Industrial robot capable of changing walking state

Abstract

The invention discloses an industrial robot capable of changing the walking state, and belongs to the technical field of robots, the industrial robot comprises a robot body, the upper end of the robot body is detachably connected with a cargo carrying box used for carrying cargoes, and the front end and the rear end of the robot body are symmetrically provided with mechanical legs used for walking. According to the device, a conversion motor is controlled to rotate, so that the conversion motor drives a winding wheel to rotate, the winding wheel can wind a traction rope when rotating, and therefore the traction rope is used for pulling a rotating rod to enable a connecting piece to rotate, and the connecting piece can drive a supporting wheel to rotate together in the rotating process; the supporting wheels rotate from the horizontal state to the ground state to the state inclined to the ground, then the walking posture of the machine body is converted, then the driving motor is started to drive the supporting wheels to rotate, the supporting wheels are used for driving the machine body to rapidly move on the flat ground, the conveying speed is increased, and the conveying efficiency is improved by switching the walking state of the machine body back and forth. And thus, the applicability of the device can be greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an industrial robot capable of changing walking states. Background Art

[0002] With the development of science and technology, robots are becoming more and more popular, and more and more production bases are beginning to use robots. Many industrial production bases will use robots to carry goods over short distances. Carrying goods through robots has the characteristics of high efficiency and large load capacity;

[0003] A Chinese patent discloses a handling robot (publication number: CN112896363B), which puts the items to be handled into the box through a box, then controls the body to rotate the wheels to drive the items to be handled to a specified position, and when the items need to be unloaded, starts the electric telescopic rod, which will lift one end of the box, and the other end of the box will rotate on the outer side of the first rotating shaft through the rotating ear to make the box deflect downward and move forward at the same time, and the forward movement of the box will drive the second rotating shaft to move forward, and the forward movement of the second rotating shaft will drive the rotating plate to move while the rotating plate will rotate on the outer side of the second rotating shaft, and drive the third rotating shaft to move forward, and the forward movement of the third rotating shaft will drive the connecting rod to rotate while the connecting rod is deflected, so that the box deviates from the baffle, and at this time the items in the box will slide down, and at the same time the lower end of the connecting rod will rotate on the surface of the fourth rotating shaft, and the two sets of limit plates on the outer side of the fourth rotating shaft will prevent the connecting rod from falling off, and the present invention can facilitate the unloading of the items to be handled and prevent the items from slipping during handling.

[0004] However, the transport robot in the patent has a single walking mode, which is wheeled walking mode. Although wheeled robots are highly efficient, they have high requirements for road conditions and can only walk on flat roads. For complex roads, such as uneven ground and sections that require climbing stairs (uneven ground and sections that require climbing stairs are just examples, not limited to this), wheeled robots cannot normally pass. Therefore, the present invention provides an industrial robot that can change its walking state to solve the above-mentioned problems. Summary of the invention

[0005] The object of the present invention is to provide an industrial robot capable of changing its walking state, so as to solve the problems raised in the above-mentioned background technology.

[0006] The technical solution of the present invention is: an industrial robot capable of changing walking states, comprising a body, a cargo box for carrying goods being detachably connected to the upper end of the body, mechanical legs for walking being symmetrically mounted at both the front and rear ends of the body, and the mechanical legs being capable of changing walking states according to needs;

[0007] The mechanical leg comprises a main trunk, one end of which is connected to the fuselage, and a secondary trunk is installed at the other end, a mounting plate is fixedly connected to the outer wall of the main trunk, and a second walking motor for driving the main trunk to move is fixedly connected to one end of the mounting plate close to the fuselage, and a first walking motor for driving the secondary trunk to move is also installed inside the main trunk;

[0008] The auxiliary trunk includes a driving block, which is rotatably connected to the main trunk through a supporting shaft. A connecting rod is fixedly connected inside the driving block, and a supporting leg is fixedly connected to the lower end of the connecting rod. The lower end of the supporting leg is connected to a supporting wheel through a steering knuckle.

[0009] Preferably, a connection structure for fixing the luggage box is installed at the upper end of the fuselage, and the connection structure includes a fixing shell. A positioning groove is provided at the lower end of the luggage box, and a rubber ring is fixedly connected to the inner wall of the positioning groove.

