Crossed omnidirectional telescopic robot arm

Abstract

The present application relates to the technical field of mechanical arm, more particularly, to a cross type all-around telescopic mechanical arm, comprising a base platform, a turning telescopic driving frame rotatably connected to the base platform, a telescopic mechanism arranged on the turning telescopic driving frame, and an electric control driving module arranged on the turning telescopic driving frame; the electric control driving module and the turning telescopic driving frame for driving the telescopic mechanism to telescopically extend and retract and turn are arranged at one end of the telescopic mechanism, and the two can cooperate to make the telescopic mechanism telescopically extend and retract and turn, the structure is simple and easy to control, and driving elements do not need to be arranged between the telescopic mechanisms, effectively solving the technical problems of large space occupation and weight of the mechanical arm in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, and more particularly to a cross-type omnidirectional telescopic mechanical arm. BACKGROUND

[0002] At present, mechanical arms replace people in the industry to sort and improve production efficiency, but the general mechanical arms have some shortcomings: the general mechanical arms can only rotate up and down or left and right, and are relatively inconvenient when multi-directional rotation work is needed, resulting in errors when grabbing materials.

[0003] The prior art discloses a multi-directional steering grabbing mechanical arm for industrial robots, comprising a ceiling, a second magnetic block, a first stepper motor, a hydraulic cylinder, a clamping jaw and a counterweight; the scheme is provided with the first stepper motor and the second stepper motor perpendicular to each other, which can rotate up and down and left and right, achieve multi-directional steering, and the clamping jaw provided with protrusions at equal intervals can improve the grabbing friction and prevent the sliding of the grabbed articles.

[0004] The mechanical arm of the prior art realizes multi-directional steering and stretching through the mode that the supporting rod is rotationally connected with the fixed column and the fixed rod is rotationally connected with the supporting rod, however, the fixed column, the supporting rod and the fixed rod cannot be contracted or stacked, and a large amount of space is occupied when not in use, and driving devices need to be respectively installed between the three to drive rotation, resulting in an increase in the overall weight of the mechanical arm, so that the prior art has the technical problems of large occupied space and weight of the mechanical arm. SUMMARY

[0005] The present application aims to overcome the deficiencies of the prior art, such as large occupied space and weight of the mechanical arm, and provides a cross-type omnidirectional telescopic mechanical arm.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is:

[0007] The application discloses a cross type all-directional telescopic mechanical arm, which comprises a base platform, a turning telescopic driving frame connected to the base platform, a telescopic mechanism arranged on the turning telescopic driving frame and an electric control driving module arranged on the turning telescopic driving frame.

[0008] The cross type all-directional telescopic mechanical arm of the application is characterized in that the electric control driving module is connected to the active gear wheel disc through the small-diameter gear on the output shaft and the gear teeth of the active gear wheel disc, the power driving frames arranged on the two active gear wheel discs form an X cross type and rotate around the cross type power source shaft, the power connection shafts of the two power driving frames are equal in distance to the cross type power source shaft, the telescopic mechanism is stably connected to the power connection shaft of the power driving frame, the telescopic mechanism rotates around the cross type power source shaft when the two power driving frames rotate in the same direction, the telescopic mechanism telescopes when the two power driving frames rotate in opposite directions, the telescopic mechanism can realize all-directional telescoping because the turning telescopic driving frame is connected to the base platform, the electric control driving module and the turning telescopic driving frame used for driving the telescopic mechanism to telescope and turn are arranged at one end of the telescopic mechanism, the telescopic mechanism can telescope and turn through the cooperation of the electric control driving module and the turning telescopic driving frame, the structure is simple and easy to control, no driving element needs to be arranged between the telescopic mechanisms, the technical problems of large space occupation and weight of the mechanical arm in the prior art are effectively solved.

[0009] Further, the base platform is provided with a platform shaft, the platform shaft is coaxially fixed with a large-diameter gear wheel disc, the turning telescopic driving frame is fixed with an electric control turning driving module, and the small-diameter gear on the output shaft of the electric control turning driving module is engaged with the gear teeth of the large-diameter gear wheel disc. The small-diameter gear on the output shaft of the electric control turning driving module is engaged with the gear teeth of the large-diameter gear wheel disc, the large-diameter gear wheel disc coaxially fixed to the platform shaft is driven to rotate, and thus the base platform is driven to rotate.

