A transport method based on transfer manipulator
By installing auxiliary and anti-discharge mechanisms on the robot, combined with monitoring components and control boxes, the problem of dropping and insufficient intelligence during the discharge process of the robot is solved, and high-precision and intelligent automatic item transfer is achieved.
Patent Information
- Application Number
- CN202211313123.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-26
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2042-10-26
AI Technical Summary
Existing robots are prone to falling off during the discharge process, and are less intelligent and cannot be manually operated, which has great limitations when used.
By installing auxiliary mechanisms and anti-disengagement mechanisms on the robot assembly, the auxiliary mechanism supports the robot assembly to prevent shaking and the anti-disengagement mechanism clamps the goods to prevent falling; at the same time, a monitoring component and a control box are set up to achieve intelligent automated movement using the camera and processor.
It improves the accuracy and intelligence of the robot, avoids the drop of goods, realizes manual operation in the case of movement, and facilitates the transportation of items in multiple locations.
Smart Images
Figure CN115626479B_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of mechanical transportation, and in particular relates to a transportation method based on a transfer robot. Background Art
[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and its structure and performance have the advantages of both humans and mechanical machines. The unloading mechanical arm of the original manipulator device still has some shortcomings. When the unloading robot grabs or places the product, it may cause the product to fall, affecting the normal operation of the unloading robot, and reducing its work efficiency, which brings inconvenience to users. Secondly, it can only repeat the work according to the pre-set programmed mechanical movements. Its intelligence is poor and there are great limitations in its use.
[0003] It should be noted that the above contents belong to the technical knowledge of the inventor and do not necessarily constitute prior art. Summary of the invention
[0004] To achieve the above-mentioned purpose, the present invention proposes a handling method based on a transfer robot, where an operator stands on a fixed plate and controls the rotation of the robot assembly by rotating the control panel, and when the relevant personnel push or pull the different adjustment handles forward or backward, the second robot arm, the third robot arm and the fourth robot arm can be adjusted in angle, and the anti-slip mechanism is driven by the auxiliary mechanism to swing with the rotation of the robot assembly, the auxiliary mechanism supports the middle position of the robot assembly to prevent shaking, and the anti-slip mechanism fixes the two sides of the goods clamped by the claws of the robot assembly to prevent them from falling off.
[0005] And when the device is in use, the camera in the monitoring component will feed back the captured image to the processor built into the function box, and the processor will process the image data and feed it back to the controller, which will control the movement of the mobile component to achieve intelligent and automated movement. Similarly, the device can be automatically controlled to move around to transport items.
[0006] The transfer robot comprises a moving component, the moving component comprises a moving seat, the middle part of the moving seat is provided with a mounting groove, the interior of the mounting groove is sleeved with a parallel sliding auxiliary mechanism, the auxiliary mechanism comprises a slider, an anti-shake damping and a ground contact mechanism, the lower part of the surface of one end of the moving seat is fixedly connected with a fixing plate, the upper surface of the moving component is fastened with a control box, and monitoring components are fixedly connected on both sides of the upper end surface of the control box, a robot assembly is installed in the middle part of the upper end of the control box, the middle part of the robot assembly is connected with the anti-shake damping, the upper part of the outer end of the slider is connected with an anti-slip mechanism, the upper end of the anti-slip mechanism is connected to the claw tip position of the robot assembly, the auxiliary mechanism drives the anti-slip mechanism to swing with the rotation of the robot assembly, the auxiliary mechanism supports the middle position of the robot assembly to prevent shaking, and the anti-slip mechanism prevents and fixes both sides of the goods clamped by the claw tip of the robot assembly from falling off.
[0007] In one example, the monitoring component includes a body and a camera, and the camera is embedded in the middle of the front surface of the body, and a display screen is embedded in the middle of the front surface of the body. By setting the monitoring component, it has the advantage of improving the intelligence of the device, and solves the problem of an existing handling method based on a transfer robot. When performing operations, the programming is usually set in advance, and the work can only be repeated according to the set mechanical actions. Its intelligence is poor and there are great limitations in use.