[0010] Preferably, a rifle sleeve is rotatably connected to the interior of the fixed shell, a rifle rod is inserted into the interior of the rifle sleeve, a support spring is sleeved outside the rifle rod, and a plurality of push blocks are attached to the exterior of the rifle sleeve.

[0011] Preferably, the pushing blocks are rotatably connected to the fixed shell, and the interior of the fixed shell is also slidably connected with a plurality of limit rods for fixing the cargo box, and the plurality of limit rods respectively correspond to a plurality of pushing blocks, and a reset spring is also sleeved on the outer wall of the limit rod.

[0012] Preferably, a support frame is fixedly connected to the outer wall of the support wheel, one end of the support frame away from the support wheel is rotatably connected to the steering knuckle, and a drive motor is also fixedly connected to the interior of the support frame, which can drive the support wheel to rotate.

[0013] Preferably, the steering knuckle comprises a kit, the kit is fixedly connected to the lower end of the support leg, and the interior of the kit is rotatably connected to a connecting piece, and the support frame is rotatably connected to the connecting piece.

[0014] Preferably, a rotating rod is fixedly connected to the outer wall of the connecting member, a conversion motor is fixedly connected to the upper end of the connecting rod, a winding wheel is fixedly connected to the output shaft of the conversion motor, a traction rope is wound inside the winding wheel, and the traction rope is fixedly connected to the rotating rod.

[0015] Preferably, a unloading port is provided on the outer wall of the cargo box, and a unloading door is rotatably connected to the inside of the unloading port. The interior of the cargo box is also movably connected to a lifting plate, through which materials inside the cargo box can be moved out of the cargo box, thereby facilitating unloading.

[0016] Preferably, the lower end of the lifting plate is rotatably connected to a rotating shaft rod, both ends of the rotating shaft rod are fixedly connected to sliders, and the sliders are slidably connected to the inner wall of the cargo box;

[0017] A lifting structure for driving the lifting plate to move is symmetrically installed on the outer wall of the luggage box. The lifting structure includes a protective cover, and a first pulling wheel and a second pulling wheel are installed in the protective cover. Pull ropes are wrapped around the outside of the first pulling wheel and the second pulling wheel, and the pulling ropes are respectively connected to the lifting plates.

[0018] Preferably, a transmission rod is rotatably connected to the interior of the protective sleeve, the transmission rod is inserted into the second pulling wheel, and a transmission channel corresponding to the transmission rod is opened inside the first pulling wheel;

[0019] One end of the transmission rod close to the inside of the protective cover is fixedly connected to a transmission wheel, and a winding motor is also fixedly connected to the outer wall of the cargo box, the output shaft of the winding motor is also fixedly connected to a transmission wheel, and the two transmission wheels are connected by a transmission belt, and one end of the second pulling wheel close to the transmission wheel is fixedly connected to an electromagnet ring, and a connecting spring is provided between the electromagnet ring and the transmission wheel.

[0020] The present invention has the following beneficial effects:

[0021] (1) When the machine body is on a flat ground, the mechanical legs can be lifted, and then the conversion motor can be controlled to rotate, so that the conversion motor drives the winding wheel to rotate. When the winding wheel rotates, the traction rope will be wound up, so that the traction rope is used to pull the rotating rod to rotate the connecting piece. During the rotation of the connecting piece, the supporting wheel will be driven to rotate together, so that the supporting wheel rotates from a horizontal state with the ground to a state inclined with the ground, thereby converting the walking posture of the machine body, and then starting the driving motor to drive the supporting wheel to rotate, so that the supporting wheel drives the machine body to move quickly on the flat ground, thereby increasing the transportation speed;

[0022] (2) When the support wheel rotates from a state horizontal to a state inclined to the ground, the first travel motor and the second travel motor can be turned on to put the mechanical legs in a curled state, thereby reducing the distance between the fuselage and the ground and lowering the center of gravity of the fuselage, making the fuselage more suitable for high-speed travel;