[0010] Further, the base platform is a sliding frame provided with guide wheels. The sliding frame can roll on the ground through the guide wheels, or can be hung on the ceiling or wall and moved through the guide wheels, increasing the movement dimension of the mechanical arm and the movement range of the mechanical arm.

[0011] Further, the power drive frame is arranged with a plurality of adjusting holes, and the movable gear plate is arranged with a plurality of fixed holes in a radial direction, and the distances between the plurality of adjusting holes and the plurality of fixed holes are the same. Since the distances between the plurality of adjusting holes and the plurality of fixed holes are the same, the power drive frame can be connected to the fixed holes of the movable gear plate through different adjusting holes, achieving the effect of arbitrarily changing the length of the force arm, thereby adapting to different sizes of the telescopic mechanism, and having the advantages of good flexibility and high universality.

[0012] Further, the telescopic mechanism is composed of a plurality of cross frames, the end portions of the cross frames are rotationally connected through transmission connecting shafts, and the distances from the shaft centers of the transmission connecting shafts to the intersection centers of the cross frames are equal. The telescopic mechanism is composed of a plurality of cross frames, the end portions of the cross frames are rotationally connected through transmission connecting shafts, and the distances from the shaft centers of the transmission connecting shafts to the intersection centers of the cross frames are equal, so that the telescopic mechanism can stably perform telescopic movement in a straight line direction.

[0013] Further, the telescopic mechanism is provided with a carrying device at one end away from the power drive frame, and the power drive frame is provided with an electric control function drive module for driving the carrying device to run. The telescopic mechanism is provided with a carrying device at one end away from the power drive frame, and the power drive frame is provided with an electric control function drive module for driving the carrying device to run, reducing the load at the end of the telescopic device.

[0014] Further, the telescopic mechanism is provided with a transmission wheel coaxially rotating on the transmission connecting shaft; a transmission belt is arranged between the output shaft of the electric control function drive module and the transmission wheel, adjacent transmission wheels are driven through the transmission belt, and the transmission belt is arranged parallel to the cross frame. The transmission wheel is coaxially rotating on the transmission connecting shaft, adjacent transmission wheels are driven through the transmission belt, and the transmission belt is arranged parallel to the cross frame, which can perfectly integrate the power transmission and the telescopic mechanism, the telescopic movement of the telescopic mechanism and the power transmission between the transmission wheel and the transmission belt are independent of each other and do not interfere with each other, the power transmission between the transmission wheel and the transmission belt does not need to follow the adaptability adjustment of the telescopic movement of the telescopic mechanism, the structure of the telescopic mechanism is maximally compact, and has the advantage of saving space.

[0015] Further, the telescopic mechanism is provided with an adsorbing hose capable of inhaling air, the end of the adsorbing hose is arranged on the carrying device, and the adsorbing hose is wound around and arranged in parallel with the cross frames. Arranging the end of the adsorbing hose on the carrying device can generate negative pressure on the object to adsorb the object, and arranging the adsorbing hose around and in parallel with the cross frames can integrate the adsorbing hose with the telescopic mechanism.

[0016] Further, the movable gear plate is provided with a self-holding mechanism for keeping the direction of the carrying device, the self-holding mechanism comprises a first connecting rod rotatably connected at one end to the turning telescopic driving frame, a second connecting rod rotatably connected at one end to the other end of the first connecting rod, and a transmission wheel arranged at the other end of the second connecting rod; the transmission wheel at the other end of the second connecting rod is rotatably arranged on the movable gear plate, and the carrying device is fixedly provided with a transmission wheel, and the transmission wheel rotatably arranged on the movable gear plate and the transmission wheel fixedly arranged on the carrying device are synchronously rotated through a transmission belt. When the two sets of movable gear plates are synchronously rotated around the cross power source shaft to drive the telescopic mechanism to turn, the second connecting rod will make a pendulum motion because the second connecting rod is rotatably arranged between the first connecting rod and the movable gear plate, so that the rotation angle of the transmission wheel of the second connecting rod is consistent with the rotation angle of the movable gear plate relative to the cross power source shaft, thereby the transmission wheel of the carrying device is driven to rotate by a corresponding angle, so as to ensure that the carrying device is always kept in a set state and is not affected by the rotation of the telescopic mechanism, and meet the use requirement that the carrying device needs to form different angles with the direction of gravity.

