Four-direction telescopic supporting leg type suspension telescopic mechanical arm walking robot

Abstract

The invention relates to a four-direction telescopic supporting leg type suspension telescopic mechanical arm walking robot which is characterized by comprising a telescopic moving frame, a multi-joint mechanical arm, a gripper device and a power circuit control integrated box. The transverse size and the longitudinal size of the rectangular frame body structure can be adjusted, and the distance between the four vertical telescopic supporting rods and the distance between the four telescopic auxiliary supporting legs can be changed, so that the distance can be changed at any time according to the weight of a grabbed object, and the supporting base area of the telescopic moving frame is increased; compared with the prior art, better supporting stability is achieved, light-weight objects can be grabbed, heavy-weight objects can be grabbed, rollover is not prone to occurring, the types of the objects capable of being grabbed by the robot are greatly increased, and the application range is quite wide. And meanwhile, when objects are grabbed and transported, the telescopic auxiliary supporting legs and the vertical telescopic supporting rods can be switched for supporting, so that better supporting stability and moving stability are obtained.

Description

Technical Field

[0001] The present invention relates to the field of handling robots, and particularly to a walking robot. Background Art

[0002] Currently, with the progress of technology, handling robots are often used to carry items to reduce manual physical labor when handling items. In existing handling robots, for example, a technical solution with a patent application number of 202320111856.0 and a name of "a bionic mechanical dog" is disclosed in a Chinese patent document. This solution mainly includes a mechanical dog body, a robotic arm, and a gripper assembly. The mechanical dog body is composed of a fuselage, a left front leg, a right front leg, a left hind leg, and a right hind leg. The gripper assembly is connected to the fuselage through the robotic arm. When in use, the gripper assembly can achieve the purpose of grasping, picking up, and placing items at any angle and position through the robotic arm, and the grasping is very accurate and reliable. However, in practical applications, this solution still has the following deficiencies: Since the distance change range between the left front leg, right front leg, left hind leg, and right hind leg of the mechanical dog body is very small, the support base area of the mechanical dog body cannot be increased and cannot be changed according to the weight of the grasped item at any time. It can only grasp some light-weight items. When grasping heavy-weight items, the entire bionic mechanical dog is prone to tipping over, resulting in a very limited variety of items that can be grasped and a very small applicable range. Therefore, based on the above deficiencies, the applicant believes that this type of handling robot still needs to be further improved to better meet the needs of people for item handling. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems and deficiencies, and provide a four-way telescopic leg type suspended telescopic robotic arm walking robot. The lateral dimension and longitudinal dimension of the rectangular frame body structure of this robot can be adjusted, and the distance between four vertical telescopic support rods and the distance between four telescopic auxiliary legs can be changed, so as to be able to change according to the weight of the grasped item at any time, thereby increasing the support base area of the telescopic mobile frame and obtaining better support stability. It can not only grasp light-weight items, but also grasp heavy-weight items, and is not prone to tipping over, greatly increasing the variety of items that the robot can grasp and having a very wide applicable range. At the same time, when grasping and transporting items, it can switch between the telescopic auxiliary legs and the vertical telescopic support rods for support to obtain better support stability and movement stability.

[0004] The technical solution of the present invention is implemented as follows: a four-way telescopic leg-type suspended telescopic mechanical arm walking robot, which is characterized in that it includes a telescopic mobile frame, a multi-joint mechanical arm, a gripper device, and a power circuit control integrated box; the telescopic mobile frame includes two transverse telescopic rods, two first longitudinal telescopic rods, two second longitudinal telescopic rods, four vertical telescopic support rods, four walking wheels, four telescopic auxiliary legs, and a mounting platform, the two transverse telescopic rods are connected with the two first longitudinal telescopic rods to form a rectangular frame structure with adjustable transverse and longitudinal dimensions, and the top ends of the four vertical telescopic support rods and the top ends of the four telescopic auxiliary legs are respectively arranged on the rectangular frame structure. On the four corners, the four walking wheels are respectively arranged on the bottom ends of the four vertical telescopic support rods, the two second longitudinal telescopic rods are respectively arranged at intervals on the inactive ends of the two transverse telescopic rods, and the mounting platform is fixed on the inactive ends of the two second longitudinal telescopic rods; the power circuit control integrated box is arranged on the mounting platform, and the gripper device can be connected to the mounting platform in a multi-directionally adjustable manner through a multi-joint mechanical arm, and the gripper device, the multi-joint mechanical arm, the two transverse telescopic rods, the two first longitudinal telescopic rods, the two second longitudinal telescopic rods, the four vertical telescopic support rods, the four walking wheels, and the four telescopic auxiliary legs are respectively electrically connected to the power circuit control integrated box.

