9-degree-of-freedom telescopic tobacco loading robot assembly for special scene

The 9-degree-of-freedom telescopic tobacco loading robot assembly comprises a universal moving chassis, a telescopic mechanical arm and a mechanical claw, one end of the mechanical arm is movably connected with the universal moving chassis through a first servo joint, and a rotating shaft of the first servo joint is parallel to the supporting face of the universal moving chassis; the other end of the mechanical arm is movably connected with the mechanical claw through a fifth servo joint, and a rotating shaft of the fifth servo joint is parallel to a rotating shaft of the first servo joint. The problems that in the prior art, flexibility is poor, or occupied space is large, or the requirement for the working distance cannot be met are solved. 本发明公开了用于特殊场景的9自由度伸缩式装烟机器人总成，包括万向移动底盘、可伸缩机械臂和机械爪，所述可所述机械臂一端与万向移动底盘通过第一伺服关节活动连接，所述第一伺服关节的转轴与万向移动底盘的支撑面相互平行，机械臂另一端与机械抓通过第五伺服关节活动连接，所述第五伺服关节的转轴与第一伺服关节的转轴平行。以解决现有技术要么灵活性差，要么占用空间大要么无法满足工作距离需求的问题。