[0017] Further, the transmission wheel rotatably arranged on the movable gear plate and the transmission wheel fixedly arranged on the carrying device are sequentially transmitted through the transmission wheels on the cross frames, and the transmission belts are arranged in parallel with the cross frames. The power transmission of the self-holding mechanism and the power transmission of the carrying device adopt the same structure, and are symmetrically arranged on the telescopic mechanism, thereby further improving the space utilization of the telescopic mechanism.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] The electric control driving module and the turning telescopic driving frame used for driving the telescopic mechanism to extend and turn are arranged at one end of the telescopic mechanism, and the two can cooperate to make the telescopic mechanism extend and turn, so that the structure is simple and easy to control, and driving elements do not need to be arranged between the telescopic mechanisms, thereby effectively solving the technical problems of large space occupation and large weight of the mechanical arm in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic view of a cross-type omnidirectional telescopic mechanical arm according to Embodiment 1;

[0021] Figure 2 The use state diagram of the base platform is shown in Figure 1.

[0022] Figure 3 The assembly drawing of the power drive frame and the movable gear plate is shown in Figure 2.

[0023] Figure 4 The structural schematic diagram of the telescopic mechanism is shown in Figure 3.

[0024] Figure 5 The structural schematic diagram of the cross-type full-range telescopic mechanical arm of Example 2 is shown in Figure 4.

[0025] Figure 6 The installation schematic diagram of the electric control function drive module and the movable gear plate is shown in Figure 5.

[0026] Figure 7 The structural schematic diagram of the cross-type full-range telescopic mechanical arm of Example 3 is shown in Figure 6.

[0027] In the drawings: 1, base platform; 11, platform shaft; 12, large-diameter gear plate; 13, guide wheel; 14, sliding frame; 2, turning telescopic drive frame; 21, cross power source shaft; 22, movable gear plate; 221, fixing hole; 23, power drive frame; 231, power connection shaft; 232, adjusting hole; 3, telescopic mechanism; 31, cross frame; 32, transmission connection shaft; 4, electric control drive module; 5, electric control rotation drive module; 6, carrying device; 7, electric control function drive module; 8, transmission wheel; 9, transmission belt; 110, first connecting rod; 111, second connecting rod. DETAILED DESCRIPTION

[0028] The application will be further described below in conjunction with specific embodiments. The drawings are only used for exemplary description, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation on the patent. In order to better illustrate the embodiments of the application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size. It is understandable for those skilled in the art that some well-known structures in the drawings and their descriptions may be omitted.

[0029] The same or similar reference numerals in the drawings of the embodiments of the application correspond to the same or similar components; in the description of the application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary description, and should not be understood as a limitation on the patent, and for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0030] Embodiment One

[0031] As Figures 1 to 3 shown is a first embodiment of a cross omnidirectional telescopic mechanical arm of the present application.

[0032] A cross omnidirectional telescopic mechanical arm, comprising a base platform 1, a turning telescopic driving frame 2 rotatably connected to the base platform 1, a telescopic mechanism 3 arranged on the turning telescopic driving frame 2, and an electric control driving module 4 arranged on the turning telescopic driving frame 2; the turning telescopic driving frame 2 comprises a cross power source shaft 21, two groups of semicircular movable gear plates 22 coaxially arranged on the cross power source shaft 21, and power driving frames 23 arranged on the movable gear plates 22; the two groups of power driving frames 23 are respectively fixed on the two groups of movable gear plates 22 to form an X cross structure; the electric control driving module 4 is arranged on both sides of the turning telescopic driving frame 2 and is staggered with each other, and the small diameter gear on the output shaft of the electric control driving module 4 is engaged with the gear teeth of the movable gear plate 22; one end of the power driving frame 23 is provided with a power connection shaft 231, the distance from the power connection shaft 231 of the two groups of power driving frames 23 to the cross power source shaft 21 is equal, and the power connection shaft 231 is connected with the telescopic mechanism 3 to drive the telescopic mechanism 3 to telescope. Wherein, the base platform 1 is provided with a platform shaft 11, and the platform shaft 11 is coaxially fixed with a large diameter gear plate 12; an electric control turning driving module 5 is fixedly arranged on the turning telescopic driving frame 2, and the small diameter gear on the output shaft of the electric control turning driving module 5 is engaged with the gear teeth of the large diameter gear plate 12. Wherein, the base platform 1 is a sliding frame 14 provided with a guide wheel 13. Wherein, the power driving frame 23 is arranged with a plurality of adjusting holes 232, and the movable gear plate 22 is arranged with a plurality of fixing holes 221 in the radial direction, and the distance between the plurality of adjusting holes 232 and the plurality of fixing holes 221 is the same.