[0008] In one example, the manipulator assembly includes a turntable and a first manipulator arm, the first manipulator arm is fixedly connected to the middle of the upper surface of the turntable, and one end of the first manipulator arm is movably connected to the second manipulator arm, one end of the second manipulator arm is fixedly connected to the third manipulator arm, and one end of the third manipulator arm is fixedly connected to a mounting base, one end of the mounting base is movably connected to a fourth manipulator arm, and one end of the fourth manipulator arm is movably connected to a clamp, the manipulator assembly rotates and guides to pick up and grip the goods, so as to facilitate the transfer of the goods.
[0009] In one example, the control box includes a function box and a control panel, and the control panel is rotatably connected to one side of the upper surface of the function box, an adjustment handle is fixedly connected to the middle of one end of the upper surface of the function box, and an adjustment button is arranged on the outside of one side of the adjustment handle, and a rotating part is rotatably connected to the front end of the upper surface of the function box, which has the advantage of being convenient for manual operation when moving, and solves the problem that the manual operation function is generally not available, or it is inconvenient to perform manual operation when the transfer robot is moving.
[0010] In one example, the third robotic arm includes a metal shell, and a slide rail is connected to the middle of the bottom surface of the metal shell. The setting of the slide rail facilitates connection with the auxiliary mechanism, so that the auxiliary mechanism can be driven to make corresponding adjustment movements during the rotation and extension of the robotic arm assembly.
[0011] In one example, the auxiliary mechanism also includes a semicircular drawer plate, the drawer plate is connected to the middle part of the moving seat with an electric push rod, the upper surface of the drawer plate is provided with a semicircular slide groove, the interior of the slide groove is sleeved with a slider, the inner upper end of the slider is connected with an anti-shake damper, the upper end of the anti-shake damper is connected with a first rotating frame, a second rotating frame is provided on one side of the first rotating frame, the bottom end of the second rotating frame is rotatably connected to a limiting sleeve, the limiting sleeve is sleeved on the outer side of the middle part of the anti-shake damper, the first rotating frame and the second rotating frame are both slidably installed inside the slide rail, and the drawer plate is telescopically installed inside the moving seat, so that the anti-shake damper connected on the upper side is adjusted as the manipulator assembly rotates, so as to support the bottom of the manipulator assembly and prevent the manipulator assembly from shaking.
[0012] In one example, the inner bottom end of the slider is connected to a ground contact mechanism, which includes a telescopic rod, the bottom end of the telescopic rod is connected to a roller, and the outer side of the telescopic rod is sleeved with a compression spring. The connection of the ground contact mechanism grounds the entire bottom of the manipulator assembly, so that the manipulator assembly will not tip over due to the weight of the cargo after clamping the cargo, thereby ensuring the safe use of the device.
[0013] In one example, the slider includes a slide plate, the bottom of the inner end of the slide plate is connected to a block that is sleeved with a slide groove, the top of the block is connected to a second connecting frame, and the outer end of the upper surface of the slide plate is connected to a first connecting frame that is connected to the slide groove. The setting of the slider facilitates the connection of the anti-slip mechanism, so that the anti-slip mechanism is connected to the bottom of the clamp to prevent the cargo on the clamp from loosening and falling.
[0014] In one example, the anti-slip mechanism includes two connecting sleeves, a connecting rod is sleeved inside the upper connecting sleeve, the connecting rod is fixedly connected to the outer surface of the clamp, and the connecting sleeve at the lower end is sleeved with the first connecting frame. A spring chain is connected to the middle of the two connecting sleeves, and rubber balls are connected in series at equal intervals in the middle of the spring chain. The two spring chains open and close with the two halves of the clamp, and after the cargo is clamped, the spring chains are lifted under both sides of the cargo, so that the cargo is tightly fixed inside the clamp to prevent the cargo from falling.
[0015] The transport method based on the transfer robot proposed by the present invention can bring the following beneficial effects:
[0016] The present invention sleeves an auxiliary mechanism inside the moving seat to assist in supporting the lower middle part of the manipulator assembly through the auxiliary mechanism, thereby preventing the manipulator assembly from shaking and jittering during use, improving the accuracy of the manipulator assembly, and avoiding obstacles and accidents during use of the manipulator assembly.