[0005] Preferably, the transverse telescopic rod is composed of a left telescopic cross rod and a right telescopic cross rod assembled together, and the telescopic direction of the left telescopic cross rod is opposite to the telescopic direction of the right telescopic cross rod; the first longitudinal telescopic rod and the second longitudinal telescopic rod are respectively composed of a left telescopic longitudinal rod and a right telescopic longitudinal rod assembled together, and the telescopic direction of the left telescopic longitudinal rod is opposite to the telescopic direction of the right telescopic longitudinal rod.

[0006] Preferably, the telescopic auxiliary supporting leg is composed of a telescopic auxiliary horizontal rod, a connecting seat, a telescopic auxiliary vertical rod, and a supporting base which are connected together in sequence.

[0007] Preferably, the installation platform is a lifting platform; the installation platform is composed of a supporting base plate and lifting columns arranged on the supporting base plate, and one end of the multi-joint robotic arm and the power circuit control integrated box are respectively fixed on the top of the lifting columns.

[0008] Preferably, the gripping device comprises two embracing clamping assemblies arranged facing each other, and a working cavity is formed between the two embracing clamping assemblies; the embracing clamping assemblies comprise a first clamping arm, a second clamping arm, and a third clamping arm which are connected together in sequence with end-to-end rotation, and the first clamping arm is rotatably connected to the multi-joint robotic arm; the third clamping arm is a support plate structure, and a guiding slope is also provided on the third clamping arm.

[0009] Preferably, the walking wheels include a mounting seat, a connecting rod, a shock-absorbing spring, and an electric roller. One end of the connecting rod is hinged to the bottom of the mounting seat. The two ends of the shock-absorbing spring are respectively connected to the other end of the connecting rod and the mounting seat. The electric roller is rotatably connected to the connecting rod. The mounting seat is arranged at the bottom end of the vertical telescopic support rod. A horizontal steering motor is also provided between the mounting seat and the vertical telescopic support rod.

[0010] Preferably, a camera and a detection and recognition probe electrically connected to the power circuit control integrated box are further provided on the multi-joint robotic arm. A camera electrically connected to the power circuit control integrated box is also provided on the rectangular frame body structure. The power circuit control integrated box includes a box body, a battery and a control circuit board arranged in the box body. The control circuit board is integrated with a wireless communication module. Hooks are also provided on the rectangular frame body structure and the multi-joint robotic arm.

[0011] Advantages of the present invention: Since the lateral dimension and the longitudinal dimension of the rectangular frame body structure of the present invention are adjustable, the distance between the four vertical telescopic support rods connected to the four corners thereof and the distance between the four telescopic auxiliary legs can be changed, so that it can be changed at any time according to the weight of the item to be grasped, thereby increasing the support base area of the telescopic mobile rack and obtaining better support stability. It can not only grasp items with lighter weight, but also grasp items with heavier weight, and is not prone to tipping over, greatly increasing the types of items that the robot can grasp, and having a very wide range of applications. And by setting four telescopic auxiliary legs and four vertical telescopic support rods, when grasping an item, the four telescopic auxiliary legs can be activated to support the ground, and the four walking wheels can be lifted to obtain better support force to prevent tipping over, and it can also avoid the support force being concentrated on a certain walking wheel, resulting in deformation and fracture of the connecting shaft of the walking wheel, with very high reliability; when transporting an item, the four walking wheels are sent back to the ground for mobile transportation, which can ensure the speed and stability of movement. At the same time, by setting four vertical telescopic support rods, the walking wheels can be lifted by using the vertical telescopic support rods to cross road obstacles, adapt to various terrains, and can also adjust the center of gravity height of the entire robot for more stable movement. In addition, by setting the rectangular frame body structure, the overall telescopic mobile rack can be ensured to be very stable, not prone to looseness and sway, and has high reliability in use. Description of the Drawings

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the robot of the present invention in the extended state.

