Large-torque self-locking robot electric tail boom mechanism

Abstract

The invention discloses a large-torque self-locking robot electric tail boom mechanism, and relates to the field of tail boom mechanisms, the large-torque self-locking robot electric tail boom mechanism comprises a mounting bracket, a shaft rod assembly is arranged on the mounting bracket, one end of a first supporting shell is fixedly connected with a second supporting shell, the first supporting shell is rotatably connected with the mounting bracket, and a driving assembly is mounted in the first supporting shell; the driving assembly is used in cooperation with the shaft rod assembly and used for driving the first supporting shell to rotate relative to the mounting support, and the moving mechanism is mounted at the end, away from the first supporting shell, of the second supporting shell. The mounting bracket, the shaft rod assembly, the driving assembly and the moving assembly are used cooperatively, the shaft rod assembly and the driving assembly adopt a worm gear and worm driving mode, so that the moving assembly turns over and rotates relative to the shaft rod assembly, the moving assembly is in an unfolded use state or a folded state, the use convenience of the moving assembly is improved, and the practicability is high. And when the moving assembly is in the storage state, the occupied space of the moving assembly can be reduced.

Description

Technical Field

[0001] The invention relates to the field of tail support mechanisms, and in particular to an electric tail support mechanism for a large-torque self-locking robot. Background Art

[0002] Due to the development of modern intelligence, unmanned automated tracked robots have been widely recognized in the military and civilian fields. Tracked robots are machines with extremely strong obstacle-crossing capabilities and are suitable for operations in various complex terrains. When tracked robots are climbing slopes or stairs, the angle is too large, or the robotic arm is operating and it is easy to overturn. At this time, the tail support can add effective support to the rear of the robot, allowing the robot to complete the task more efficiently.

[0003] At present, there are three forms of mainstream robot arms: swing leg arm form, mechanical arm auxiliary form and fixed tail support form. The three existing forms have obvious advantages and disadvantages. The swing leg arm form is the main form of tracked or wheeled robots. The swing leg arm is installed at the front end or rear end of the tracked robot, or at both the front and rear ends. This form is relatively mature and suitable for various complex terrains. It has outstanding obstacle crossing capabilities. When crossing obstacles, the swing leg arm is unfolded to provide rear support for the robot without taking up extra space. However, it is currently used for small robots. The mechanical arm form mainly assists the robot in crossing obstacles on a flat road. When it is necessary to cross obstacles, the mechanical arm is controlled to support the ground to assist the robot. The fixed tail support form is to add a fixed tail support to the tail of the robot, which plays a role of rear support when the robot climbs slopes and stairs. This type of robot is large in size and difficult to transport. When climbing slopes or stairs, it will limit the climbing angle, thus having certain defects. Summary of the invention

[0004] The object of the present invention is to provide a large torque self-locking robot electric tail support mechanism to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a large torque self-locking robot electric tail support mechanism, comprising:

[0006] A mounting bracket, the mounting bracket is used to connect to the tail end of the large torque self-locking robot;

[0007] A shaft assembly, wherein the shaft assembly is disposed on a mounting bracket;

[0008] A first support shell and a second support shell, wherein one end of the first support shell is fixedly connected to the second support shell, and the first support shell is rotatably connected to the mounting bracket through a shaft assembly;

[0009] A driving assembly, the driving assembly is installed inside the first supporting shell, and the driving assembly is used in conjunction with the shaft assembly to drive the first supporting shell to rotate relative to the mounting bracket;

[0010] The moving mechanism is installed at one end of the second supporting shell away from the first supporting shell.

[0011] Preferably, the shaft assembly comprises:

[0012] A mounting sleeve, wherein the mounting sleeve is mounted inside the mounting bracket, and the first supporting shell is rotatably mounted outside the mounting sleeve;

[0013] A worm wheel, the worm wheel is fixedly mounted on the outside of the mounting sleeve, and the worm wheel is linked with the driving assembly;

[0014] A tail support joint is installed on one side of the mounting bracket, and is used to limit the rotation of the mounting sleeve.