[0017] The present invention installs an anti-drop mechanism at the clamping claw position of the manipulator assembly, and clamps the goods through two spring chains as the two halves of the clamping claw open and close, and then the spring chains are lifted under both sides of the goods, so that the goods are tightly fixed inside the clamping claw to prevent the goods from falling.
[0018] The present invention has the advantage of improving the intelligence of the device by providing a monitoring component, has the advantage of transferring items at multiple locations by providing a moving component, and has the advantage of being convenient for manual operation when moving by providing a control box, thereby solving the problem that an existing method of transporting based on a transfer robot usually operates according to programmed mechanical movements during operation, generally does not have the function of manual operation, or is inconvenient to perform manual operation when the transfer robot is moving. The present invention solves the problem that an existing method of transporting based on a transfer robot usually has a relatively fixed structure during operation, usually fixed in the middle of three or more conveying devices, generally cannot move normally in position, and has certain limitations in use; solves the problem that an existing method of transporting based on a transfer robot usually has a pre-set program during operation, can only repeat work according to the set mechanical movements, has poor intelligence, and has great limitations in use; BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
[0020] Figure 1 It is a schematic diagram of the overall structure of the transfer robot of the present invention.
[0021] Figure 2 It is a schematic diagram of the structure of the moving components of the transfer robot of the present invention.
[0022] Figure 3 It is a schematic diagram of the structure of the monitoring component of the transfer robot of the present invention.
[0023] Figure 4 It is a schematic diagram of the structure of the manipulator component of the transfer manipulator of the present invention.
[0024] Figure 5 It is a schematic diagram of the structure of the third mechanical arm of the transfer robot of the present invention.
[0025] Figure 6 It is a schematic diagram of the structural connection of the manipulator assembly, auxiliary mechanism, and anti-slip mechanism of the transfer manipulator of the present invention.
[0026] Figure 7It is a schematic structural diagram of the anti-slip mechanism of the transfer robot of the present invention.
[0027] Figure 8 It is a schematic diagram of the auxiliary mechanism structure of the transfer robot of the present invention.
[0028] Fig. 9 It is a schematic diagram of the enlarged structure of point A of the transfer robot of the present invention.
[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0030] 1. Mobile assembly; 11. Mobile seat; 12. Fixed plate; 13. Mounting slot; 2. Control box; 3. Monitoring assembly; 31. Machine body;
[0031] 32. Camera; 33. Display screen; 4. Robot assembly; 41. Turntable; 42. First robot arm; 43. Second robot arm; 44. Third robot arm; 441. Metal shell; 442. Slide rail; 45. Mounting seat; 46. Fourth robot arm; 47. Gripper; 5. Auxiliary mechanism; 51. Drawer; 52. Electric push rod; 53. Slide groove; 54. Slider; 541. Slide plate; 542. First connecting frame; 543. Second connecting frame; 544. Block; 55. Ground contact mechanism; 551. Telescopic rod; 552. Compression spring; 553. Roller; 56. Anti-shake damping; 57. First rotating frame; 58. Second rotating frame; 59. Limit sleeve; 6. Anti-slip mechanism; 61. Connecting rod; 62. Connecting sleeve; 63. Spring chain; 64. Rubber ball. DETAILED DESCRIPTION
[0032] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.
[0033] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0036] like Figures 1 to 9 As shown, an embodiment of the present invention proposes a handling method based on a transfer robot, where an operator stands on a fixed plate 12 and controls the rotation of the robot assembly 4 by rotating the control panel, and when the relevant personnel push or pull the different adjustment handles forward or backward, the second robot arm 43, the third robot arm 44 and the fourth robot arm 46 can be adjusted in angle, and the anti-slip mechanism 6 is driven by the auxiliary mechanism 5 to swing with the rotation of the robot assembly 4, the auxiliary mechanism 5 supports the middle position of the robot assembly 4 to prevent shaking, and the anti-slip mechanism 6 fixes the two sides of the goods clamped by the claws of the robot assembly 4 to prevent them from falling off.
[0037] And when the device is used, the camera 32 in the monitoring component 3 will feed back the captured image to the processor built into the function box, and the processor will process the image data and feed it back to the controller, which will control the movement of the mobile component 1 to achieve intelligent and automatic movement. Similarly, the device can be automatically controlled to move and transport items.