[0013] Figure 2 It is an overall structural schematic diagram of the present invention with partial disassembly.

[0014] Figure 3 It is a partial structural schematic diagram of the telescopic mobile rack of the present invention.

[0015] Figure 4 This is a schematic structural view of the rectangular frame structure of the present invention.

[0016] Figure 5 This is a schematic structural view of the installation platform of the present invention.

[0017] Figure 6 This is a schematic structural view of the multi-joint robotic arm of the present invention.

[0018] Figure 7 This is a schematic cross-sectional structural view of the first embodiment of the left telescopic crossbar, right telescopic crossbar, left telescopic vertical bar, right telescopic vertical bar, vertical telescopic support bar, lifting column, telescopic auxiliary crossbar, telescopic auxiliary vertical bar, first telescopic arm, and second telescopic arm of the present invention.

[0019] Figure 8 This is a schematic cross-sectional structural view of the second embodiment of the left telescopic crossbar, right telescopic crossbar, left telescopic vertical bar, right telescopic vertical bar, vertical telescopic support bar, lifting column, telescopic auxiliary crossbar, telescopic auxiliary vertical bar, first telescopic arm, and second telescopic arm of the present invention.

[0020] Figure 9 This is a schematic structural view of the gripper device of the present invention.

[0021] Figure 10 This is a schematic structural view of the walking wheel of the present invention.

[0022] Figure 11 This is a schematic cross-sectional structural view of the electric roller of the present invention.

[0023] Figure 12 This is a schematic structural view of the power circuit control integration box of the present invention.

[0024] Figure 13 This is a three-dimensional structural view of the robot of the present invention in the retracted state. Detailed implementation manners

[0025] Such as Figures 1 to 4As shown in the figure, a four-way telescopic leg type suspended telescopic robotic arm walking robot of the present invention includes a telescopic mobile frame 1, a multi-joint robotic arm 2, a gripper device 3, and a power circuit control integrated box 4; the telescopic mobile frame 1 includes two transverse telescopic rods 11, two first longitudinal telescopic rods 12, two second longitudinal telescopic rods 13, four vertical telescopic support rods 14, four walking wheels 15, four telescopic auxiliary legs 16, and an installation platform 17. The two transverse telescopic rods 11 are connected to the two first longitudinal telescopic rods 12 to form a rectangular frame structure 10 with adjustable transverse and longitudinal dimensions. The tops of the four vertical telescopic support rods 14 and the tops of the four telescopic auxiliary legs 16 are respectively arranged at the four corners of the rectangular frame structure 10. The four walking wheels 15 are respectively arranged at the bottoms of the four vertical telescopic support rods 14. The two second longitudinal telescopic rods 13 are respectively arranged at the non-movable ends of the two transverse telescopic rods 11 at intervals. The installation platform 17 is fixed at the non-movable ends of the two second longitudinal telescopic rods 13. The power circuit control integrated box 4 is arranged on the installation platform 17. The gripper device 3 is connected to the installation platform 17 through the multi-joint robotic arm 2 in a multi-directionally adjustable manner. Moreover, the gripper device 3, the multi-joint robotic arm 2, the two transverse telescopic rods 11, the two first longitudinal telescopic rods 12, the two second longitudinal telescopic rods 13, the four vertical telescopic support rods 14, the four walking wheels 15, and the four telescopic auxiliary legs 16 are respectively electrically connected to the power circuit control integrated box 4.