[0023] (3) By switching the walking state of the fuselage back and forth, the applicability of the present invention can be greatly increased;

[0024] (4) When the cargo in the cargo box is a box body, the first pulling wheel and the second pulling wheel are used to reel in the pulling rope, thereby driving the lifting plate to rise, so that the box body in the cargo box can be moved;

[0025] When the cargo box is loaded with scattered goods, the winding motor is directly turned on to drive the second winding wheel to rotate, so that it can wind up the pulling rope, thereby raising the lifting plate away from one end of the unloading door, and then allowing the lifting plate to rotate with the rotating shaft as the center of the circle, so that the goods on the lifting plate are discharged from the unloading port, and the unloading door will automatically open under the push of some goods. In this way, the unloading mode can be increased, thereby increasing the diversity of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of an industrial robot that can change its walking state;

[0027] Figure 2 This is a disassembled diagram of an industrial robot that can change its walking state;

[0028] Figure 3 Structure of a cargo box in an industrial robot capable of changing walking state Figure 1 ;

[0029] Figure 4 The internal structure diagram of the connection structure in the industrial robot that can change the walking state;

[0030] Figure 5 This is a structural diagram of a mechanical leg in an industrial robot that can change its walking state;

[0031] Figure 6 This is a disassembled diagram of the mechanical legs of an industrial robot that can change its walking state;

[0032] Figure 7 The structure diagram of the main trunk of an industrial robot that can change its walking state;

[0033] Figure 8 The posture of the mechanical legs in an industrial robot that can change its walking state Figure 1 ;

[0034] Fig. 9 The posture of the mechanical legs in an industrial robot that can change its walking state Figure 2 ;

[0035] Fig.10 Structure of a cargo box in an industrial robot capable of changing walking state Figure 2 ;

[0036] Fig.11 This is a disassembled diagram of a cargo box in an industrial robot that can change its walking state;

[0037] Fig.12 The structural diagram of the lifting structure in an industrial robot that can change the walking state.

[0038] The marks in the attached drawings are: 1-fuselage; 2-cargo box; 3-mechanical leg; 4-connecting structure; 200-positioning slot; 201-pushing slot; 202-rubber ring; 203-unloading port; 204-unloading door; 205-lifting plate; 206-rotating shaft rod; 207-sliding block; 208-sliding track; 209-pulling rope; 210-adjusting block; 211-protective cover; 212-first pulling wheel; 213-second pulling wheel; 214-electromagnetic iron ring; 215-transmission rod; 216-raised strip; 217-transmission channel; 218-winding motor; 219-transmission wheel; 220-connecting spring; 221-rotating cover; 300-main trunk; 301-secondary trunk; 302-mounting plate; 303 -connecting rod; 304-conversion motor; 305-winding wheel; 306-connecting ear; 307-support wheel; 308-support frame; 309-drive motor; 310-connecting piece; 311-drive block; 312-kit; 313-rotating rod; 314-traction rope; 315-protective shell; 316-first travel motor; 317-linkage rod; 318-second travel motor; 319-spindle; 320-synchronous wheel; 321-synchronous belt; 322-support shaft; 323-support leg; 400-fixed shell; 401-rifle sleeve; 402-rifle rod; 403-support spring; 404-pushing block; 405-friction sleeve; 406-guide sleeve; 407-limiting rod; 408-reset spring. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0040] Embodiment 1:

[0041] See also Figure 1 and Figure 2 In an embodiment of the present invention, an industrial robot capable of changing walking states comprises a body 1, a cargo box 2 for carrying goods is detachably connected to the upper end of the body 1, mechanical legs 3 for walking are symmetrically installed at both the front and rear ends of the body 1, and the mechanical legs 3 can change the walking posture according to the needs;

[0042] See also Figure 3 and Figure 4 A connection structure 4 for fixing the luggage box 2 is installed at the upper end of the fuselage 1. The connection structure 4 includes a fixing shell 400. A positioning groove 200 is provided at the lower end of the luggage box 2. The outer diameter of the positioning groove 200 is larger than the outer diameter of the fixing shell 400. A rubber ring 202 is fixedly connected to the inner wall of the positioning groove 200. A pushing groove 201 is provided at the inner top of the positioning groove 200.