[0038] The present invention also includes a transfer robot, including a moving component 1, the moving component 1 includes a moving seat 11, a mounting groove 13 is provided in the middle of the moving seat 11, a parallel sliding auxiliary mechanism 5 is sleeved inside the mounting groove 13, the auxiliary mechanism 5 includes a slider 54, an anti-shake damper 56 and a ground contact mechanism 55, a fixed plate 12 is fixedly connected to the lower part of the surface of one end of the moving seat 11, a control box 2 is fastened to the upper surface of the moving component 1, and monitoring components 3 are fixedly connected to both sides of the upper end surface of the control box 2, a manipulator component 4 is installed in the middle of the upper end of the control box 2, the middle of the manipulator component 4 is connected to the anti-shake damper 56, an anti-slip mechanism 6 is connected to the upper end of the slider 54, and the upper end of the anti-slip mechanism 6 is connected to the machine The claw tip position of the manipulator assembly 4, the auxiliary mechanism 5 drives the anti-slip mechanism 6 to swing with the rotation of the manipulator assembly 4, the auxiliary mechanism 5 supports the middle position of the manipulator assembly 4 to prevent shaking, and the anti-slip mechanism 6 fixes the two sides of the goods clamped by the claw tip of the manipulator assembly 4 to prevent falling off; the monitoring component 3 includes a body 31 and a camera 32, and the camera 32 is embedded and connected to the middle part of the front surface of the body 31, and the middle part of the front surface of the body 31 is embedded and connected with a display screen 33. By setting the monitoring component 3, the intelligence of the device is improved, and an existing handling method based on a transfer robot is solved. When performing operations, the programming is usually set in advance, and the goods can only be moved according to the set mechanical movements. The robot assembly 4 includes a turntable 41 and a first robot arm 42, the first robot arm 42 is fixedly connected to the middle of the upper surface of the turntable 41, and one end of the first robot arm 42 is movably connected to the second robot arm 43, one end of the second robot arm 43 is fixedly connected to the third robot arm 44, and one end of the third robot arm 44 is fixedly connected to a mounting seat 45, one end of the mounting seat 45 is movably connected to the fourth robot arm 46, and one end of the fourth robot arm 46 is movably connected to the clamp 47, the robot assembly 4 rotates and guides, picks up and grips the goods, and is convenient for transporting the goods; the control box 2 includes a function box and a control panel, and The control panel is rotatably connected to one side of the upper surface of the function box, an adjustment handle is fixedly connected to the middle of one end of the upper surface of the function box, and an adjustment button is arranged on the outside of one side of the adjustment handle, and a rotating part is rotatably connected to the front end of the upper surface of the function box, which has the advantage of being convenient for manual operation when moving, and solves the problem that the manual operation function is not available under normal circumstances, or it is inconvenient to perform manual operation when the transfer manipulator is moving; the third mechanical arm 44 includes a metal shell 441, and a slide rail 442 is connected to the middle of the bottom surface of the metal shell 441. The setting of the slide rail 442 is convenient for connecting with the auxiliary mechanism 5, so that the auxiliary mechanism 5 is driven to perform corresponding adjustment movement during the rotation and extension of the manipulator assembly 4;The auxiliary mechanism 5 also includes a semicircular draw plate 51, the draw plate 51 and the middle part of the movable seat 11 are connected with an electric push rod 52, the upper surface of the draw plate 51 is provided with a semicircular slide groove 53, the inner part of the slide groove 53 is sleeved with a slider 54, the inner upper end of the slider 54 is connected with an anti-shake damper 56, the upper end of the anti-shake damper 56 is connected with a first rotating frame 57, a second rotating frame 58 is provided on one side of the first rotating frame 57, the bottom end of the second rotating frame 58 is rotatably connected with a limiting sleeve 59, the limiting sleeve 59 is sleeved on the outer side of the middle part of the anti-shake damper 56, the first rotating frame 57 and the second rotating frame 58 are connected to the first rotating frame 57 and the second rotating frame 58 are connected to the first rotating frame 57 and the second rotating frame 58 are connected to the second rotating frame 58. The rotating frame 58 is slidably mounted inside the slide rail 