[0026] In practical applications, the transverse telescopic rod 11, the first longitudinal telescopic rod 12, and the second longitudinal telescopic rod 13 can be single-end telescopic rod structures or double-end telescopic rod structures. When adopting the double-end telescopic rod structure, the transverse telescopic rod 11, the first longitudinal telescopic rod 12, and the second longitudinal telescopic rod 13 can be realized by the following structure: As Figure 4 shown, the transverse telescopic rod 11 is composed of a left telescopic crossbar 111 and a right telescopic crossbar 112 assembled together, and the telescopic direction of the left telescopic crossbar 111 is opposite to that of the right telescopic crossbar 112. The first longitudinal telescopic rod 12 and the second longitudinal telescopic rod 13 are respectively composed of a left telescopic longitudinal rod 121 and a right telescopic longitudinal rod 122 assembled together, and the telescopic direction of the left telescopic longitudinal rod 121 is opposite to that of the right telescopic longitudinal rod 122. Among them, the left telescopic crossbar 111, the right telescopic crossbar 112, the left telescopic longitudinal rod 121, and the right telescopic longitudinal rod 122 are all single-end telescopic rod structures, so that it is easier to manufacture the double-end telescopic rod structure. During actual assembly, the non-movable end of the left telescopic crossbar 111 and the non-movable end of the right telescopic crossbar 112 are butt-jointed and fixed together by means of screwing and welding. Similarly, the non-movable end of the left telescopic longitudinal rod 121 and the non-movable end of the right telescopic longitudinal rod 122 are also butt-jointed and fixed together by means of screwing and welding.

[0027] In order to further improve the structure of the telescopic auxiliary leg 16, as Figure 3 shown, the telescopic auxiliary leg 16 is composed of a telescopic auxiliary cross bar 161, a connecting seat 162, a telescopic auxiliary vertical bar 163, and a support base 164 that are connected together in sequence. By providing the telescopic auxiliary vertical bar 163, the support base 164 can be driven to move up and down, so that the support base 164 can contact and leave the ground, and when the robot moves, it will not affect the movement of the telescopic mobile frame 1. By providing the telescopic auxiliary cross bar 161, the adjustable distance between the four telescopic auxiliary vertical bars 163 can be further increased, so that the support base area of the telescopic mobile frame 1 can be further increased. In this way, when clamping heavy objects, the support load-bearing performance of the telescopic mobile frame 1 can be further improved, greatly reducing the probability of tipping over, and the reliability is very high. By providing the connecting seat 162, it is convenient to connect the telescopic auxiliary vertical bar 163 and the telescopic auxiliary cross bar 161 together. In actual assembly, the telescopic auxiliary cross bar 161, the connecting seat 162, the telescopic auxiliary vertical bar 163, and the support base 164 are fixed together in sequence by welding.

[0028] In order to further increase the movement range of the gripper device 3, as Figure 5 shown, the installation platform 17 is a lifting platform; the installation platform 17 is composed of a support bottom plate 171 and a lifting column 172 provided on the support bottom plate 171. One end of the multi-joint robotic arm 2 and the power circuit control integration box 4 are respectively fixed to the top of the lifting column 172. Specifically, the support bottom plate 171 is fixed to the non-movable ends of the two second longitudinal telescopic rods 13 by welding; the lifting column 172 is fixed to the support bottom plate 171 by welding and screw locking. By also providing the power circuit control integration box 4 at the top of the lifting column 172, it is possible to prevent the wires connected to the power circuit control integration box 4 from being pulled off when the multi-joint robotic arm 2 is lifted. In actual application, a support plate (not shown) for installing the power circuit control integration box 4 and the multi-joint robotic arm 2 can also be added to the top of the lifting column 172. As a preference, one end of the multi-joint robotic arm 2 can also be directly fixed to the power circuit control integration box 4, so that the structure can be more compact and simple.

