Auxiliary support device and robot chassis

Abstract

This invention relates to the field of construction machinery technology, disclosing an auxiliary support device and a robot chassis. The auxiliary support device includes: a horizontal telescopic mechanism capable of extending and retracting in a horizontal direction, comprising a first transmission component capable of extending and retracting in the horizontal direction; and a vertical telescopic mechanism capable of extending and retracting in a vertical direction, connected to the movable end of the horizontal telescopic mechanism, comprising a second transmission component and a scissor lift component. The first and second transmission components extend in the same direction, and the second transmission component can switch between a transmission state connected to the first transmission component and a follow-up state moving synchronously with the first transmission component. The second transmission component can drive the scissor lift component to extend and retract in the vertical direction. The auxiliary support device provided by this invention can achieve both lateral and longitudinal extension and retraction, while also having a more compact structure.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular to an auxiliary supporting device and a robot chassis. Background Art

[0002] For some construction robots equipped with mechanical arms or lifting platforms, their center of mass is relatively high and the dynamic load is large during operation. In order to ensure stability, the chassis needs to provide sufficient support. The working environment of construction robots is narrow. In order to ensure the passability of the chassis, the chassis size is limited. The overall structure is very compact, the wheelbase is short, and the projection area with the ground is not large, which reduces the chassis's anti-disturbance ability and stability. In addition, in order to ensure the passability of the chassis over obstacles, the driving wheels are usually equipped with a suspension shock-absorbing structure. Under the action of the dynamic load of the upper body, the overall shaking amount is too large. Finally, the elasticity of the tires will also cause the construction robot to shake during operation, which is unacceptable for some construction robots with high operating precision requirements. Therefore, this type of construction robot needs a device that can provide support during operation.

[0003] The support device on the construction machinery chassis usually extends horizontally first, and then extends vertically to contact the ground. Generally, it is driven by hydraulic or motor, and a single support device requires two drive parts to complete the action. This support structure usually has only two levels of extension in each direction. It is too large for the construction robot chassis with high space compactness requirements, and has limitations in space layout, making it difficult to apply

[0004] Therefore, there is an urgent need for an auxiliary support device and a robot chassis to solve the above-mentioned technical problems. Summary of the invention

[0005] Based on the above, the object of the present invention is to provide an auxiliary support device and a robot chassis that can achieve lateral and longitudinal extension and at the same time have a more compact structure.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, an auxiliary support device is provided, comprising: a horizontal telescopic mechanism, which can be telescoped in a horizontal direction, the horizontal telescopic mechanism comprising a first transmission assembly that can be telescoped in the horizontal direction; a vertical telescopic mechanism, which can be telescoped in a vertical direction, the vertical telescopic mechanism is connected to the movable end of the horizontal telescopic mechanism, the vertical telescopic mechanism comprising a second transmission assembly and a scissors-type assembly, the first transmission assembly and the second transmission assembly are extended in the same direction, the second transmission assembly can switch between a transmission state in which it is transmission-connected to the first transmission assembly and a follow-up state in which it is synchronously active with the first transmission assembly, and the second transmission assembly can drive the scissors-type assembly to telescope in the vertical direction.

[0008] Specifically, the auxiliary support device can realize horizontal and vertical telescopic extension. When the auxiliary support device starts working, the second transmission component is first switched to the follow-up state, and then the first transmission component is driven to rotate and extend in the horizontal direction, so that the horizontal telescopic mechanism extends a preset length in the horizontal direction; then the second transmission component is switched to the transmission state, and the second transmission component moves with the first transmission component, driving the scissors assembly to extend vertically downward, so that the bottom end of the vertical telescopic mechanism contacts the ground to support the robot chassis. When the auxiliary support device needs to be retracted, it only needs to drive the first transmission component and the second transmission component to move in the opposite direction in the transmission state, so that the vertical telescopic mechanism retracts upward, and then drive the first transmission component to retract in the follow-up state, so that the horizontal telescopic mechanism retracts horizontally. The auxiliary support device only needs to input one telescopic drive to realize horizontal and vertical telescopic extension, which reduces the number of drive components, makes the overall structure more compact, and reduces the equipment cost.