442, and the drawer plate 51 is telescopically mounted inside the moving seat 11, so that the anti-shake damper 56 connected thereto is adjusted as the manipulator assembly 4 rotates, which is convenient for supporting the bottom of the manipulator assembly 4 to prevent the manipulator assembly 4 from shaking; the inner bottom end of the slider 54 is connected to a ground contact mechanism 55, which includes a telescopic rod 551, the bottom end of the telescopic rod 551 is connected to a roller 553, and the outer side of the telescopic rod 551 is sleeved with a compression spring 552, and the connection of the ground contact mechanism 55 is close to the manipulator assembly 4 The entire bottom is grounded, so that the manipulator assembly 4 will not tip over due to the weight of the goods after clamping the goods, thereby ensuring the safety of the device; the slider 54 includes a slider 541, the bottom of the inner end of the slider 541 is connected to a block 544 that is sleeved with the slide groove 53, the upper part of the block 544 is connected to a second connecting frame 543, and the outer end of the upper surface of the slider 541 is connected to a first connecting frame 542 connected to 6. The setting of the slider 54 is convenient for connecting the anti-slip mechanism 6, so that the anti-slip mechanism 6 is connected to the bottom of the clamping claw 47 to avoid the clamping claw 47 from being on The anti-drop mechanism 6 includes two connecting sleeves 62, the upper connecting sleeve 62 is sleeved with a connecting rod 61, the connecting rod 61 is fixedly connected to the outer surface of the clamping claw 47, the lower connecting sleeve 62 is sleeved with the first connecting frame 542, the middle of the two connecting sleeves 62 is connected with a spring chain 63, the middle of the spring chain 63 is connected with rubber balls 64 at equal intervals, the two spring chains 63 are opened and closed with the two halves of the clamping claw 47, and the spring chains 63 are lifted under the two sides of the goods after the goods are clamped, so that the goods are tightly fixed inside the clamping claw 47 to prevent the goods from falling. ;
[0039] Working principle: When the device is in use, relevant personnel can stand on the fixed plate 12, and by rotating the control panel, the manipulator assembly 4 can be controlled to rotate, and when the relevant personnel push forward or pull back the different adjustment handles, the second manipulator arm 43, the third manipulator arm 44 and the fourth manipulator arm 46 can be adjusted in angle, and the anti-slip mechanism 6 is driven by the auxiliary mechanism 5 to swing with the rotation of the manipulator assembly 4, and the auxiliary mechanism 5 supports the middle position of the manipulator assembly 4 to prevent shaking, and the anti-slip mechanism 6 fixes the two sides of the goods clamped by the claws of the manipulator assembly 4 to prevent them from falling off; and when the device is in use, the camera 32 in the monitoring component 3 will feed back the captured image to the processor built into the function box, and the processor will process the image data and feed it back to the controller, and the controller will control the mobile component 1 to move, thereby realizing intelligent and automatic movement. Similarly, the device can be automatically controlled to transport goods in a mobile manner.
Claims
1. A handling method based on a transfer robot, characterized in that: The invention comprises a moving assembly (1), wherein the moving assembly (1) comprises a moving seat (11), a mounting groove (13) is provided in the middle of the moving seat (11), a parallel sliding auxiliary mechanism (5) is sleeved inside the mounting groove (13), the auxiliary mechanism (5) comprises a slider (54), an anti-shake damper (56) and a ground contact mechanism (55), a fixing plate (12) is fixedly connected to the lower part of one end surface of the moving seat (11), a control box (2) is fastened to the upper surface of the moving assembly (1), and monitoring assemblies (3) are fixedly connected to both sides of the upper end surface of the control box (2), and the control box (2) A manipulator assembly (4) is installed in the middle of the upper end, the middle of the manipulator assembly (4) is connected to the anti-shake damper (56), an anti-slip mechanism (6) is connected above the outer end of the slider (54), the upper end of the anti-slip mechanism (6) is connected to the claw tip of the manipulator assembly (4), the auxiliary mechanism (5) drives the anti-slip mechanism (6) to swing as the manipulator assembly (4) rotates, the auxiliary mechanism (5) supports the middle position of the manipulator assembly (4) to prevent shaking, and the anti-slip mechanism (6) fixes the two sides of the goods clamped by the claw tip of the manipulator assembly (4) to prevent them from falling