[0043] The interior of the fixed shell 400 is rotatably connected with a rifle sleeve 401, a rifle rod 402 is inserted into the interior of the rifle sleeve 401, a support spring 403 is sleeved on the exterior of the rifle rod 402, and a plurality of push blocks 404 are attached to the exterior of the rifle sleeve 401, the push blocks 404 are rotatably connected with the fixed shell 400, and a friction sleeve 405 is sleeved on the exterior of the push block 404, and a rubber sleeve for increasing friction is sleeved on the exterior of the rifle sleeve 401, a plurality of limit rods 407 for fixing the cargo box 2 are also slidably connected to the interior of the fixed shell 400, and the plurality of limit rods 407 correspond to the plurality of push blocks 404 respectively, and a return spring 408 is sleeved on the outer wall of the limit rod 407, a plurality of guide sleeves 406 are fixedly connected to the exterior of the fixed shell 400, and the limit rods 407 can stably slide in the fixed shell 400 through the guide sleeves 406;

[0044] When the luggage box 2 is placed on the upper end of the fuselage 1, the luggage box 2 will press down the rifle rod 402. During the process of the rifle rod 402 being pressed down, it will drive the rifle sleeve 401 to rotate. When the rifle sleeve 401 rotates, it will drive a number of push blocks 404 to rotate. During the rotation of the push blocks 404, the corresponding limit rods 407 will be pushed to move to the outside of the fixed shell 400, so that the limit rods 407 are against the surface of the rubber ring 202 in the positioning groove 200, thereby limiting the luggage box 2 and allowing the luggage box 2 to be stably carried on the upper end of the fuselage 1.

[0045] Embodiment 2:

[0046] See also Figures 5 to 8 Based on Example 1, the mechanical leg 3 includes a main trunk 300, one end of the main trunk 300 is connected to the fuselage 1, and the other end of the main trunk 300 is installed with a sub-trunk 301, and a mounting plate 302 is fixedly connected to the outer wall of the main trunk 300, and the end of the mounting plate 302 close to the fuselage 1 is fixedly connected to a second walking motor 318 for driving the main trunk 300 to move, and the end of the main trunk 300 close to the fuselage 1 is also fixedly connected to a main shaft 319, and the main shaft 319 is rotationally connected to the fuselage 1, and the outside of the main shaft 319 and the output shaft of the second walking motor 318 are fixedly connected with a synchronous wheel 320, and the two synchronous wheels 320 on the output shafts of the main shaft 319 and the second walking motor 318 are connected by a synchronous belt 321;

[0047] The main trunk 300 is also provided with a first travel motor 316 for driving the auxiliary trunk 301 to move. An output disk is fixedly connected to the output shaft of the first travel motor 316. The output disk is rotatably connected to a linkage rod 317 on the outside. The linkage rod 317 is rotatably connected to the auxiliary trunk 301.

[0048] The auxiliary trunk 301 includes a driving block 311, which is rotatably connected to the main trunk 300 through a support shaft 322, and the support shaft 322 is fixed inside the main trunk 300. A connecting ear 306 is also fixedly connected to the outer wall of the driving block 311, and the connecting ear 306 is obliquely installed on the outer wall of the driving block 311, and a linkage rod 317 is rotatably connected to the connecting ear 306. A connecting rod 303 is fixedly connected to the inside of the driving block 311, and a supporting leg 323 is fixedly connected to the lower end of the connecting rod 303, and a supporting wheel 307 is connected to the lower end of the supporting leg 323 through a steering knuckle.

