Robot for container tray landing leg operation of ro-ro passenger ship and using method

Abstract

The invention discloses a robot for container tray supporting leg operation of a ro-ro passenger ship and a using method, and belongs to the technical field of cabin robots. A robot for container pallet leg operation of a ro-ro passenger ship comprises a robot body and a universal mechanical arm, and the universal mechanical arm is connected to the robot body; the robot body comprises a frame, a driving assembly, a steering assembly, a battery assembly and an electric appliance assembly. A four-wheel independent driving and four-wheel independent steering framework is adopted, a four-wheel four-rotation and eight-motor-driven omni-directional moving chassis is formed, a robot body can flexibly achieve multi-mode movement such as in-situ steering, transverse translation and oblique movement, the robot does not need to depend on a large turning radius, the robot is perfectly matched with the narrow channel of a passenger rolling cabin and the working environment with the limited space, and the working efficiency is improved. The problems that traditional equipment is difficult to deploy and limited in movement are effectively solved, the passing and operation processes of other vehicles in the cabin cannot be interfered, and then adaptability and operation stability are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of ship cabin robot technology, and in particular to a robot and its method of use for operating container pallet support legs on passenger roll-on / roll-off ships. Background Technology

[0002] As a core carrier for cross-regional, short-distance container maritime transport, international Ro-Ro passenger ships occupy a crucial position in the international trade and logistics transshipment system. With the continuous expansion of global trade, container transport volume and frequency have increased significantly, leading to a corresponding increase in the intensity and efficiency requirements for container loading and unloading operations within Ro-Ro ship holds. However, existing Ro-Ro ship holds inherently possess characteristics such as complex multi-layered structures, narrow operating aisles, limited space height, insufficient lighting, and highly dynamic environmental changes with vehicle entry and exit, resulting in certain shortcomings in traditional operating methods during actual operation. Currently, the lifting and lowering of container pallet outriggers in passenger roll-on / roll-off (Ro-Ro) ships mainly relies on manual operation or large general-purpose industrial robots. Manual operation is not only labor-intensive and inefficient, but also presents numerous blind spots and high safety risks such as collisions and crushing due to the mixed human-machine interaction in the cabin. Large general-purpose industrial robots or fixed operating equipment have the problems of large structural size and large operating space occupation, making them difficult to deploy flexibly in narrow cabin passages. Their movement trajectory is limited and path planning is difficult, which may easily lead to jamming or equipment collision accidents during actual operation. Their adaptability needs to be further improved.

[0003] Furthermore, existing mobile work equipment mostly adopts traditional differential drive or front-wheel steering chassis structures, with a single mobility mode, unable to achieve precise movements such as turning on the spot and lateral translation, and has insufficient position adjustment capability in confined spaces. In actual work, it may easily interfere with the passage of existing vehicles in the cabin and the overall work process; the stability and safety of operation need to be further improved. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art and to propose a robot and its method for operating the support legs of container pallets on passenger roll-on / roll-off ships.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot for operating the support legs of container pallets on passenger roll-on / roll-off ships includes a robot body and a omnidirectional robotic arm, wherein the omnidirectional robotic arm is connected to the robot body. The robot body includes a frame, drive assembly, steering assembly, battery assembly, and electrical assembly; The drive assembly, steering assembly, battery assembly, and electrical assembly are respectively mounted on the vehicle frame; The drive component works in conjunction with the steering component to enable the robot body to have omnidirectional motion capabilities, including turning in place, lateral movement, and diagonal movement. The electrical components include a lidar, a binocular camera, an industrial computer, and a robotic arm controller; The lidar is connected to the vehicle frame, and the binocular camera is fixedly connected to the top of the vehicle frame for collecting environmental information and the location information of the work target. The industrial control computer is fixedly connected to the top of the vehicle frame and is used to process sensor information, perform path planning and motion control decisions; The robotic arm controller is used to receive instructions from the industrial computer and control the movement of the omnidirectional robotic arm; The omnidirectional robotic arm includes a robotic arm body and a work actuator. The robotic arm body is fixed to the vehicle frame, and the work actuator is mounted on the end flange of the robotic arm body.