[0033] In this embodiment, as Figure 1As shown, the electric control driving module 4 drives the movable gear plate 22 to rotate by the small-diameter gear on the output shaft engaging with the gear teeth of the movable gear plate 22, the power driving frame 23 arranged at the two groups of movable gear plates 22 forms an X-crossing structure to rotate around the crossing power source shaft 21, and the distance from the power connection shaft 231 of the power driving frame 23 to the crossing power source shaft 21 is equal, so that the telescopic mechanism 3 and the power connection shaft 231 of the power driving frame 23 can be stably connected; when the two groups of power driving frames 23 rotate in the same direction, the telescopic mechanism 3 rotates around the crossing power source shaft 21; when the two groups of power driving frames 23 rotate in opposite directions, the telescopic mechanism 3 telescopes, and since the turning telescopic driving frame 2 is rotationally connected to the base platform 1, the telescopic mechanism 3 can realize all-directional telescoping; therefore, the electric control driving module 4 and the turning telescopic driving frame 2 used for driving the telescopic mechanism 3 to telescope and turn are arranged at one end of the telescopic mechanism 3, and the cooperation of the two can make the telescopic mechanism 3 telescope and turn, the structure is simple and easy to control, driving elements do not need to be arranged between the telescopic mechanisms 3, and the technical problems of large space occupation and weight of the mechanical arm in the prior art are effectively solved.

[0034] In the embodiment, as shown in the figure, Figure 1 the small-diameter gear on the output shaft of the electric control turning driving module 5 engages with the gear teeth of the large-diameter gear plate 12 to drive the large-diameter gear plate 12 coaxially fixed to the platform shaft 11 to rotate, thereby realizing driving the base platform 1 to rotate.

[0035] In the embodiment, as shown in the figure, Figure 2 the sliding frame 14 can roll on the ground through the guide wheel 13, or can be hung on the ceiling or wall to move through the guide wheel 13, thereby increasing the movement dimension and range of the mechanical arm.

[0036] In the embodiment, as shown in the figure, Figure 3 Since the spacing between the several adjusting holes 232 and the several fixing holes 221 is the same, the power driving frame 23 can be connected through different adjusting holes 232 and the fixing holes 221 of the movable gear plate 22, thereby achieving the effect of arbitrarily changing the length of the force arm, so as to adapt to telescopic mechanisms 3 of different sizes, and has the advantages of good flexibility and high universality.

[0037] Embodiment two

[0038] As shown in the figure, Figures 4 to 5 the second embodiment of the crossing type all-directional telescopic mechanical arm.

[0039] The embodiment is similar to the embodiment one, except that the telescopic mechanism 3 is composed of a plurality of cross frames 31, the end of the cross frame 31 is rotationally connected through a transmission connecting shaft 32, the distance from the shaft center of the plurality of transmission connecting shafts 32 to the intersection center of the cross frame 31 is equal. Among them, the telescopic mechanism 3 is provided with a carrying device 6 away from one end of the power driven frame 23, and the power driven frame 23 is provided with an electric control function driving module 7 for driving the carrying device 6 to run. Among them, the telescopic mechanism 3 is provided with a transmission wheel 8 coaxially rotating on the transmission connecting shaft 32; a transmission belt 9 is arranged between the output shaft of the electric control function driving module 7 and the transmission wheel 8, the adjacent transmission wheels 8 are driven through the transmission belt 9, and the transmission belt 9 is arranged parallel to the cross frame 31. Among them, the telescopic mechanism 3 is provided with an adsorbing hose that can inhale, the end of the adsorbing hose is arranged on the carrying device 6, and the adsorbing hose is wound around the plurality of cross frames 31 and arranged parallel to the cross frames 31.

[0040] In the embodiment, as shown in Figure 4 , the telescopic mechanism 3 is composed of a plurality of cross frames 31, the end of the cross frame 31 is rotationally connected through a transmission connecting shaft 32, the distance from the shaft center of the plurality of transmission connecting shafts 32 to the intersection center of the cross frame 31 is equal, so that the telescopic mechanism 3 can stably expand and contract in the linear direction.

[0041] In the embodiment, as shown in Figure 5 , the carrying device 6 is arranged at one end of the telescopic mechanism 3 away from the power driven frame 23, and the electric control function driving module 7 for driving the carrying device 6 to run is arranged on the power driven frame 23, so as to reduce the load at the end of the telescopic device.