[0049] A support frame 308 is fixedly connected to the outer wall of the support wheel 307, and one end of the support frame 308 away from the support wheel 307 is rotatably connected to the steering knuckle, and a drive motor 309 is also fixedly connected to the inside of the support frame 308, and the drive motor 309 can drive the support wheel 307 to rotate;

[0050] The steering knuckle includes a kit 312, which is fixedly connected to the lower end of the support leg 323, and the interior of the kit 312 is rotatably connected to the connecting member 310, and the support frame 308 is rotatably connected to the connecting member 310. Specifically, the support wheel 307 is also rotatably connected to the connecting member 310, and a rotating rod 313 is fixedly connected to the outer wall of the connecting member 310. The upper end of the connecting rod 303 is fixedly connected to the conversion motor 304, and a winding wheel 305 is fixedly connected to the output shaft of the conversion motor 304. A traction rope 314 is wound around the interior of the winding wheel 305, and the traction rope 314 is fixedly connected to the rotating rod 313. A protective shell 315 is also fixedly connected to the outside of the support leg 323, and the traction rope 314 can be protected by the protective shell 315.

[0051] Embodiment 3:

[0052] See also Figure 10 to Figure 12 Based on the first embodiment, a discharge port 203 is provided on the outer wall of the cargo box 2, and a discharge door 204 is rotatably connected to the discharge port 203. A lifting plate 205 is also movably connected to the interior of the cargo box 2, and the materials inside the cargo box 2 can be moved out of the cargo box 2 through the lifting plate 205, so as to facilitate the discharge of the goods;

[0053] The length and width of the lifting plate 205 are smaller than the length and width of the interior of the cargo box 2. The lower end of the lifting plate 205 is rotatably connected to a rotating shaft 206. The ends of the rotating shaft 206 are fixedly connected to sliders 207. The sliders 207 are slidably connected to the inner wall of the cargo box 2. A sliding track 208 corresponding to the slider 207 is opened on the inner wall of the cargo box 2. The slider 207 is located in the sliding track 208.

[0054] A lifting structure for driving the lifting plate 205 to move is symmetrically installed on the outer wall of the cargo box 2, and the lifting structure includes a protective cover 211, and a first pulling wheel 212 and a second pulling wheel 213 are installed in the protective cover 211. The first pulling wheel 212 is rotatably connected to the cargo box 2, and the second pulling wheel 213 is rotatably connected to the protective cover 211 through a rotating cover 221, and the rotating cover 221 is sleeved on the outside of the second pulling wheel 213. Pull ropes 209 are wound around the outside of the first pulling wheel 212 and the second pulling wheel 213, and the pulling ropes 209 are respectively connected to the lifting plate 205. A plurality of adjustment blocks 210 are slidably connected to the outer wall of the lifting plate 205, and the number of the adjustment blocks 210 is the same as the number of the pulling ropes 209, and the pulling ropes 209 are respectively fixedly connected to the adjustment blocks 210;

[0055] A transmission rod 215 is rotatably connected to the interior of the protective sleeve 211, and a protruding strip 216 is fixedly connected to the outer wall of the transmission rod 215. The transmission rod 215 is inserted into the second pulling wheel 213, and a transmission channel 217 corresponding to the transmission rod 215 is opened inside the first pulling wheel 212, and a groove corresponding to the protruding strip 216 is opened in the transmission channel 217;

[0056] One end of the transmission rod 215 close to the inside of the protective cover 211 is fixedly connected to a transmission wheel 219, and a winding motor 218 is also fixedly connected to the outer wall of the cargo box 2, and the output shaft of the winding motor 218 is also fixedly connected to a transmission wheel 219, and the two transmission wheels 219 are connected by a transmission belt, and one end of the second pulling wheel 213 close to the transmission wheel 219 is fixedly connected to an electromagnet ring 214, and a connecting spring 220 is sleeved between the electromagnet ring 214 and the transmission wheel 219;

[0057] When the cargo in the cargo box 2 is a box, the electromagnet ring 214 is directly opened during unloading. After the electromagnet ring 214 is opened, it will attract the transmission wheel 219 on the transmission rod 215 to move it in the direction of the second pulling wheel 213. At this time, the transmission rod 215 will be inserted into the transmission channel 217, and then the winding motor 218 will be turned on to drive the transmission rod 215 to rotate, so that it drives the first pulling wheel 212 and the second pulling wheel 213 to rotate, so that the pulling rope 209 is wound by the first pulling wheel 212 and the second pulling wheel 213, and then the lifting plate 205 is driven to rise, so that the box in the cargo box 2 can be moved;

[0058] When the cargo box 2 is loaded with scattered goods, the winding motor 218 is directly turned on to drive the second pulling wheel 213 to rotate, so that it can wind up the pulling rope 209, thereby raising the lifting plate 205 away from one end of the unloading door 204, and then allowing the lifting plate 205 to rotate with the rotating shaft 206 as the center of the circle, so that the goods on the lifting plate 205 are discharged from the unloading port 203, and the unloading door 204 will automatically open under the push of some goods.