[0015] Preferably, the driving assembly comprises:

[0016] A drive shaft, the drive shaft being rotatably mounted inside the first support shell;

[0017] A worm, the worm is fixedly mounted on the outside of the driving shaft, and the worm is meshingly connected with the worm wheel;

[0018] A drive motor is installed inside the second support shell, and an output end of the drive motor is drivingly connected to the drive shaft.

[0019] Preferably, the driving assembly further comprises:

[0020] a second bearing, the second bearing being mounted between the drive shaft and the first support housing;

[0021] A limiting sleeve, the limiting sleeve is rotatably clamped on the outside of the driving shaft, and the limiting sleeve is fixedly connected to one end of the first supporting shell;

[0022] The second tail cover is installed on a side of the first supporting shell away from the second supporting shell, and one end of the outer wall of the driving shaft is rotatably sleeved with the second tail cover.

[0023] Preferably, the shaft assembly further comprises:

[0024] A first bearing, wherein the first bearing is sleeved between the mounting sleeve and the mounting bracket;

[0025] A connecting sleeve, wherein the connecting sleeve is fixedly connected to one side of the mounting bracket, and one side of the outer wall of the mounting sleeve is slidably engaged with the connecting sleeve;

[0026] The first tail cover is installed on one side of the mounting bracket, and one end of the mounting sleeve is rotatably connected to the first tail cover.

[0027] Preferably, the tail support joint comprises:

[0028] A fixed housing, the fixed housing being fixedly connected to the other side of the mounting bracket;

[0029] A first pressing piece, wherein the first pressing piece is slidably engaged with the outside of the mounting sleeve;

[0030] A second pressing sheet, the second pressing sheet is slidably engaged with the interior of the fixed housing, and one side of the second pressing sheet is pressed and fitted with the first pressing sheet;

[0031] The limiting assembly is arranged inside the fixed shell, and the limiting assembly is used to give the second pressing piece an elastic squeezing force toward the first pressing piece.

[0032] Preferably, the inner wall of the first pressing sheet is fixedly connected with a first clamping block, a first clamping groove is provided at one end of the outer wall of the mounting sleeve, the outer wall of the first clamping block is slidably engaged with the inner cavity of the first clamping groove, the first pressing sheet is slidably sleeved inside the fixed shell, the outer wall of the second pressing sheet is fixedly connected with a second clamping block, the inner wall of the fixed shell is provided with a second clamping groove, the outer wall of the second clamping block is slidably engaged with the inner cavity of the second clamping groove, and the second pressing sheet is slidably sleeved on one end of the outer wall of the mounting sleeve.

[0033] Preferably, the limiting component comprises:

[0034] A first pressing plate and a second pressing plate, wherein the first pressing plate and the second pressing plate are slidably sleeved inside the fixed housing;

[0035] A limit spring, wherein the limit spring is arranged between the first pressing plate and the second pressing plate;

[0036] An adjusting bolt, the outer wall of which is threadedly connected to the fixed housing.

[0037] Preferably, one end of the adjusting bolt is squeezed into fit with the first pressure plate, the side of the second pressure plate facing away from the limit spring is squeezed into fit with the second pressure sheet, the side of the second pressure plate facing the first pressure plate is fixedly connected with a guide rod, the outer wall of the guide rod is slidably sleeved with the limit spring, and a through hole matching the guide rod is opened on one side of the first pressure plate.

[0038] Preferably, the moving mechanism comprises:

[0039] A connector, the connector being fixedly connected to a side of the second supporting shell facing away from the first supporting shell;

[0040] A fixed shaft, the outer wall of which is fixedly connected to the connector;

[0041] A supporting roller is rotatably mounted on one end of an outer wall of the fixed shaft.