[0006] Preferably, the drive assembly includes a hub motor, a travel wheel, a shock absorber, a drive motor mounting plate, a suspension support beam, and a suspension mounting plate; the hub motor is fixed to the drive motor mounting plate, and its power output shaft is fixedly connected to the axle of the travel wheel; the drive motor mounting plate is connected to one end of the shock absorber and one end of the suspension support beam; the other end of the shock absorber and the other end of the suspension support beam are both mounted on the suspension mounting plate; the suspension mounting plate is fixedly connected to the vehicle frame.

[0007] Preferably, the steering assembly includes a steering motor, a steering reducer, and a reducer mounting plate; the reducer mounting plate is fixedly connected to the vehicle frame, the power output shaft of the steering motor is connected to the power input shaft of the steering reducer, and the power output shaft of the steering reducer is fixedly connected to the suspension mounting plate, for driving the entire drive assembly to rotate around its connection point with the vehicle frame to achieve steering.

[0008] Preferably, the battery assembly includes a drive component battery pack, a steering component battery pack, an electrical component battery pack, and a robotic arm battery pack, which respectively provide working power to the drive component, steering component, electrical component, and omnidirectional robotic arm.

[0009] Furthermore, the lidar is used to acquire high-precision point cloud data of the surrounding environment to achieve mapping, positioning and obstacle detection, and the binocular camera is used to collect visual image information to assist navigation and target recognition.

[0010] A method of using a robot for operating the support legs of a container pallet on a ro-ro ship includes the following steps: S1. Start the robot. The battery pack powers the electrical equipment. The lidar and binocular camera in the electrical components are activated. The lidar scans the environment inside the cabin and collects point cloud data. The binocular camera collects visual image information of the work area. The industrial control computer processes the point cloud data and visual image information, constructs a three-dimensional point cloud map inside the cabin, and realizes the robot's autonomous positioning and attitude estimation. S2. The industrial control computer plans the travel path according to the preset work task and controls the robot body to autonomously navigate to the work position in front of the target container through omnidirectional motion mode. During the navigation process, the path is dynamically corrected by combining the obstacle information updated in real time by the lidar. S3. The binocular camera visually captures the bottom area of ​​the container. The industrial control computer uses image processing and feature recognition methods to identify and locate the container pallet support leg lifting mechanism, obtain its spatial position and posture information, and transmit it to the robotic arm controller. S4. The robotic arm controller generates a motion trajectory based on the spatial position and posture information, controls the robotic arm body to unfold from the retracted state, and drives the work actuator to move in front of the outrigger lifting mechanism; S5. The work actuator works, driving the container pallet legs to complete the rising or falling motion. During the operation, the robotic arm controller monitors the joint status of the robotic arm body and the operation of the work actuator in real time and fine-tunes the motion parameters. S6. After the task is completed, the omnidirectional robotic arm is retracted to a safe position, and the robot body enters the next task or standby state according to the instructions.

[0011] Compared with the prior art, the present invention provides a robot and a method for operating the support legs of container pallets on passenger roll-on / roll-off ships, which has the following beneficial effects: This invention employs a four-wheel independent drive and four-wheel independent steering architecture to form an omnidirectional mobile chassis with four wheels, four rotations, and eight motors. This allows the robot to flexibly achieve multiple modes of movement, such as turning in place, lateral translation, and diagonal movement, without relying on a large turning radius. It is perfectly adapted to the narrow passages and space-constrained working environment of passenger roll-on / roll-off ship cabins, effectively solving the problems of difficult deployment and limited movement of traditional equipment. Furthermore, it does not interfere with the passage of other vehicles or the work process in the cabin, thereby effectively improving adaptability and operational stability.

[0012] This invention utilizes a laser radar and binocular camera, combined with an industrial control computer, to quickly construct a 3D point cloud map of the ship's cabin, enabling autonomous robot localization, real-time obstacle detection, and accurate identification of work targets. During navigation, a path correction mechanism based on dynamic obstacle information ensures the robot safely and stably reaches its work position in the highly dynamic cabin environment, effectively improving the system's robustness and environmental adaptability under complex conditions, thereby enhancing operational stability and safety. Attached Figure Description

[0013] Figure 1 This invention presents a schematic diagram of the structure of a robot for operating the support legs of container pallets on passenger roll-on / roll-off ships. Figure 1 ; Figure 2 This invention presents a schematic diagram of the structure of a robot for operating the support legs of container pallets on passenger roll-on / roll-off ships. Figure 2 ; Figure 3 This is a schematic diagram of the internal structure of a robot for operating the support legs of a container pallet on a passenger roll-on / roll-off ship, as proposed in this invention. Figure 4 This is a schematic diagram of the drive component in a robot for operating container pallet legs on a passenger roll-on / roll-off ship, as proposed in this invention. Figure 5 This is a schematic diagram of the steering component in a robot for operating container pallet legs on a passenger roll-on / roll-off ship, as proposed in this invention.