[0059] The working principle of the present invention is:

[0060] When the present invention is in use, the first walking motor 316 and the second walking motor 318 can drive the mechanical leg 3 to move, thereby driving the fuselage 1 to move through the mechanical leg 3. By driving the fuselage 1 to move in a crawling manner through the four mechanical legs 3, the fuselage 1 can carry the cargo box 2 and walk on a complex road surface (for example, when the fuselage 1 is driven by the mechanical legs 3 to climb stairs, walk in potholes and gravel areas). When the fuselage 1 is on a flat ground, the first walking motor 316 and the second walking motor 318 in one mechanical leg 3 can be used to control the mechanical leg 3 to be lifted, and then the conversion motor 304 can be controlled to rotate, so that the conversion motor 304 drives the winding wheel 305 to rotate. When the winding wheel 305 rotates, the traction rope 314 is reeled in, so that the traction rope 314 is used to pull the rotating rod 313 to rotate the connecting member 310. During the rotation of the connecting member 310, the supporting wheel 307 is driven to rotate together, so that the supporting wheel 307 is rotated from a horizontal state with the ground to a state inclined to the ground (for details, refer to Fig. 9 ), and then repeat the above operation to change the state of the support wheels 307 in other mechanical legs 3, thereby converting the walking posture of the fuselage 1, and then turning on the drive motor 309 to drive the support wheels 307 to rotate, so that the support wheels 307 can drive the fuselage 1 to move quickly on a flat ground, thereby increasing the transportation speed;

[0061] When the support wheel 307 rotates from a state horizontal to a state inclined to the ground, the first walking motor 316 and the second walking motor 318 can be turned on to put the mechanical leg 3 in a curled state, thereby reducing the distance between the fuselage 1 and the ground and then reducing the center of gravity of the fuselage 1, making the fuselage 1 more suitable for high-speed driving. When encountering a complex road section, the mechanical legs 3 are lifted up one by one, and then the traction rope 314 is released by the conversion motor 304. After the traction rope 314 is released, the support wheel 307 will be reset under the action of gravity, and then the mechanical leg 3 is controlled to move downward, so that the support wheel 307 contacts the ground, which can convert the walking state of the fuselage 1 into a crawling state, thereby facilitating the fuselage 1 to walk across complex ground. The walking state of the fuselage 1 can be switched back and forth in this way, which can greatly increase the applicability of the present invention.

[0062] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot capable of changing its walking state, comprising a body (1), characterized in that: The upper end of the fuselage (1) is detachably connected to a cargo box (2) for carrying goods, and mechanical legs (3) for walking are symmetrically installed at both the front and rear ends of the fuselage (1), and the mechanical legs (3) can change the walking posture according to needs; The mechanical leg (3) comprises a main trunk (300), one end of the main trunk (300) is connected to the fuselage (1), the other end of the main trunk (300) is installed with a secondary trunk (301), an outer wall of the main trunk (300) is fixedly connected with a mounting plate (302), an end of the mounting plate (302) close to the fuselage (1) is fixedly connected with a second walking motor (318) for driving the main trunk (300) to move, and a first walking motor (316) for driving the secondary trunk (301) to move is also installed inside the main trunk (300); The auxiliary trunk (301) comprises a driving block (311), wherein the driving block (311) is rotatably connected to the main trunk (300) via a supporting shaft (322), a connecting rod (303) is fixedly connected inside the driving block (311), a supporting leg (323) is fixedly connected at the lower end of the connecting rod (303), and a supporting wheel (307) is connected at the lower end of the supporting leg (323) via a steering knuckle.