[0029] In order to make the multi-joint robotic arm 2 of the present invention have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 6As shown in the figure, the multi-joint robotic arm 2 is composed of a fixed base 21, a first drive joint 22, a second drive joint 23, a first telescopic arm 201, a third drive joint 24, a fourth drive joint 25, a second telescopic arm 202, a fifth drive joint 26, a sixth drive joint 27, a seventh drive joint 28, and an eighth drive joint 29. By setting the first telescopic arm 201 and the second telescopic arm 202, the movement range of the gripper device 3 can be further increased. Further, to enable these components to be assembled simply, scientifically, reasonably, and organically together, as Figure 6 shown in the figure, the fixed base 21 is fixed on the power circuit control integrated box 4. A drive motor is provided inside the first drive joint 22, and the motor output end of the first drive joint 22 is fixed on the fixed base 21 to enable the first drive joint 22 to rotate; the second drive joint 23 is fixed at one end of the first telescopic arm 201. A drive motor is provided inside the second drive joint 23, and the motor output end of the second drive joint 23 is fixed on the first drive joint 22 to enable the second drive joint 23 and the first telescopic arm 201 to rotate together; the third drive joint 24 is fixed at the other end of the first telescopic arm 201; the fourth drive joint 25 is fixed at one end of the second telescopic arm 202. A drive motor is provided inside the fourth drive joint 25, and the motor output end of the fourth drive joint 25 is fixed on the third drive joint 24 to enable the fourth drive joint 25 and the second telescopic arm 202 to rotate together; the fifth drive joint 26 is fixed at the other end of the second telescopic arm 202, and a drive motor is provided inside the fifth drive joint 26; the sixth drive joint 27 is fixed on the motor output end of the fifth drive joint 26 to enable the sixth drive joint 27 to rotate; a drive motor is provided inside the seventh drive joint 28, and the motor output end of the seventh drive joint 28 is fixed on the sixth drive joint 27 to enable the seventh drive joint 28 to rotate; a drive motor is provided inside the eighth drive joint 29, and the motor output end of the eighth drive joint 29 is fixed on the seventh drive joint 28 to enable the eighth drive joint 29 to rotate; specifically, as Figure 2 shown in Figure 9 the figure, a connecting block 291 is further provided on the eighth drive joint 29. The connecting block 291 is locked on the eighth drive joint 29 by screws, and the gripper device 3 is connected to the connecting block 291, which facilitates the installation of the gripper device 3 on the eighth drive joint 29. In practical applications, the multi-joint robotic arm 2 can also adopt the existing multi-joint robotic arm structure, such as the technical solution disclosed in the patent document with the Chinese patent application number 202210361877.8 and the name "A Multi-Joint Manipulator and Palletizing Equipment".

[0030] To enable the telescopic rods of the present invention to have the characteristics of simple structure, easy implementation, high reliability, etc., asFigure 7 As shown in Figure 8 FIG. 2, the left telescopic cross bar 111, the right telescopic cross bar 112, the left telescopic vertical bar 121, the right telescopic vertical bar 122, the vertical telescopic support bar 14, the lifting vertical column 172, the telescopic auxiliary cross bar 161, the telescopic auxiliary vertical bar 163, the first telescopic boom 201, and the second telescopic boom 202 respectively include a first cylinder 1001, a second cylinder 1002, and a third cylinder 1003 that are sleeved together. A motor 1004 and a reduction gear component 1005 are provided inside and outside the first cylinder 1001. A first lead screw 1006 is further provided inside the first cylinder 1001. The first lead screw 1006 is drivingly connected to the motor 1004 through the reduction gear component 1005. A threaded connection block 1007 that is screwed to the first lead screw 1006 is fixedly provided in the second cylinder 1002. A bearing 1008 is provided on the threaded connection block 1007. The inner ring of the bearing 1008 is fixedly connected to a second lead screw 1009 disposed in the second cylinder 1002. The second lead screw 1009 is provided with an external thread 1010 and an internal thread hole 1011. The internal thread hole 1011 is screwed to the first lead screw 1006. An internal thread hole 1012 that is screwed to the external thread 1010 of the second lead screw 1009 is provided on the third cylinder 1003. Specifically, the first cylinder 1001, the second cylinder 1002, and the third cylinder 1003 are all square cylinders. When the first cylinder 1001, the second cylinder 1002, and the third cylinder 1003 are all circular cylinders, a limit guiding groove (not shown) and a limit guiding protrusion (not shown) that are slidably nested together are further provided between the first cylinder 1001 and the second cylinder 1002 and between the second cylinder 1002 and the third cylinder 1003. In this way, when the first lead screw 1006 rotates, the second cylinder 1002 and the third cylinder 1003 can be simultaneously driven to extend and retract. In practical applications, each telescopic rod can also adopt an existing electric telescopic rod, such as the technical solution disclosed in the patent document with the Chinese patent application number 201911294043.4 and the name "multi-section electric push rod".