[0042] Technical effects and advantages of the present invention:

[0043] (1) The present invention utilizes a mounting bracket, a shaft assembly, a driving assembly, and a moving assembly in a coordinated manner. The shaft assembly and the driving assembly are driven by a worm gear and a worm, so that the moving assembly is flipped and rotated relative to the shaft assembly to be in an unfolded state or a stored state, thereby improving its convenience of use. When the moving assembly is in the stored state, the space it occupies can be reduced;

[0044] (2) The present invention utilizes the coordinated use of the mounting sleeve and the tail support joint, the tail support joint includes a fixed shell, a first pressing piece, a second pressing piece, a first pressing plate, a second pressing plate, a limit spring and an adjusting bolt, and the mounting sleeve is braked by the extrusion friction between the first pressing piece and the second pressing plate. When the mounting sleeve is subjected to a certain torque force, the first pressing piece and the second pressing piece can slide relative to each other, so that the mounting sleeve can be rotated to release the torque force, thereby improving the service life of the worm gear and the worm, and by rotating the adjusting bolt and changing the extrusion force of the limit spring, the extrusion force between the first pressing piece and the second pressing piece can be changed, so that the value of the torque force released by the mounting sleeve can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 It is a schematic diagram of the overall explosion structure of the present invention.

[0047] Figure 3 It is a schematic diagram of the connection structure between the mounting bracket and the first supporting shell of the present invention.

[0048] Figure 4 It is a schematic diagram of the overall structure of the mounting bracket of the present invention.

[0049] Figure 5 This is a schematic diagram of the explosion structure at the mounting bracket of the present invention.

[0050] Figure 6 This is a schematic diagram of the overall structure of the shaft sleeve installed in the present invention.

[0051] Figure 7 It is a schematic diagram of the overall structure of the fixed shell of the present invention.

[0052] Figure 8 It is a schematic diagram of the overall structure of the first pressing plate of the present invention.

[0053] In the figure: 1. mounting bracket; 2. shaft assembly; 21. mounting sleeve; 22. worm gear; 23. tail support joint; 231. fixed housing; 232. first pressing plate; 233. first slot; 234. second pressing plate; 235. second slot; 236. first pressing plate; 237. second pressing plate; 238. limiting spring; 239. guide rod; 2310. adjusting bolt; 24. first bearing; 25. connecting sleeve; 26. first tail cover; 31. first support housing; 32. second support housing; 4. driving assembly; 41. driving shaft; 42. worm; 43. second bearing; 44. limiting sleeve; 45. second tail cover; 46. driving motor; 5. moving mechanism; 51. connecting head; 52. fixed shaft; 53. supporting roller. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The present invention provides Figure 1-8 The electric tail support mechanism of a large torque self-locking robot shown in the figure includes a mounting bracket 1, an axle assembly 2, a first support shell 31, a second support shell 32, a driving assembly 4 and a moving mechanism 5, wherein the mounting bracket 1 is used to connect with the tail end of the large torque self-locking robot, the axle assembly 2 is arranged on the mounting bracket 1, one end of the first support shell 31 is fixedly connected with the second support shell 32, the first support shell 31 is rotatably connected with the mounting bracket 1 through the axle assembly 2, the driving assembly 4 is installed inside the first support shell 31, and the driving assembly 4 is used in conjunction with the axle assembly 2 to drive the first support shell 31 to rotate relative to the mounting bracket 1, so that the first support shell 31 and the second support shell 32 are driven The movable mechanism 5 is flipped, so that the first support shell 31, the second support shell 32, and the movable mechanism 5 are in a folded storage state, or in a tilted unfolded use state. The movable mechanism 5 is installed at one end of the second support shell 32 away from the first support shell 31. The first support shell 31, the second support shell 32, and the movable mechanism 5 are in the folded storage state to reduce the space they occupy, and when the first support shell 31, the second support shell 32, and the movable mechanism 5 are in the unfolded vertical state, the bottom of the movable mechanism 5 is lower than the bottom of the high-torque self-locking robot, so that when the high-torque self-locking robot is in a climbing tilted state, the movable mechanism 5 can provide anti-dumping support for the tail end of the high-torque self-locking robot.