[0042] In addition, in the embodiment, as shown in Figure 6 , the electric control function driving module 7 can also be installed on a plurality of fixed holes 221 opened on the movable gear plate 22, so as to facilitate the change of the position of the electric control function driving module 7.

[0043] In addition, in the embodiment, the carrying device 6 can be a mechanical claw or a carrying table, etc.

[0044] In the embodiment, as shown in Figure 5 , the transmission wheel 8 is coaxially rotated on the transmission connecting shaft 32, the adjacent transmission wheels 8 are driven through the transmission belt 9, and the transmission belt 9 is arranged parallel to the cross frame 31, so that the power transmission and the telescopic mechanism 3 can be perfectly combined together, the telescopic movement of the telescopic mechanism 3 and the power transmission between the transmission wheel 8 and the transmission belt 9 are independent of each other and do not interfere with each other, the power transmission between the transmission wheel 8 and the transmission belt 9 also does not need to follow the telescopic movement of the telescopic mechanism 3 for adaptability adjustment, the structure of the telescopic mechanism 3 is maximally compact, and has the advantage of saving space.

[0045] In this embodiment, the end of the adsorption hose is placed on the carrier device 6 to generate negative pressure on the object so as to adsorb the object. The adsorption hose is wound around several cross frames 31 and arranged parallel to the cross frames 31. The adsorption hose is integrated with the telescopic mechanism 3.

[0046] Example 3

[0047] like Figure 7 The image shows a third embodiment of a cross-type omnidirectional telescopic robotic arm according to the present invention.

[0048] This embodiment is similar to Embodiment 1 or Embodiment 2, except that: the movable gear disk 22 is provided with a self-holding mechanism for maintaining the direction of the transport device 6. The self-holding mechanism includes a first connecting rod 110 rotatably connected at one end to the steering telescopic drive frame 2, a second connecting rod 111 rotatably connected at the other end of the first connecting rod 110, and a transmission wheel 8 located at the other end of the second connecting rod 111. The transmission wheel 8 located at the other end of the second connecting rod 111 is rotatably mounted on the movable gear disk 22, and the transport device 6 is fixedly mounted with the transmission wheel 8. The transmission wheel 8 rotatably mounted on the movable gear disk 22 and the transmission wheel 8 fixedly mounted between the transport devices 6 rotate synchronously through a transmission belt 9. The transmission wheel 8 rotatably mounted on the movable gear disk 22 and the transmission wheel 8 fixedly mounted on the transport device 6 are sequentially driven by the transmission wheel 8 on the cross frame 31, and adjacent transmission wheels 8 are driven by the transmission belt 9, which is arranged parallel to the cross frame 31.

[0049] In this embodiment, as Figure 7 As shown, when the two sets of movable gear disks 22 rotate in the same direction around the cross power shaft 21 to drive the telescopic mechanism 3 to turn, since the second link 111 is rotatably set between the first link 110 and the movable gear disk 22, the second link 111 will perform a swing arm movement, so that the rotation angle of the transmission wheel 8 of the second link 111 is consistent with the rotation angle of the movable gear disk 22 relative to the cross power shaft 21. This transmits the power to the transmission wheel 8 of the carrying device 6, causing the carrying device 6 to rotate by a corresponding angle, ensuring that the carrying device 6 always remains in the set state and is not affected by the rotation of the telescopic mechanism 3, thus meeting the usage requirements of the carrying device 6 to form different angles with the direction of gravity.

[0050] In this embodiment, as Figure 7 As shown, the power transmission of the self-holding mechanism and the power transmission of the carrying device 6 adopt the same structure and are arranged symmetrically on the telescopic mechanism 3, which further improves the space utilization of the telescopic mechanism 3.

[0051] In the specific contents of the foregoing specific embodiments, each technical feature can be combined arbitrarily without contradiction. In order to make the description simple, all possible combinations of the foregoing technical features are not described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present disclosure.

