The invention relates to a compact type plugging operation mobile robot system which comprises an AGV trolley, a cooperative mechanical arm and a tail end executor, the tail end executor is connected to the tail end of the cooperative mechanical arm in series, the cooperative mechanical arm is installed on an installation base of the AGV trolley, the AGV trolley bears the cooperative mechanical arm to move, the cooperative mechanical arm drives the tail end executor, and the cooperative mechanical arm drives the tail end executor to move. The end effector is used for realizing insertion and extraction of a workpiece; the AGV trolley comprises a chassis and a control cabinet arranged on the chassis, corner wheels and steering wheels are arranged below the chassis, the corner wheels support the AGV trolley, the steering wheels achieve movement and steering of the AGV trolley, and an electrical module for controlling the AGV trolley and the cooperative mechanical arm to move is arranged in the control cabinet. The AGV trolley is provided with the electrical module for achieving AGV trolley control, meanwhile, the cooperative mechanical arm and the control cabinet are installed on the AGV trolley, operation and control are integrated together, insertion and extraction of workpieces are achieved, the size of the mobile robot is reduced, and the mobile robot has a wider application scene.
本发明涉及一种紧凑型插拔作业移动机器人系统,包括AGV小车、协作机械臂、末端执行器,末端执行器串联在协作机械臂的末端,协作机械臂安装在AGV小车的安装底座上,AGV小车承载协作机械臂移动,协作机械臂带动末端执行器,末端执行器实现工件的插拔;AGV小车包括底盘和设置在底盘上的控制柜,底盘下方设有角轮和舵轮,角轮实现AGV小车的支撑,舵轮实现AGV小车的移动和转向,控制柜内设有控制AGV小车和协作机械臂运动的电气模块。本发明AGV小车上安装了实现AGV小车控制的电气模块,同时将协作机械臂和控制柜安装在AGV小车上,将作业和控制集成在一起,实现工件的插拔,减少了移动机器人的体积,具有更广的应用场景。
Compact type plugging operation mobile robot system
一种紧凑型插拔作业移动机器人系统
2023-12-15
Patent
Electronic Resource
Chinese
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