[0056] In particular, the shaft assembly 2 includes a mounting sleeve 21, a worm gear 22 and a tail support joint 23. The mounting sleeve 21 is mounted inside the mounting bracket 1, the first support housing 31 is rotatably mounted on the outside of the mounting sleeve 21, the worm gear 22 is fixedly mounted on the outside of the mounting sleeve 21, the worm gear 22 forms a linkage with the drive assembly 4, and the tail support joint 23 is mounted on one side of the mounting bracket 1. The tail support joint 23 is used to limit the rotation of the mounting sleeve 21, so that when the mounting sleeve 21 is subjected to a certain rotation torque force, which is greater than the limiting force of the tail support joint 23 on the mounting sleeve 21, the mounting sleeve can be made to rotate. 21 rotates to release the torque force, the shaft assembly 2 also includes a first bearing 24, a connecting sleeve 25 and a first tail cover 26, the first bearing 24 is sleeved between the mounting sleeve 21 and the mounting bracket 1, the connecting sleeve 25 is fixedly connected to one side of the mounting bracket 1, one side of the outer wall of the mounting sleeve 21 is slidably engaged with the connecting sleeve 25, the first tail cover 26 is installed on one side of the mounting bracket 1, one end of the mounting sleeve 21 is rotatably connected to the first tail cover 26, the connecting sleeve 25 and the first tail cover 26 can limit the installation of the mounting sleeve 21, and the mounting sleeve 21 can be disassembled by removing the first tail cover 26.

[0057] Further, the drive assembly 4 includes a drive shaft 41, a worm 42 and a drive motor 46. The drive shaft 41 is rotatably mounted inside the first support shell 31, the worm 42 is fixedly mounted outside the drive shaft 41, the worm 42 is meshedly connected with the worm wheel 22, the drive motor 46 is mounted inside the second support shell 32, the output end of the drive motor 46 is transmission-connected with the drive shaft 41, the drive motor 46 drives the drive shaft 41 to rotate, the worm 42 cooperates with the worm wheel 22, and the first support shell 31 can be rotated relative to the axis of the mounting sleeve 21. The drive assembly 4 also includes A second bearing 43, a limiting sleeve 44 and a second tail cover 45, the second bearing 43 is installed between the drive shaft 41 and the first support shell 31, the limiting sleeve 44 is rotatably clamped on the outside of the drive shaft 41, the limiting sleeve 44 is fixedly connected to one end of the first support shell 31, the second tail cover 45 is installed on the side of the first support shell 31 away from the second support shell 32, one end of the outer wall of the drive shaft 41 is rotatably sleeved with the second tail cover 45, the limiting sleeve 44 and the second tail cover 45 can limit the drive shaft 41, and the drive shaft 41 can be slid out by removing the second tail cover 45.

[0058] In particular, the tail support joint 23 includes a fixed shell 231, a first pressing piece 232, a second pressing piece 234 and a limiting assembly. The fixed shell 231 is fixedly connected to the other side of the mounting bracket 1, the first pressing piece 232 is slidably engaged with the outside of the mounting sleeve 21, the second pressing piece 234 is slidably engaged with the inside of the fixed shell 231, one side of the second pressing piece 234 is squeezed and fit with the first pressing piece 232, the limiting assembly is arranged inside the fixed shell 231, the limiting assembly is used to give the second pressing piece 234 an elastic squeezing force toward the first pressing piece 232, the inner wall of the first pressing piece 232 is fixedly connected with a first clamping block, one end of the outer wall of the mounting sleeve 21 is provided with a first clamping groove 233, the outer wall of the first clamping block is slidably engaged with the inner cavity of the first clamping groove 233, the first pressing piece 232 is slidably sleeved inside the fixed shell 231, and under the action of multiple first clamping blocks The first pressing piece 232 cannot rotate relative to the mounting sleeve 21, and the outer wall of the second pressing piece 234 is fixedly connected with a second clamping block. The inner wall of the fixed shell 231 is provided with a second clamping groove 235, and the outer wall of the second clamping block is slidably engaged with the inner cavity of the second clamping groove 235, and the second pressing piece 234 is slidably sleeved on one end of the outer wall of the mounting sleeve 21. Under the action of the second clamping block, the second pressing piece 234 cannot rotate relative to the fixed shell 231. Therefore, when the second pressing piece 234 and the first pressing piece 232 are pressed and fitted tightly, the friction resistance between the second pressing piece 234 and the first pressing piece 232 can limit the mounting sleeve 21. When the torque force applied to the mounting sleeve 21 is greater than the friction force between the second pressing piece 234 and the first pressing piece 232, the mounting sleeve 21 will drive the first pressing piece 232 to rotate relative to the second pressing piece 234, thereby releasing the torque force of the mounting sleeve 21.