off; The monitoring component (3) comprises a body (31) and a camera (32), wherein the camera (32) is inlaid and connected to the middle of the front surface of the body (31), and a display screen (33) is inlaid and connected to the middle of the front surface of the body (31); The manipulator assembly (4) comprises a rotating disk (41) and a first manipulator arm (42), wherein the first manipulator arm (42) is fixedly connected to the middle portion of the upper surface of the rotating disk (41), and one end of the first manipulator arm (42) is movably connected to a second manipulator arm (43), one end of the second manipulator arm (43) is fixedly connected to a third manipulator arm (44), and one end of the third manipulator arm (44) is fixedly connected to a mounting seat (45), one end of the mounting seat (45) is movably connected to a fourth manipulator arm (46), and one end of the fourth manipulator arm (46) is movably connected to a clamping claw (47); The control box (2) comprises a function box and a control panel, wherein the control panel is rotatably connected to one side of the upper surface of the function box, an adjustment handle is fixedly connected to the middle of one end of the upper surface of the function box, and an adjustment button is arranged outside one side of the adjustment handle, and a rotating member is rotatably connected to the front end of the upper surface of the function box; The third mechanical arm (44) comprises a metal shell (441), and a slide rail (442) is connected to the middle part of the bottom surface of the metal shell (441); the auxiliary mechanism (5) also comprises a semicircular drawer plate (51), and the drawer plate (51) and the middle part of the movable seat (11) are connected to an electric push rod (52); the upper surface of the drawer plate (51) is provided with a semicircular slide groove (53), and a slider (54) is sleeved inside the slide groove (53); the inner upper end of the slider (54) is connected to an anti-shake damper (56), and the upper end of the anti-shake damper (56) is connected to a first rotating frame (57); a second rotating frame (58) is provided on one side of the first rotating frame (57); the bottom end of the second rotating frame (58) is rotatably connected to a limiting sleeve (59), and the limiting sleeve (59) is sleeved on the outer side of the middle part of the anti-shake damper (56); the first rotating frame (57) and the second rotating frame (58) are both slidably mounted inside the slide rail (442); The inner bottom end of the slider (54) is connected to a ground contact mechanism (55), the ground contact mechanism (55) comprises a telescopic rod (551), the bottom end of the telescopic rod (551) is connected to a roller (553), and the outer side of the telescopic rod (551) is sleeved with a compression spring (552); The slider (54) comprises a slide plate (541), the bottom of the inner end of the slide plate (541) is connected to a clamping block (544) sleeved with the slide groove (53), the upper part of the clamping block (544) is connected to a second connecting frame (543), and the outer end of the upper surface of the slide plate (541) is connected to a first connecting frame (542) connected to the anti-slip mechanism (6); The anti-slip mechanism (6) comprises two connecting sleeves (62), the upper connecting sleeve (62) having a connecting rod (61) sleeved therein, the connecting rod (61) being fixedly connected to the outer surface of the clamping jaw (47), the lower connecting sleeve (62) being sleeved with the first connecting frame (542), the middle parts of the two connecting sleeves (62) being connected with a spring chain (63), the middle parts of the spring chain (63) being connected with rubber balls (64) in series at equal intervals; A relevant person can stand on the fixed plate (12) and control the rotation of the manipulator assembly (4) by rotating the control panel. When the relevant person pushes forward or pulls back different adjustment handles, the second manipulator arm (43), the third manipulator arm (44) and the fourth manipulator arm (46) can be adjusted in angle. The auxiliary mechanism (5) drives the anti-slip mechanism (6) to swing along with the rotation of the manipulator assembly (4). The auxiliary mechanism (5) supports the middle position of the manipulator assembly (4) to prevent shaking. The anti-slip mechanism (6) fixes the two sides of the goods clamped by the claws of the manipulator assembly (4) to prevent them from falling off. When in use, the camera (32) in the monitoring assembly (3) will feed back the captured image to the processor built into the function box. The processor processes the image data and feeds it back to the controller. The controller controls the moving assembly (1) to move, thereby realizing intelligent automatic movement. Similarly, the mobile transfer of goods can be automatically controlled.