[0009] As an optional technical solution for the auxiliary support device, the auxiliary support device also includes: a telescopic drive member, the output end of which is connected to the first transmission assembly, and the telescopic drive member can drive the first transmission assembly to telescope in a horizontal direction, and can also drive the scissors assembly to telescope in a vertical direction.

[0010] As an optional technical solution for the auxiliary supporting device, both the first transmission assembly and the second transmission assembly adopt a screw transmission structure.

[0011] As an optional technical solution for the auxiliary support device, the first transmission assembly includes a primary lead screw, a secondary lead screw and a tertiary lead screw extending in the same direction and threadedly connected in sequence, the primary lead screw and the secondary lead screw are connected via a first electromagnetic clutch, the secondary lead screw and the tertiary lead screw are connected via a second electromagnetic clutch, the primary lead screw is sleeved outside the secondary lead screw, the secondary lead screw is sleeved outside the tertiary lead screw, or the tertiary lead screw is sleeved outside the secondary lead screw, and the secondary lead screw is sleeved outside the primary lead screw.

[0012] As an optional technical solution for the auxiliary support device, one end of the third-stage screw away from the secondary screw is rotatably connected to the housing of the horizontal telescopic mechanism through a screw bearing seat, and the first transmission assembly also includes a brake, one end of the brake is connected to the third-stage screw, and the other end of the brake is connected to the outer ring of the screw bearing seat.

[0013] As an optional technical solution for the auxiliary support device, the vertical telescopic mechanism includes a scissors-fork telescopic sleeve that can be telescoped in the vertical direction, the second transmission assembly includes a threaded scissors-fork lead screw and a lead screw nut rod, the scissors-fork lead screw is selectively transmission-connected to the first transmission assembly, the scissors-fork lead screw is rotatably connected in the scissors-fork telescopic sleeve, one end of the top of the scissors-fork assembly is connected to the top of the scissors-fork telescopic sleeve, the other end of the top of the scissors-fork assembly is connected to the lead screw nut rod, and the bottom end of the scissors-fork assembly is connected to the movable end of the scissors-fork telescopic sleeve.

[0014] As an optional technical solution for the auxiliary supporting device, a bottom slide groove is provided at the bottom of the scissors-type telescopic sleeve, one end of the bottom of the scissors-type assembly is slidably connected to the bottom slide groove, and the other end of the bottom of the scissors-type assembly is connected to the bottom end of the scissors-type telescopic sleeve.

[0015] As an optional technical solution for the auxiliary supporting device, a supporting base plate is provided at the bottom of the scissor-type telescopic sleeve, and a force sensor is installed on the supporting base plate to detect the pressure on the supporting base plate.

[0016] As an optional technical solution for the auxiliary supporting device, the first transmission assembly and the second transmission assembly are connected via a torque coupling; or the first transmission assembly and the second transmission assembly are connected via a clutch.

[0017] In a second aspect, a robot chassis is provided, characterized in that it includes a chassis body and the auxiliary supporting device as described above, wherein the auxiliary supporting device is installed on the chassis body.

[0018] The beneficial effects of the present invention are:

[0019] The auxiliary support device provided by the present invention can realize horizontal telescopic and vertical telescopic. When the auxiliary support device starts to work, the second transmission component is first switched to the follow-up state, and then the first transmission component is driven to rotate and extend in the horizontal direction, so that the horizontal telescopic mechanism extends a preset length in the horizontal direction; then the second transmission component is switched to the transmission state, and the second transmission component moves with the first transmission component, driving the scissors assembly to extend vertically downward, so that the bottom end of the vertical telescopic mechanism contacts the ground to support the robot chassis. When the auxiliary support device needs to be retracted, it only needs to drive the first transmission component and the second transmission component to move in the opposite direction in the transmission state, so that the vertical telescopic mechanism retracts upward, and then drive the first transmission component to retract in the follow-up state, so that the horizontal telescopic mechanism retracts horizontally. The auxiliary support device provided by the present invention only needs to input a telescopic drive to realize horizontal and vertical telescopic, which reduces the number of drive components, makes the overall structure more compact, and reduces the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0021] Figure 1 It is a structural schematic diagram of the auxiliary support device provided by the present invention;

[0022] Figure 2 is a structural schematic diagram of a first transmission assembly provided by the present invention;

[0023] Figure 3 It is a structural schematic diagram of the vertical telescopic mechanism provided by the present invention;

[0024] Figure 4 This is a schematic diagram of the partial structure of the auxiliary support device provided by the present invention. Figure 1 ;

[0025] Figure 5 This is a schematic diagram of the partial structure of the auxiliary support device provided by the present invention. Figure 2 ;

[0026] Figure 6 It is a partial structural schematic diagram of the vertical telescopic mechanism provided by the present invention.

[0027] In the figure:

[0028] 100, horizontal telescopic mechanism; 101, primary lead screw; 102, secondary lead screw; 103, tertiary lead screw; 104, first electromagnetic clutch; 105, second electromagnetic clutch; 106, first horizontal sleeve; 107, second horizontal sleeve; 108, third horizontal sleeve; 109, lead screw bearing seat; 110, brake;

[0029] 200, vertical telescopic mechanism; 201, scissor telescopic sleeve; 202, scissor lead screw; 203, lead screw nut rod; 204, top slide; 205, first support rod; 206, second support rod; 207, first connecting piece; 208, third support rod; 209, fourth support rod; 210, second connecting piece; 211, moving rod; 212, bottom slide; 213, torque coupling; 214, supporting bottom plate;

[0030] 300, telescopic drive member;

[0031] 4. End cover; 5. First connecting plate; 6. Second connecting plate; 7. Third connecting plate; 8. Screw hole mounting plate. DETAILED DESCRIPTION

[0032] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] This embodiment provides a robot chassis, which includes a chassis body and an auxiliary support device installed on the chassis body, wherein the auxiliary support device can be unfolded and contact the ground to support the chassis body. In this embodiment, four auxiliary support devices are evenly installed around the chassis body.

[0034] like Figure 1-Figure 6 As shown, the auxiliary support device includes a horizontal telescopic mechanism 100 and a vertical telescopic mechanism 200. The horizontal telescopic mechanism 100 can be telescoped in the horizontal direction, and the horizontal telescopic mechanism 100 includes a first transmission assembly that can be telescoped in the horizontal direction; the vertical telescopic mechanism 200 can be telescoped in the vertical direction, and the vertical telescopic mechanism 200 is connected to the active end of the horizontal telescopic mechanism 100, and the vertical telescopic mechanism 200 includes a second transmission assembly and a scissors assembly. The first transmission assembly and the second transmission assembly are extended in the same direction, and the second transmission assembly can switch between a transmission state in which it is transmission-connected to the first transmission assembly and a follow-up state in which it is telescoped synchronously with the first transmission assembly, and the second transmission assembly can drive the scissors assembly to telescope in the vertical direction.

[0035] Specifically, the auxiliary support device provided in this embodiment can realize horizontal telescopic and vertical telescopic. When the auxiliary support device starts working, the second transmission component is first switched to the follow-up state, and then the first transmission component is driven to rotate and extend in the horizontal direction, so that the horizontal telescopic mechanism 100 extends a preset length in the horizontal direction; then the second transmission component is switched to the transmission state, and the second transmission component moves with the first transmission component, driving the scissor assembly to extend vertically downward, so that the bottom end of the vertical telescopic mechanism 200 contacts the ground to support the robot chassis. When the auxiliary support device needs to be retracted, it only needs to drive the first transmission component and the second transmission component to move in the opposite direction in the transmission state, so that the vertical telescopic mechanism 200 retracts upward, and then drive the first transmission component to retract in the follow-up state, so that the horizontal telescopic mechanism 100 retracts horizontally. The auxiliary support device provided by the present invention only needs to input a telescopic drive to realize horizontal and vertical telescopic, which reduces the number of drive components, makes the overall structure more compact, and reduces the equipment cost.