[0059] Furthermore, the limiting assembly includes a first pressing plate 236 and a second pressing plate 237, a limiting spring 238 and an adjusting bolt 2310. The first pressing plate 236 and the second pressing plate 237 are slidably sleeved inside the fixed housing 231. The limiting spring 238 is arranged between the first pressing plate 236 and the second pressing plate 237, so that the limiting spring 238 can give an elastic squeezing force to the second pressing plate 234 through the second pressing plate 237, so that there is a certain elastic squeezing force between the second pressing plate 234 and the first pressing plate 232. The outer wall of the adjusting bolt 2310 is threadedly connected to the fixed housing 231, one end of the adjusting bolt 2310 is squeezed and fitted with the first pressing plate 236, and the side of the second pressing plate 237 away from the limiting spring 238 is squeezed and fitted with the second pressing plate 234. The adjusting bolt 2310 is rotated to make one end of the adjusting bolt 2310 squeeze the first pressing plate 236 to move. The first pressing plate 236 is provided with a through hole matching the guide rod 239, and the guide rod 239 is provided on one side of the first pressing plate 236. The guide rod 239 is provided on the other side of the first pressing plate 236. The guide rod 239 is provided on the other side of the first pressing plate 236. The guide rod 239 is provided on the other side of the first pressing plate 236. The guide rod 239 can ensure the stability of the use of the limit spring 238, and the end of the guide rod 239 facing away from the second pressing plate 237 has a certain gap with the inner wall of the fixed shell 231, so as to avoid the second pressing plate 237, the second pressing plate 234 and the first pressing plate 232 being squeezed and stuck under the action of the guide rod 239.

[0060] Specifically, the moving mechanism 5 includes a connecting head 51, a fixed shaft 52 and a supporting roller 53. The connecting head 51 is fixedly connected to the side of the second supporting shell 32 away from the first supporting shell 31. The outer wall of the fixed shaft 52 is fixedly connected to the connecting head 51. The supporting roller 53 is rotatably installed on one end of the outer wall of the fixed shaft 52, so that when the supporting roller 53 contacts the ground, it can support the large-torque self-locking robot to tilt and climb.

[0061] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A large torque self-locking robot electric tail support mechanism, characterized in that: include: A mounting bracket (1), wherein the mounting bracket (1) is used to be connected to the tail end of the large torque self-locking robot; A shaft assembly (2), wherein the shaft assembly (2) is arranged on the mounting bracket (1); A first support shell (31) and a second support shell (32), wherein one end of the first support shell (31) is fixedly connected to the second support shell (32), and the first support shell (31) is rotatably connected to the mounting bracket (1) via a shaft assembly (2); A driving assembly (4), the driving assembly (4) being installed inside the first supporting shell (31), the driving assembly (4) being used in conjunction with the shaft assembly (2) to drive the first supporting shell (31) to rotate relative to the mounting bracket (1); A moving mechanism (5), wherein the moving mechanism (5) is installed at an end of the second supporting shell (32) facing away from the first supporting shell (31).

2. The large torque self-locking robot electric tail support mechanism according to claim 1, characterized in that: The shaft assembly (2) comprises: A mounting sleeve (21), wherein the mounting sleeve (21) is mounted inside the mounting bracket (1), and the first supporting shell (31) is rotatably mounted outside the mounting sleeve (21); A worm gear (22), wherein the worm gear (22) is fixedly mounted on the outside of the mounting sleeve (21), and the worm gear (22) is linked with the driving assembly (4); A tail support joint (23), wherein the tail support joint (23) is mounted on one side of the mounting bracket (1), and the tail support joint (23) is used to limit the rotation of the mounting sleeve (21).

3. The large torque self-locking robot electric tail support mechanism according to claim 2 is characterized in that: The driving assembly (4) comprises: A drive shaft (41), the drive shaft (41) being rotatably mounted inside the first supporting shell (31); A worm (42), wherein the worm (42) is fixedly mounted on the outside of the drive shaft (41), and the worm (42) is meshingly connected with the worm wheel (22); A drive motor (46), wherein the drive motor (46) is installed inside the second support shell (32), and an output end of the drive motor (46) is drivingly connected to the drive shaft (41).