[0014] In the diagram: 1. Robot body; 101. Frame; 102. Drive assembly; 1021. Hub motor; 1022. Walking wheel; 1023. Shock absorber; 1024. Drive motor mounting plate; 1025. Suspension support beam; 1026. Suspension mounting plate; 103. Steering assembly; 1031. Steering motor; 1032. Steering reducer; 1033. Reducer mounting plate; 104. Battery assembly; 105. Electrical assembly; 1051. LiDAR; 1052. Binocular camera; 1053. Industrial computer; 1054. Robot arm controller; 2. Omnidirectional robotic arm; 201. Robot arm body; 202. Work actuator. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Example

[0016] Reference Figures 1-5 A robot for operating the support legs of container pallets on passenger roll-on / roll-off ships includes a robot body 1 and a omnidirectional robotic arm 2, with the omnidirectional robotic arm 2 connected to the robot body 1. The robot body 1 includes a frame 101, a drive assembly 102, a steering assembly 103, a battery assembly 104, and an electrical assembly 105; The drive assembly 102, steering assembly 103, battery assembly 104 and electrical assembly 105 are respectively mounted on the vehicle frame 101; The drive component 102 works in conjunction with the steering component 103 to enable the robot body 1 to have omnidirectional motion capabilities, including turning in place, lateral movement, and diagonal movement. The electrical component 105 includes a lidar 1051, a binocular camera 1052, an industrial computer 1053, and a robotic arm controller 1054; The lidar 1051 is connected to the vehicle frame 101, and the binocular camera 1052 is fixedly connected to the top of the vehicle frame 101 for collecting environmental information and the location information of the work target. The industrial computer 1053 is fixedly connected to the top of the vehicle frame 101 and is used to process sensor information, perform path planning and motion control decisions. The robotic arm controller 1054 is used to receive instructions from the industrial computer 1053 and control the movement of the omnidirectional robotic arm 2; The omnidirectional robotic arm 2 includes a robotic arm body 201 and a work actuator 202. The robotic arm body 201 is fixed to the frame 101, and the work actuator 202 is installed on the end flange of the robotic arm body 201.

[0017] In specific implementation, the work actuator 202 includes a rotary motor and a double-fork structure. The rotary motor is fixedly connected to the end of the robotic arm body 201. The power output shaft of the rotary motor is coaxially fixedly connected to the central shaft of the double-fork structure. The double-fork structure is configured to match and insert into the support leg lifting mechanism of the container pallet. The rotary motor drives it to rotate so as to drive the pallet support legs to complete the lifting action.

[0018] The drive assembly 102 includes a hub motor 1021, a travel wheel 1022, a shock absorber 1023, a drive motor mounting plate 1024, a suspension support beam 1025, and a suspension mounting plate 1026. The hub motor 1021 is fixed to the drive motor mounting plate 1024, and its power output shaft is fixedly connected to the axle of the travel wheel 1022. The drive motor mounting plate 1024 is connected to one end of the shock absorber 1023 and one end of the suspension support beam 1025. The other end of the shock absorber 1023 and the other end of the suspension support beam 1025 are mounted together on the suspension mounting plate 1026. The suspension mounting plate 1026 is fixedly connected to the vehicle frame 101.

[0019] The steering assembly 103 includes a steering motor 1031, a steering reducer 1032, and a reducer mounting plate 1033. The reducer mounting plate 1033 is fixedly connected to the frame 101. The power output shaft of the steering motor 1031 is connected to the power input shaft of the steering reducer 1032. The power output shaft of the steering reducer 1032 is fixedly connected to the suspension mounting plate 1026. The reducer 1033 is used to drive the entire drive assembly 102 to rotate around its connection point with the frame 101 to achieve steering.