[0036] Optionally, the horizontal telescopic mechanism 100 also includes a shell, the first transmission assembly is arranged in the shell, and the vertical telescopic mechanism 200 is installed at one end of the shell; the auxiliary support device also includes a telescopic driving member 300, the output end of the telescopic driving member 300 is connected to the first transmission assembly, and the telescopic driving member 300 can drive the shell to telescope in the horizontal direction along with the first transmission assembly, and can also drive the scissors assembly to telescope in the vertical direction.

[0037] Preferably, both the first transmission assembly and the second transmission assembly adopt a screw transmission structure.

[0038] Preferably, the telescopic driving member 300 adopts a rotating driving member such as a servo motor or a stepping motor.

[0039] Further, the first transmission assembly includes a primary lead screw 101, a secondary lead screw 102, and a tertiary lead screw 103 extending in the same direction and being threadedly connected in sequence, the primary lead screw 101 and the secondary lead screw 102 are connected by a first electromagnetic clutch 104, the secondary lead screw 102 and the tertiary lead screw 103 are connected by a second electromagnetic clutch 105, the primary lead screw 101 is sleeved outside the secondary lead screw 102, and the secondary lead screw 102 is sleeved outside the tertiary lead screw 103. Specifically, the output end of the telescopic drive member 300 is connected to the end of the primary lead screw 101. When the first electromagnetic clutch 104 is separated and the second electromagnetic clutch 105 is closed, the telescopic drive member 300 can drive the primary lead screw 101 to rotate, and the secondary lead screw 102 and the tertiary lead screw 103 to move synchronously along a straight line; when the first electromagnetic clutch 104 is closed and the second electromagnetic clutch 105 is separated, the telescopic drive member 300 can drive the primary lead screw 101 and the secondary lead screw 102 to rotate synchronously, and the tertiary lead screw 103 to move along a straight line; when the first electromagnetic clutch 104 and the second electromagnetic clutch 105 are both closed, the telescopic drive member 300 can drive the primary lead screw 101, the secondary lead screw 102 and the tertiary lead screw 103 to rotate synchronously. The multi-stage lateral telescopic setting allows the auxiliary support device to maintain a smaller occupied space in the retracted state while achieving a longer lateral extension distance, further improving the compactness of the structure, and facilitating the robot chassis to walk in a narrow space area.

[0040] Of course, in other embodiments of the present invention, the tertiary lead screw 103 may also be sleeved outside the secondary lead screw 102 , and the secondary lead screw 102 may be sleeved outside the primary lead screw 101 .

[0041] Optionally, one end of the tertiary lead screw 103 away from the secondary lead screw 102 is rotatably connected to the housing of the horizontal telescopic mechanism 100 through a lead screw bearing seat 109, and the first transmission assembly further includes a brake 110, one end of the brake 110 is connected to the tertiary lead screw 103, and the other end of the brake 110 is connected to the outer ring of the lead screw bearing seat 109. When the brake 110 is braking, the tertiary lead screw 103 is fixedly connected to the outer ring of the lead screw bearing seat 109.

[0042] Optionally, the housing of the horizontal telescopic mechanism 100 includes a first horizontal sleeve 106, a second horizontal sleeve 107 and a third horizontal sleeve 108, wherein the first horizontal sleeve 106 is sleeved outside the second horizontal sleeve 107, and the second horizontal sleeve 107 is sleeved outside the third horizontal sleeve 108. The first-stage lead screw 101 is rotatably connected to the first horizontal sleeve 106, the second-stage lead screw 102 is rotatably connected to the second horizontal sleeve 107, and the third-stage lead screw 103 is rotatably connected to the third horizontal sleeve 108.

