joint arm 3 has a first cavity 35, a part of the lower joint arm 2 is arranged in the first cavity 35, and the lower part ...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J13/08B25J17/02B25J18/00B25J19/00
CPCB25J11/00B25J13/087B25J17/0258B25J18/00B25J19/0091
Inventor 刘辛军刘全宫昭聂振国谢福贵
Owner TSINGHUA UNIV
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