[0020] The battery assembly 104 includes a drive assembly battery pack, a steering assembly battery pack, an electrical assembly battery pack, and a robotic arm battery pack, which provide working power to the drive assembly 102, the steering assembly 103, the electrical assembly 105, and the omnidirectional robotic arm 2, respectively.

[0021] The lidar 1051 is used to acquire high-precision point cloud data of the surrounding environment to achieve mapping, localization and obstacle detection, while the binocular camera 1052 is used to acquire visual image information to assist navigation and target recognition.

[0022] In practical implementation: The robotic arm body 201 is a six-degree-of-freedom industrial robotic arm. Each joint is equipped with a servo drive motor and a precision reducer. Its end joint can output a rated torque of 20Nm to meet the load requirements of container pallet outrigger lifting operations.

[0023] The drive assembly 102 adopts a four-wheel independent drive architecture, and the steering assembly 103 adopts a four-wheel independent steering architecture, together forming an omnidirectional moving chassis structure with four wheels, four rotations, and eight motors.

[0024] The lidar 1051 is used to acquire high-precision point cloud data of the surrounding environment, enabling 3D modeling of the cabin environment, autonomous robot localization, and real-time obstacle detection; the binocular camera 1052 is used to collect visual image information of the work area, completing assisted navigation and visual recognition and localization of the work target.

[0025] The robot has a rated weight of 159kg, a maximum travel speed of 7.2km / h, a common operating speed of 6km / h, and a maximum climbing ability of 30%.

[0026] The steering motor 1031 is a multi-turn absolute encoder servo motor with a steering angle memory function after power failure, which can accurately record the current steering position parameters.

[0027] Reference Figures 1-5 In actual operation, the lidar 1051 performs a 360° continuous scan of the cabin environment, collecting high-precision three-dimensional point cloud data to achieve three-dimensional modeling of the cabin environment and real-time obstacle detection; the binocular camera 1052 simultaneously collects visual image information of the work area to complete assisted navigation and preliminary identification of the work target; the industrial control computer 1053 adopts a multi-sensor information fusion algorithm to perform complementary fusion processing on the above point cloud data and visual image information, simultaneously acquires cabin environment structure information and work target position information, constructs a complete three-dimensional point cloud map of the cabin, and realizes the robot's autonomous positioning and attitude estimation based on the preset positioning algorithm to determine its real-time position and orientation in the cabin; The industrial control computer 1053 plans the optimal driving path based on the target container position parameters in the preset task, combined with the constructed 3D point cloud map and obstacle distribution information. Then, it controls the robot body 1 to autonomously navigate along the planned path through omnidirectional motion mode. This omnidirectional motion mode includes turning in place, lateral translation and diagonal movement, which is achieved by coordinated closed-loop control of the steering angle and driving speed of each wheel. It should be noted that during the navigation process, the LiDAR 1051 continuously updates the obstacle distribution information, and the industrial control computer 1053 dynamically corrects the driving path in combination with the vehicle's kinematic constraints to ensure that the robot safely and smoothly arrives at the preset working position in front of the target container. After the robot arrives at the work position, the binocular camera 1052 focuses on the bottom area of ​​the container for high-precision visual acquisition. The industrial control computer 1053 uses image processing algorithms and feature recognition models to automatically identify and accurately position the container pallet outrigger lifting mechanism, obtain its spatial position and posture information in the robot coordinate system, and transmit this information to the robotic arm controller 1054 in real time. The robotic arm controller 1054 generates the optimal motion trajectory based on the received spatial position and posture information, controls the robotic arm body 201 to smoothly unfold from the retracted state, and drives the work actuator 202 to move precisely to the preset work position in front of the outrigger lifting mechanism.

[0028] During operation, after the double fork structure of the actuator 202 is precisely aligned with the interface of the container pallet support leg lifting mechanism, the rotary motor starts and outputs a preset torque to drive the double fork structure to rotate around the central axis, thereby driving the container pallet support leg to complete the rising or falling action. It should also be noted that during the operation, the robotic arm controller 1054 monitors the operating status of each joint of the robotic arm body 201 and the working parameters of the work actuator 202 in real time, and dynamically adjusts the output torque of the rotary motor in real time through the feedback signal of the torque sensor to ensure the stability and reliability of the operation.