[0043] Optionally, the vertical telescopic mechanism 200 includes a scissors-fork telescopic sleeve 201 that can be telescoped in the vertical direction, and the second transmission assembly includes a threaded scissors-fork lead screw 202 and a lead screw nut rod 203, the scissors-fork lead screw 202 is selectively connected to the first transmission assembly for transmission, the scissors-fork lead screw 202 is rotatably connected in the scissors-fork telescopic sleeve 201, one end of the top of the scissors-fork assembly is connected to the top of the scissors-fork telescopic sleeve 201, the other end of the top of the scissors-fork assembly is connected to the lead screw nut rod 203, and the bottom end of the scissors-fork assembly is connected to the movable end of the scissors-fork telescopic sleeve 201.

[0044] Specifically, a first support rod 205 and a second support rod 206 are provided on the top of the scissors assembly, wherein the first support rod 205 is rotatably connected to the screw nut rod 203, and the second support rod 206 is rotatably connected to the inner wall of the scissors telescopic sleeve 201 through the first connecting piece 207.

[0045] In this embodiment, the first transmission assembly and the second transmission assembly are connected by a torque coupling 213. Specifically, the three-stage screw 103 and the scissor screw 202 are connected by a torque coupling 213. When the rotation torque is within a preset range, the three-stage screw 103 can drive the scissor screw 202 to rotate; when the rotation torque exceeds the preset range, one end of the torque coupling 213 connected to the three-stage screw 103 and one end connected to the scissor screw 202 slip, and the three-stage screw 103 cannot drive the scissor screw 202 to rotate.

[0046] Of course, in other embodiments, the first transmission assembly and the second transmission assembly may also be connected via a clutch structure such as a clutch.

[0047] Of course, in other embodiments of the present invention, the first transmission assembly and the second transmission assembly may also adopt linear transmission components such as hollow piston rods, and the telescopic drive component 300 adopts linear transmission components such as air pumps and oil pumps. Solenoid valves are used between the hollow piston rods to control the flow of transmission media such as oil and air between the hollow piston rods, so that the first transmission assembly can be telescopic in multiple sections, and the first transmission assembly and the second transmission assembly can switch between a transmission state and a follow-up state.

[0048] Optionally, a top slide groove 204 is provided at the top of the scissor-type telescopic sleeve 201 , and the lead screw nut rod 203 is slidably connected to the top slide groove 204 .

[0049] Optionally, a bottom slide groove 212 is provided at the bottom of the scissor telescopic sleeve 201, one end of the bottom of the scissor assembly is slidably connected to the bottom slide groove 212, and the other end of the bottom of the scissor assembly is connected to the bottom end of the scissor telescopic sleeve 201. Specifically, a third support rod 208 and a fourth support rod 209 are provided at the bottom of the scissor assembly, wherein the third support rod 208 is rotatably connected to the moving rod 211, the fourth support rod 209 is rotatably connected to the inner wall of the scissor telescopic sleeve 201 through the second connecting member 210, and the moving rod 211 is slidably arranged in the bottom slide groove 212.

[0050] Optionally, a support base plate 214 is provided at the bottom of the scissor telescopic sleeve 201, and a force sensor is installed on the support base plate 214 to detect the pressure on the support base plate 214. When the support base plate 214 touches the floor, the force measured by the force sensor gradually increases to a preset value, at which time the force sensor feeds back a signal to the telescopic drive member 300, and the telescopic drive member 300 stops rotating. Alternatively, in the case where the first transmission assembly and the second transmission assembly are connected by an electromagnetic clutch transmission, when the force measured by the force sensor gradually increases to a preset value, the force sensor feeds back a signal to the electromagnetic clutch, and the electromagnetic clutch is separated.