[0031] In order to further improve the structure of the gripper device 3, as Figure 9As shown, the gripper device 3 includes two surrounding clamping components 31 arranged facing each other, and a working cavity 30 is formed between the two surrounding clamping components 31; the surrounding clamping component 31 includes a first clamping arm 311, a second clamping arm 312, and a third clamping arm 313 that are sequentially rotatably connected end to end. The two surrounding clamping components 31 are respectively rotatably connected to the multi-joint robotic arm 2 through the first clamping arm 311; specifically, the first clamping arms 311 of the two surrounding clamping components 31 are respectively rotatably connected to the connection block 291. The third clamping arm 313 is a tray structure, and a guiding inclined surface 314 is further provided on the third clamping arm 313. By setting such a three-section clamping arm, when clamping an item with a larger volume, surrounding clamping can be achieved, making the clamping more stable. When clamping an item with a smaller volume, the two third clamping arms 313 can be used to clamp the item. By manufacturing the third clamping arm 313 into a tray structure, the contact area with the item can be increased, and the clamping and supporting are more stable. By setting the guiding inclined surface 314, the third clamping arm 313 can more easily slide into the bottom surface of the item and shovel up the item. In practical applications, such as Figure 2 As shown, drive motors 37 are respectively arranged between the first clamping arm 311 and the multi-joint robotic arm 2, between the second clamping arm 312 and the first clamping arm 311, and between the third clamping arm 313 and the second clamping arm 312 to achieve rotational connection through the drive motors 37, and the respective drive motors 37 are electrically connected to the power circuit control integration box 4.

[0032] In addition to the gripper device 3 described above as a specific implementation manner, the gripper device 3 can also be replaced with a mechanical head that can achieve other functions according to actual application needs; for example, replacing the gripper device 3 with an electric lawn mowing mechanical head, so that the present invention can be used for lawn trimming. Another example is replacing the gripper device 3 with a hook head, so that the present invention can be used for simple lifting and hoisting purposes. Or for example, replacing the gripper device 3 with a saw head, so that the present invention can be used for tree trimming purposes. Still another example is replacing the gripper device 3 with a camera, so that the present invention can be used for shooting, etc., thereby enabling the present invention to be applicable to various occasions such as industrial production, work, and life.

[0033] In order to further improve the structure of the traveling wheels 15, as Figure 10As shown in the figure, the traveling wheel 15 includes a mounting base 151, a connecting rod 152, a shock-absorbing spring 153, and an electric roller 154. One end of the connecting rod 152 is hinged to the bottom of the mounting base 151. Both ends of the shock-absorbing spring 153 are respectively connected to the other end of the connecting rod 152 and the mounting base 151. The electric roller 154 is rotatably connected to the connecting rod 152. The mounting base 151 is arranged at the bottom end of the vertical telescopic support rod 14. A horizontal steering motor 155 is further provided between the mounting base 151 and the vertical telescopic support rod 14. In this way, when traveling on a bumpy road surface, it can play a role in shock absorption and make the movement of the robot more stable. In practical applications, a horizontal steering motor 155 is also provided on the mounting base 151. The power output end of the horizontal steering motor 155 is fixed on the bottom surface of the vertical telescopic support rod 14 so that the traveling wheel 15 can achieve steering.

[0034] In order to make the electric roller 154 of the present invention have the characteristics of simple structure, easy implementation, high reliability, etc., as Figure 11 shown, the electric roller 154 is composed of a tire 1500, a wheel hub 1501, a permanent magnet 1502, a motor rotor 1503, a motor stator 1504, a motor winding 1505, a motor controller 1506, a bearing member 1507, a brake shoe 1508, a brake caliper 1509, and a suspension shaft 1510. The suspension shaft 1510 is connected to the connecting rod 152. In this way, the electric roller 154 can realize electric drive movement and braking. And these structures make the electric roller 154 a roller with a hub motor in the prior art. For its specific connection structure and working principle, reference can be made to the technical solution disclosed in the patent document with the Chinese patent publication number CN221042575U and the name "A Hub Motor Assembly", and no more elaboration will be made here.

[0035] In order to accurately observe an object and identify the position, shape, and size of the object, as Figure 6 shown, a camera 5 and a detection and identification probe 6 electrically connected to the power circuit control integration box 4 are further provided on the multi-joint robotic arm 2. In order to facilitate observing the road surface conditions, as Figure 3 shown, a camera 5 electrically connected to the power circuit control integration box 4 is also provided on the rectangular frame body structure 10.