[0029] Once the task is completed and the container pallet support legs have finished lifting, the rotary motor stops outputting torque. The robotic arm controller 1054 controls the robotic arm body 201 to reset according to the preset recovery trajectory, retracting the omnidirectional robotic arm 2 to the outline boundary of the robot body 1, thus avoiding interference or collision with surrounding structures or equipment during movement. Subsequently, the industrial control computer 1053 controls the robot body 1 to enter the navigation process of the next task according to system instructions, or to maintain the current position and enter a standby state. Example

[0030] A method for using a robot to operate the support legs of a container pallet on a passenger roll-on / roll-off ship includes the following steps: S1. Start the robot. The battery module 104 supplies power to the various electrical devices. The lidar 1051 and binocular camera 1052 in the electrical module 105 are started. The lidar 1051 scans the environment inside the cabin and collects point cloud data. The binocular camera 1052 collects visual image information of the work area. The industrial control computer 1053 processes the point cloud data and visual image information, constructs a three-dimensional point cloud map inside the cabin, and realizes the robot's autonomous localization and attitude estimation. S2. The industrial control computer 1053 plans the driving path according to the preset work task and controls the robot body 1 to autonomously navigate to the work position in front of the target container through the omnidirectional motion mode. During the navigation process, the path is dynamically corrected in combination with the obstacle information updated in real time by the lidar 1051. S3. The binocular camera 1052 performs visual acquisition of the bottom area of ​​the container. The industrial control computer 1053 uses image processing and feature recognition methods to identify and locate the container pallet support leg lifting mechanism, obtain its spatial position and posture information, and transmit it to the robotic arm controller 1054. S4. The robotic arm controller 1054 generates a motion trajectory based on spatial position and posture information, controls the robotic arm body 201 to unfold from the retracted state, and drives the work actuator 202 to move to the front of the outrigger lifting mechanism. S5. The work actuator 202 works, driving the container pallet legs to complete the rising or falling action. During the operation, the robotic arm controller 1054 monitors the joint status of the robotic arm body 201 and the operation status of the work actuator 202 in real time and fine-tunes the motion parameters. S6. After the task is completed, the omnidirectional robotic arm 2 is retracted to a safe position, and the robot body 1 enters the next task or standby state according to the instructions.

[0031] In step S1, the industrial control computer 1053 uses a multi-sensor information fusion algorithm to perform complementary fusion processing on the three-dimensional point cloud data collected by the lidar 1051 and the visual image information collected by the binocular camera 1052, and simultaneously acquires the cabin environment structure information and the position information of the operation target.

[0032] In step S2, the omnidirectional motion modes of the robot body 1 include turning in place, lateral translation and diagonal movement, which are achieved by coordinated closed-loop control of the steering angle and driving speed of each wheel.

[0033] In step S4, the motion trajectory of the robotic arm body 201 is controlled by speed-acceleration hierarchical planning and a trapezoidal acceleration and deceleration algorithm is adopted to ensure that the work actuator 202 smoothly arrives at the designated work position.

[0034] In practice, the output torque of the rotary motor is preset according to the rated lifting resistance of the container pallet legs and is dynamically adjusted in real time through feedback signals from the torque sensor.