4. The large torque self-locking robot electric tail support mechanism according to claim 3 is characterized in that: The driving assembly (4) further comprises: a second bearing (43), the second bearing (43) being installed between the drive shaft (41) and the first support housing (31); A limiting shaft sleeve (44), wherein the limiting shaft sleeve (44) is rotatably engaged with the outside of the driving shaft (41), and the limiting shaft sleeve (44) is fixedly connected to one end of the first supporting shell (31); The second tail cover (45) is installed on a side of the first supporting shell (31) away from the second supporting shell (32), and one end of the outer wall of the driving shaft (41) is rotatably sleeved with the second tail cover (45).

5. The large torque self-locking robot electric tail support mechanism according to claim 2, characterized in that: The shaft assembly (2) further comprises: A first bearing (24), wherein the first bearing (24) is sleeved between the mounting sleeve (21) and the mounting bracket (1); A connecting sleeve (25), wherein the connecting sleeve (25) is fixedly connected to one side of the mounting bracket (1), and one side of the outer wall of the mounting sleeve (21) is slidably engaged with the connecting sleeve (25); A first tail cover (26), wherein the first tail cover (26) is mounted on one side of the mounting bracket (1), and one end of the mounting sleeve (21) is rotatably connected to the first tail cover (26).

6. The large torque self-locking robot electric tail support mechanism according to claim 2, characterized in that: The tail support joint (23) comprises: A fixed shell (231), wherein the fixed shell (231) is fixedly connected to the other side of the mounting bracket (1); A first pressing piece (232), wherein the first pressing piece (232) is slidably engaged with the outside of the mounting sleeve (21); A second pressing sheet (234), the second pressing sheet (234) is slidably engaged with the interior of the fixed housing (231), and one side of the second pressing sheet (234) is pressed and fitted with the first pressing sheet (232); A limit assembly is arranged inside the fixed housing (231), and is used to give the second pressing sheet (234) an elastic pressing force towards the first pressing sheet (232).

7. The large torque self-locking robot electric tail support mechanism according to claim 6, characterized in that: The inner wall of the first pressing piece (232) is fixedly connected to a first clamping block, one end of the outer wall of the mounting sleeve (21) is provided with a first clamping groove (233), the outer wall of the first clamping block is slidably clamped with the inner cavity of the first clamping groove (233), the first pressing piece (232) is slidably sleeved inside the fixed shell (231), the outer wall of the second pressing piece (234) is fixedly connected to a second clamping block, the inner wall of the fixed shell (231) is provided with a second clamping groove (235), the outer wall of the second clamping block is slidably clamped with the inner cavity of the second clamping groove (235), and the second pressing piece (234) is slidably sleeved on one end of the outer wall of the mounting sleeve (21).

8. The large torque self-locking robot electric tail support mechanism according to claim 6, characterized in that: The limiting component comprises: A first pressing plate (236) and a second pressing plate (237), wherein the first pressing plate (236) and the second pressing plate (237) are slidably sleeved inside the fixed housing (231); A limit spring (238), wherein the limit spring (238) is arranged between the first pressing plate (236) and the second pressing plate (237); An adjusting bolt (2310), wherein the outer wall of the adjusting bolt (2310) is threadedly connected to the fixed housing (231).

9. The large torque self-locking robot electric tail support mechanism according to claim 8, characterized in that: One end of the adjusting bolt (2310) is pressed and fitted with the first pressure plate (236), and the side of the second pressure plate (237) facing away from the limit spring (238) is pressed and fitted with the second pressure sheet (234). The second pressure plate (237) is fixedly connected with a guide rod (239) on the side facing the first pressure plate (236), and the outer wall of the guide rod (239) is slidably connected with the limit spring (238). A through hole matching the guide rod (239) is opened on one side of the first pressure plate (236).

10. The large torque self-locking robot electric tail support mechanism according to claim 1, characterized in that: The moving mechanism (5) comprises: A connecting head (51), the connecting head (51) being fixedly connected to a side of the second supporting shell (32) facing away from the first supporting shell (31); A fixed shaft (52), wherein the outer wall of the fixed shaft (52) is fixedly connected to the connecting head (51); A supporting roller (53) is rotatably mounted on one end of the outer wall of the fixed shaft (52).

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