[0036] In order to further improve the structure of the power circuit control integration box 4, as Figure 12 shown, the power circuit control integration box 4 includes a box body 41, a battery 42 and a control circuit board 43 arranged in the box body 41. The control circuit board 43 is integrated with a wireless communication module 44. By setting the wireless communication module 44, the operator can wirelessly remotely control the robot to work, which is more convenient to use. The wireless communication module 44 can be a Bluetooth communication module or a WIFI module.

[0037] When implementing the solution of the present invention, an intelligent control IC chip and a circuit board can also be respectively added to the telescopic mobile rack 1, the multi-joint robotic arm 2, and the gripper device 3, and then the telescopic mobile rack 1, the multi-joint robotic arm 2, and the gripper device 3 are controlled through the intelligent control IC chip and the circuit board. At the same time, a wireless communication module such as a Bluetooth communication module and a WIFI module for transmitting control signals to and from the control circuit board 43 can also be added to the intelligent control IC chip and the circuit board, and the corresponding control APP software is developed, so that the operation of the robot can be controlled by a smart phone, a tablet computer, a dedicated remote controller, etc.

[0038] To facilitate hanging items on the robot, such as Figure 1 As shown, hooks 7 are also provided on the rectangular frame body structure 10 and the multi-joint robotic arm 2.

Claims

1. A four-way telescopic leg-type suspended telescopic mechanical arm walking robot, characterized in that: It comprises a telescopic mobile frame (1), a multi-joint mechanical arm (2), a gripping device (3), and a power circuit control integrated box (4); The telescopic mobile frame (1) comprises two transverse telescopic rods (11), two first longitudinal telescopic rods (12), two second longitudinal telescopic rods (13), four vertical telescopic support rods (14), four running wheels (15), four telescopic auxiliary legs (16), and a mounting platform (17); the two transverse telescopic rods (11) and the two first longitudinal telescopic rods (12) are connected to form a rectangular frame structure (10) with adjustable transverse and longitudinal dimensions; the top ends of the four vertical telescopic support rods (14) and the top ends of the four telescopic auxiliary legs (16) are respectively arranged on four corners of the rectangular frame structure (10); the four running wheels (15) are respectively arranged on the bottom ends of the four vertical telescopic support rods (14); the two second longitudinal telescopic rods (13) are respectively arranged at intervals on the inactive ends of the two transverse telescopic rods (11); and the mounting platform (17) is fixed on the inactive ends of the two second longitudinal telescopic rods (13); The power circuit control integrated box (4) is arranged on the installation platform (17); the gripper device (3) is connected to the installation platform (17) in a manner that allows multi-directional adjustment via a multi-joint mechanical arm (2); and the gripper device (3), the multi-joint mechanical arm (2), two transverse telescopic rods (11), two first longitudinal telescopic rods (12), two second longitudinal telescopic rods (13), four vertical telescopic support rods (14), four walking wheels (15), and four telescopic auxiliary legs (16) are respectively electrically connected to the power circuit control integrated box (4).

2. According to claim 1, the four-way telescopic outrigger suspended telescopic mechanical arm walking robot is characterized in that: The transverse telescopic rod (11) is composed of a left telescopic cross rod (111) and a right telescopic cross rod (112) assembled together, and the telescopic direction of the left telescopic cross rod (111) is opposite to the telescopic direction of the right telescopic cross rod (112); the first longitudinal telescopic rod (12) and the second longitudinal telescopic rod (13) are respectively composed of a left telescopic longitudinal rod (121) and a right telescopic longitudinal rod (122) assembled together, and the telescopic direction of the left telescopic longitudinal rod (121) is opposite to the telescopic direction of the right telescopic longitudinal rod (122).

3. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 2, characterized in that: The telescopic auxiliary supporting leg (16) is composed of a telescopic auxiliary horizontal rod (161), a connecting seat (162), a telescopic auxiliary vertical rod (163), and a supporting base (164) which are connected in sequence.

4. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 3, characterized in that: The installation platform (17) is a lifting platform; the installation platform (17) is composed of a supporting base plate (171) and a lifting column (172) arranged on the supporting base plate (171); one end of the multi-joint mechanical arm (2) and a power circuit control integrated box (4) are respectively fixed to the top of the lifting column (172).

5. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 4, characterized in that: The multi-joint mechanical arm (2) is composed of a fixed base (21), a first driving joint (22), a second driving joint (23), a first telescopic arm (201), a third driving joint (24), a fourth driving joint (25), a second telescopic arm (202), a fifth driving joint (26), a sixth driving joint (27), a seventh driving joint (28), and an eighth driving joint (29).

6. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 5, characterized in that: The left telescopic cross bar (111), the right telescopic cross bar (112), the left telescopic longitudinal bar (121), the right telescopic longitudinal bar (122), the vertical telescopic support bar (14), the lifting column (172), the telescopic auxiliary cross bar (161), the telescopic auxiliary vertical bar (163), the first telescopic arm (201), and the second telescopic arm (202) respectively comprise a first cylinder (1001), a second cylinder (1002), and a third cylinder (1003) which are fitted together. A motor (1004) and a reduction gear component (1005) are provided inside and outside the first cylinder (1001). A first screw rod (1006) is also provided inside the first cylinder (1001). The first screw rod (1006) is connected to the first cylinder through the reduction gear. The wheel component (1005) is drivingly connected to the motor (1004); a threaded connection block (1007) is fixedly provided in the second cylinder (1002) and is threadedly connected to the first screw rod (1006); a bearing (1008) is provided on the threaded connection block (1007); an inner ring of the bearing (1008) is fixedly connected to a second screw rod (1009) arranged in the second cylinder (1002); the second screw rod (1009) is provided with an external thread (1010) and an internal thread hole (1011); the internal thread hole (1011) is threadedly connected to the first screw rod (1006); and an internal thread hole (1012) is provided on the third cylinder (1003) and is threadedly connected to the external thread (1010) of the second screw rod (1009).

7. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 1, characterized in that: The gripper device (3) comprises two embracing clamping assemblies (31) arranged in a direction toward each other, and a working cavity (30) is formed between the two embracing clamping assemblies (31); the embracing clamping assembly (31) comprises a first clamping arm (311), a second clamping arm (312), and a third clamping arm (313) which are rotatably connected together in sequence end to end, and the first clamping arm (311) is rotatably connected to the multi-joint mechanical arm (2); the third clamping arm (313) is a support plate structure, and a guiding inclined surface (314) is also provided on the third clamping arm (313).

8. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 1, characterized in that: The walking wheel (15) comprises a mounting seat (151), a connecting rod (152), a shock absorbing spring (153), and an electric roller (154); one end of the connecting rod (152) is hinged on the bottom of the mounting seat (151); two ends of the shock absorbing spring (153) are respectively connected to the other end of the connecting rod (152) and the mounting seat (151); the electric roller (154) is rotatably connected to the connecting rod (152); the mounting seat (151) is arranged on the bottom end of the vertical telescopic support rod (14); and a horizontal steering motor (155) is also provided between the mounting seat (151) and the vertical telescopic support rod (14).

9. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 8, characterized in that: The electric roller (154) is composed of a tire (1500), a wheel hub (1501), a permanent magnet (1502), a motor rotor (1503), a motor stator (1504), a motor winding (1505), a motor controller (1506), a bearing (1507), a brake shoe (1508), a brake caliper (1509), and a suspension shaft (1510); the suspension shaft (1510) is connected to the connecting rod (152).

10. The four-way telescopic outrigger suspended telescopic mechanical arm walking robot according to claim 1, characterized in that: The multi-joint robotic arm (2) is also provided with a camera (5) and a detection and identification probe (6) electrically connected to the power circuit control integrated box (4); the rectangular frame structure (10) is also provided with a camera (5) electrically connected to the power circuit control integrated box (4); the power circuit control integrated box (4) comprises a box body (41), a battery (42) and a control circuit board (43) arranged in the box body (41), and the control circuit board (43) is integrated with a wireless communication module (44); the rectangular frame structure (10) and the multi-joint robotic arm (2) are also provided with a hook (7).

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