2. The industrial robot capable of changing walking state according to claim 1, characterized in that: A connection structure (4) for fixing the luggage box (2) is installed at the upper end of the fuselage (1), and the connection structure (4) includes a fixing shell (400). A positioning groove (200) is provided at the lower end of the luggage box (2), and a rubber ring (202) is fixedly connected to the inner wall of the positioning groove (200).

3. The industrial robot capable of changing walking state according to claim 2, characterized in that: The interior of the fixed shell (400) is rotatably connected to a rifle sleeve (401), a rifle rod (402) is inserted into the interior of the rifle sleeve (401), a support spring (403) is sleeved on the exterior of the rifle rod (402), and a plurality of push blocks (404) are attached to the exterior of the rifle sleeve (401).

4. The industrial robot capable of changing walking state according to claim 3, characterized in that: The pushing blocks (404) are all rotatably connected to the fixed shell (400), and the interior of the fixed shell (400) is also slidably connected with a plurality of limit rods (407) for fixing the cargo box (2), and the plurality of limit rods (407) respectively correspond to the plurality of pushing blocks (404), and a return spring (408) is also sleeved on the outer wall of the limit rod (407).

5. The industrial robot capable of changing walking state according to claim 1, characterized in that: A support frame (308) is fixedly connected to the outer wall of the support wheel (307); one end of the support frame (308) away from the support wheel (307) is rotatably connected to the steering knuckle; and a drive motor (309) is also fixedly connected to the interior of the support frame (308); the drive motor (309) can drive the support wheel (307) to rotate.

6. The industrial robot capable of changing walking state according to claim 5, characterized in that: The steering knuckle comprises a kit (312), the kit (312) is fixedly connected to the lower end of the support leg (323), and the interior of the kit (312) is rotatably connected to a connecting piece (310), and the support frame (308) is rotatably connected to the connecting piece (310).

7. The industrial robot capable of changing walking state according to claim 6, characterized in that: A rotating rod (313) is fixedly connected to the outer wall of the connecting member (310), a conversion motor (304) is fixedly connected to the upper end of the connecting rod (303), a winding wheel (305) is fixedly connected to the output shaft of the conversion motor (304), a traction rope (314) is wound around the interior of the winding wheel (305), and the traction rope (314) is fixedly connected to the rotating rod (313).

8. The industrial robot capable of changing walking state according to claim 1, characterized in that: The outer wall of the cargo box (2) is provided with a discharge port (203), the interior of the discharge port (203) is rotatably connected to a discharge door (204), and the interior of the cargo box (2) is also movably connected to a lifting plate (205), through which the materials inside the cargo box (2) can be moved out of the cargo box (2), thereby facilitating discharge.

9. The industrial robot capable of changing walking state according to claim 8, characterized in that: The lower end of the lifting plate (205) is rotatably connected to a rotating shaft (206), and the ends of the rotating shaft (206) are fixedly connected to sliders (207), and the sliders (207) are slidably connected to the inner wall of the cargo box (2); A lifting structure for driving the lifting plate (205) to move is symmetrically mounted on the outer wall of the cargo box (2), the lifting structure comprising a protective cover (211), a first pulling wheel (212) and a second pulling wheel (213) being mounted inside the protective cover (211), a pulling rope (209) being wound around the outside of the first pulling wheel (212) and the second pulling wheel (213), and the pulling ropes (209) are respectively connected to the lifting plate (205).

10. The industrial robot capable of changing walking state according to claim 9, characterized in that: The protective sleeve (211) is also rotatably connected to a transmission rod (215), the transmission rod (215) is inserted into the second pulling wheel (213), and the first pulling wheel (212) is provided with a transmission channel (217) corresponding to the transmission rod (215); The transmission rod (215) is fixedly connected to one end of the transmission rod (215) close to the inside of the protective cover (211) with a transmission wheel (219), and a winding motor (218) is also fixedly connected to the outer wall of the cargo box (2), and the output shaft of the winding motor (218) is also fixedly connected to the transmission wheel (219), and the two transmission wheels (219) are connected by a transmission belt, and the second pulling wheel (213) is fixedly connected to one end of the transmission wheel (219) close to the transmission wheel (219), and a connecting spring (220) is sleeved between the electromagnet ring (214) and the transmission wheel (219).

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