[0051] Optional, such as Figure 4 and Figure 5 As shown, the scissor telescopic sleeve 201 is connected to the third horizontal sleeve 108 through the end cover 4, the first connecting plate 5, the second connecting plate 6 and the third connecting plate 7. The scissor telescopic sleeve 201 is connected to the end cover 4, the first connecting plate 5, the second connecting plate 6 and the third connecting plate 7 by bolts, which is reliable, easy to install, and convenient to disassemble and repair.

[0052] Optional, such as Figure 6 As shown, a screw hole mounting plate 8 is provided on the side wall of the scissor-fork telescopic sleeve 201, and the scissor-fork screw 202 passes through a through hole on the screw hole mounting plate 8.

[0053] The working process of the auxiliary support device provided in this embodiment is as follows:

[0054] First, the auxiliary support device is extended horizontally, and the brake 110 brakes and locks the tertiary lead screw 103. The first electromagnetic clutch 104 is separated, and the second electromagnetic clutch 105 is engaged, so that the tertiary lead screw 103 and the secondary lead screw 102 do not move relative to each other, and the telescopic drive member 300 drives the primary lead screw 101 to rotate, thereby driving the secondary lead screw 102 to extend; when the secondary lead screw 102 is extended to the specified position, the first electromagnetic clutch 104 is engaged, and the second electromagnetic clutch 105 is separated, and the telescopic drive member 300 drives the secondary lead screw 102 to rotate, thereby extending the tertiary lead screw 103 to the specified position.

[0055] Then, the auxiliary support device extends downward, the first electromagnetic clutch 104 and the second electromagnetic clutch 105 are both engaged, the brake 110 is released, and the telescopic drive member 300 drives the three-stage lead screw 103 to rotate, and the three-stage lead screw 103 drives the scissors fork lead screw 202 to rotate through the torque coupling 213, and drives the lead screw nut rod 203 to move, so that the scissors fork assembly extends, and drives the scissors fork telescopic sleeve 201 to extend downward; when the bottom end of the scissors fork telescopic sleeve 201 contacts the ground, the driving resistance becomes larger, and when the rotational torque of the scissors fork lead screw 202 reaches the limited torque of the torque coupling 213, the torque coupling 213 slips, and the telescopic drive member 300 stops working at this time, and the scissors fork lead screw 202 has a self-locking function to keep the support device extended.

[0056] When the support is completed, the auxiliary support device is retracted upward, the first electromagnetic clutch 104 and the second electromagnetic clutch 105 are both engaged, the brake 110 is released, and the telescopic drive member 300 drives the scissors fork screw 202 to rotate in the opposite direction, so that the scissors fork assembly drives the scissors fork telescopic sleeve 201 to be retracted upward. After the retraction is completed, the scissors fork screw 202 is locked, and the torque coupling 213 slips again.

[0057] Finally, the auxiliary support device is retracted laterally, the first electromagnetic clutch 104 is engaged, the second electromagnetic clutch 105 is disengaged, the brake 110 brakes and locks the third-stage lead screw 103, and the telescopic drive component 300 drives the secondary lead screw 102 to rotate to retract the third-stage lead screw 103; after the retraction is completed, the first electromagnetic clutch 104 is disengaged, the second electromagnetic clutch 105 is engaged, the telescopic drive component 300 drives the primary lead screw 101 to rotate and drive the secondary lead screw 102 to retract, and after the retraction action is completed, the telescopic drive component 300 stops working, and the retraction of the auxiliary support device is now completed.