[0052] Obviously, the above embodiments of the present application are merely exemplary and are not intended to limit the implementation of the present application. Based on the above description, other different forms of changes or variations can be made by those of ordinary skill in the art. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A cross omnidirectional telescopic robot arm, characterized by: The utility model provides a kind of telescopic steering drive frame, including base platform (1), rotary connection in the base platform (1) of steering telescopic drive frame (2), be equipped with in the telescopic mechanism (3) of steering telescopic drive frame (2), and be equipped with in the electric control drive module (4) of steering telescopic drive frame (2);The steering telescopic drive frame (2) includes cross source power shaft (21), two groups of semicircular movable gear disc (22) being coaxially rotated in the cross source power shaft (21), and power drive frame (23) being equipped with in movable gear disc (22);Two groups of power drive frame (23) are respectively misaligned fixed on two groups of movable gear disc (22) and form X cross configuration;The electric control drive module (4) is equipped with two groups and is misaligned and is respectively equipped with in the steering telescopic drive frame (2) two sides, the small diameter gear on the output shaft of electric control drive module (4) is engaged with the gear teeth of movable gear disc (22);The power connection shaft (231) is equipped with in one end of power drive frame (23), and the distance of power connection shaft (231) of two groups of power drive frame (23) to cross source power shaft (21) is equal, and power connection shaft (231) is connected to telescopic mechanism (3) to drive telescopic mechanism (3) telescopic;The telescopic mechanism (3) is composed of several cross frames (31), and the end of cross frame (31) is rotationally connected by transmission connecting shaft (32), and the distance of the axis of several transmission connecting shafts (32) to the intersection center of cross frame (31) is equal.

2. The intersecting omnidirectional telescopic robotic arm according to claim 1, wherein: The base platform (1) is provided with a platform shaft (11), and the platform shaft (11) is coaxially fixed with a large-diameter gear disc (12); the steering telescopic drive frame (2) is fixedly provided with an electric control rotary drive module (5), and the small-diameter gear on the output shaft of the electric control rotary drive module (5) is engaged with the gear teeth of the large-diameter gear disc (12).

3. The intersecting omnidirectional telescopic robotic arm according to claim 1, wherein: The base platform (1) is a sliding frame (14) provided with a guide wheel (13).

4. The intersecting omnidirectional telescopic robotic arm according to claim 1, wherein: The power drive frame (23) is arranged with a plurality of adjustment holes (232), and the movable gear disc (22) is radially arranged with a plurality of fixing holes (221), and the spacing between a plurality of adjustment holes (232) and a plurality of fixing holes (221) is the same.

5. The intersecting omnidirectional telescopic robotic arm according to claim 1, wherein: The telescopic mechanism (3) is provided with a carrying device (6) away from one end of the power drive frame (23), and the power drive frame (23) is provided with an electric control function drive module (7) for driving the carrying device (6) to operate.

6. The intersecting omnidirectional telescopic robotic arm according to claim 5, wherein: The telescopic mechanism (3) is coaxially rotatably provided with a transmission wheel (8) on the transmission connecting shaft (32); a transmission belt (9) is arranged between the output shaft of the electric control function drive module (7) and the transmission wheel (8), adjacent transmission wheels (8) are driven by the transmission belt (9), and the transmission belt (9) is arranged in parallel with the cross frame (31).

7. The intersecting omnidirectional telescopic robotic arm according to claim 5, wherein: The telescopic mechanism (3) is provided with an adsorbing hose that can inhale air, the end of the adsorbing hose is arranged on the carrying device (6), the adsorbing hose is wound around a plurality of cross frames (31) and arranged in parallel with the cross frames (31).

8. The intersecting omnidirectional telescopic robotic arm according to claim 5, wherein: The movable gear plate (22) is provided with a self-holding mechanism for holding the direction of the carrier (6), which comprises a first connecting rod (110) rotatably connected to the turning telescopic drive frame (2), a second connecting rod (111) rotatably connected to one end of the first connecting rod (110), and a transmission wheel (8) provided at the other end of the second connecting rod (111); the transmission wheel (8) at the other end of the second connecting rod (111) is rotatably arranged on the movable gear plate (22), and the carrier (6) is fixedly provided with a transmission wheel (8); the transmission wheel (8) rotatably arranged on the movable gear plate (22) and the transmission wheel (8) fixedly arranged on the carrier (6) are synchronously rotated through a transmission belt (9).

9. The cross-shaped omnidirectional telescopic robotic arm according to claim 8, characterized in that: The transmission wheel (8) rotatably arranged on the movable gear plate (22) and the transmission wheel (8) fixedly arranged on the carrier (6) are sequentially transmitted through the transmission wheels (8) on the cross frame (31), and the adjacent transmission wheels (8) are transmitted through the transmission belt (9), and the transmission belt (9) is arranged in parallel with the cross frame (31).

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