[0035] In step S6, the omnidirectional robotic arm 2 is retracted to the contour boundary of the robot body 1, forming a compact layout to avoid interference or collision with surrounding structures or equipment during movement.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for RoRo ship container pallet legging operation, characterized in that, The robot body (1) and the universal mechanical arm (2) are connected on the robot body (1); The robot body (1) includes a vehicle frame (101), a driving assembly (102), a steering assembly (103), a battery assembly (104) and an electrical appliance assembly (105); The driving assembly (102), the steering assembly (103), the battery assembly (104) and the electrical appliance assembly (105) are respectively installed on the vehicle frame (101); The driving assembly (102) cooperates with the steering assembly (103) to make the robot body (1) have the omni-directional motion ability of in-place steering, transverse movement and oblique movement. The electrical appliance assembly (105) includes a laser radar (1051), a binocular camera (1052), an industrial computer (1053) and a mechanical arm controller (1054); The laser radar (1051) is connected on the vehicle frame (101), and the binocular camera (1052) is fixedly connected on the top of the vehicle frame (101) and used for collecting environmental information and work target position information. The industrial computer (1053) is fixedly connected on the top of the vehicle frame (101) and used for processing sensor information, path planning and motion control decision. The mechanical arm controller (1054) is used for receiving the instruction of the industrial computer (1053) and controlling the motion of the universal mechanical arm (2). The driving assembly (102) includes a hub motor (1021), a walking wheel (1022), a shock absorber (1023), a driving motor mounting plate (1024), a suspension support beam (1025) and a suspension mounting plate (1026); the hub motor (1021) is fixed on the driving motor mounting plate (1024), and the power output shaft thereof is fixedly connected with the wheel shaft of the walking wheel (1022); the driving motor mounting plate (1024) is connected with one end of the shock absorber (1023) and one end of the suspension support beam (1025); the other end of the shock absorber (1023) and the other end of the suspension support beam (1025) are jointly mounted on the suspension mounting plate (1026); and the suspension mounting plate (1026) is fixedly connected with the vehicle frame (101).

2. A robot for roll-on / roll-off ship container pallet legging operations according to claim 1, characterised in that, The steering assembly (103) includes a steering motor (1031), a steering reducer (1032) and a reducer mounting plate (1033); the reducer mounting plate (1033) is fixedly connected on the vehicle frame (101), the power output shaft of the steering motor (1031) is connected with the power input shaft of the steering reducer (1032), the power output shaft of the steering reducer (1032) is fixedly connected with the suspension mounting plate (1026) and used for driving the whole driving assembly (102) to rotate around the connecting point of the driving assembly (102) and the vehicle frame (101) to realize steering.

3. A robot for roll-on / roll-off ship container pallet legging operations according to claim 1, wherein, ​ 4. A robot for roll-on / roll-off ship container pallet legging operations according to claim 1, wherein, The battery assembly (104) includes a driving assembly battery pack, a steering assembly battery pack, an electrical appliance assembly battery pack and a mechanical arm battery pack, which respectively provide working power for the driving assembly (102), the steering assembly (103), the electrical appliance assembly (105) and the universal mechanical arm (2).

5. A robot for roll-on / roll-off ship container pallet legging operations according to claim 1, wherein, The laser radar (1051) is used for acquiring high-precision point cloud data of the surrounding environment to realize mapping, positioning and obstacle detection, and the binocular camera (1052) is used for collecting visual image information to assist navigation and target recognition.

6. A method of using a robot for the container ship roll-on / roll-off container pallet legging operation of claim 1, characterized in that, The method comprises the following steps: S1. Start the robot, the battery assembly (104) supplies power to each electrical device, the laser radar (1051) and the binocular camera (1052) in the electrical appliance assembly (105) are started, the laser radar (1051) scans the environment in the cabin and collects point cloud data, the binocular camera (1052) collects visual image information of the working area, the industrial computer (1053) processes the point cloud data and the visual image information, constructs a three-dimensional point cloud map in the cabin and realizes autonomous positioning and attitude estimation of the robot; S2. The industrial computer (1053) plans a driving path according to a preset working task, controls the robot body (1) to autonomously navigate to a working position in front of the target container along the planned path through the omnidirectional motion mode, and dynamically corrects the path during the navigation process in combination with real-time updated obstacle information of the laser radar (1051); S3. The binocular camera (1052) collects visual information of the bottom area of the container, the industrial computer (1053) identifies and locates the container tray leg lifting mechanism through image processing and feature recognition method, obtains its spatial position and attitude information and transmits them to the mechanical arm controller (1054); S4. The mechanical arm controller (1054) generates a motion trajectory according to the spatial position and attitude information, controls the mechanical arm body (201) to expand from the contracted state, and drives the working executor (202) to move to the front of the leg lifting mechanism; S5. The working executor (202) works, drives the container tray leg to complete the lifting or lowering action, and the mechanical arm controller (1054) monitors the joint state of the mechanical arm body (201) and the running condition of the working executor (202) in real time and adjusts the motion parameters in real time during the working process; S6. After the work is completed, the universal mechanical arm (2) is recovered to a safe position, and the robot body (1) enters the next working task or standby state according to the instruction.

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