[0058] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An auxiliary support device, characterized in that: include: A horizontal telescopic mechanism, which can be telescoped in the horizontal direction, and the horizontal telescopic mechanism includes a first transmission assembly that can be telescoped in the horizontal direction; A vertical telescopic mechanism, which can be telescopic in the vertical direction, is connected to the movable end of the horizontal telescopic mechanism, and comprises a second transmission assembly and a scissor assembly, wherein the first transmission assembly and the second transmission assembly are arranged to extend in the same direction, and the second transmission assembly can switch between a transmission state in which the second transmission assembly is connected to the first transmission assembly and a follow-up state in which the second transmission assembly is synchronously moved with the first transmission assembly, and the second transmission assembly can drive the scissor assembly to telescope in the vertical direction; When starting work, first switch the second transmission assembly to the follow-up state, then drive the first transmission assembly to extend in the horizontal direction, so that the horizontal telescopic mechanism extends a preset length in the horizontal direction, and then switch the second transmission assembly to the transmission state, the second transmission assembly moves with the first transmission assembly, driving the scissors assembly to extend vertically downward.

2. The auxiliary support device according to claim 1, characterized in that: The auxiliary support device also includes: A telescopic driving member, wherein the output end of the telescopic driving member is connected to the first transmission assembly, and the telescopic driving member can drive the first transmission assembly to be telescopic in a horizontal direction, and can also drive the scissors assembly to be telescopic in a vertical direction.

3. The auxiliary support device according to claim 1, characterized in that: The first transmission assembly and the second transmission assembly both adopt a screw transmission structure.

4. The auxiliary support device according to claim 3, characterized in that: The first transmission assembly includes a primary lead screw, a secondary lead screw and a tertiary lead screw extending in the same direction and being threadedly connected in sequence, the primary lead screw and the secondary lead screw are connected via a first electromagnetic clutch, the secondary lead screw and the tertiary lead screw are connected via a second electromagnetic clutch, the primary lead screw is sleeved outside the secondary lead screw, the secondary lead screw is sleeved outside the tertiary lead screw, or The third-stage lead screw is sleeved outside the second-stage lead screw, and the second-stage lead screw is sleeved outside the first-stage lead screw.

5. The auxiliary support device according to claim 4, characterized in that: One end of the third-stage screw away from the second-stage screw is rotatably connected to the housing of the horizontal telescopic mechanism through a screw bearing seat. The first transmission assembly also includes a brake, one end of which is connected to the third-stage screw, and the other end of the brake is connected to the outer ring of the screw bearing seat.

6. The auxiliary support device according to claim 3, characterized in that: The vertical telescopic mechanism includes a scissors-fork telescopic sleeve that can be telescoped in the vertical direction, the second transmission assembly includes a threaded scissors-fork lead screw and a lead screw nut rod, the scissors-fork lead screw is selectively transmission-connected to the first transmission assembly, the scissors-fork lead screw is rotatably connected in the scissors-fork telescopic sleeve, one end of the top of the scissors-fork assembly is connected to the top of the scissors-fork telescopic sleeve, the other end of the top of the scissors-fork assembly is connected to the lead screw nut rod, and the bottom end of the scissors-fork assembly is connected to the movable end of the scissors-fork telescopic sleeve.

7. The auxiliary support device according to claim 6, characterized in that: A bottom slide groove is provided at the bottom of the scissor-fork telescopic sleeve, one end of the bottom of the scissor-fork assembly is slidably connected to the bottom slide groove, and the other end of the bottom of the scissor-fork assembly is connected to the bottom end of the scissor-fork telescopic sleeve.

8. The auxiliary support device according to claim 6, characterized in that: A supporting base plate is provided at the bottom of the scissor-type telescopic sleeve, and a force sensor is installed on the supporting base plate to detect the pressure on the supporting base plate.

9. The auxiliary support device according to claim 3, characterized in that: The first transmission assembly and the second transmission assembly are connected via a torque coupling; or The first transmission assembly and the second transmission assembly are connected via a clutch.

10. A robot chassis, characterized in that: It comprises a chassis body and an auxiliary supporting device as claimed in any one of claims 1 to 9, wherein the auxiliary supporting device is installed on the chassis body.

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