Multi-joint intelligent industrial robot

Abstract

The invention discloses a multi-joint intelligent industrial robot, and particularly relates to the technical field of industrial robots, the multi-joint intelligent industrial robot comprises a rotating seat, a large arm and a joint assembly which are connected in sequence, a small arm part is mounted at the output end of the joint assembly, and the multi-joint intelligent industrial robot further comprises a wrist part fixed on the small arm part and an output tail end; the small arm component comprises a mounting box fixed to the output end of the joint assembly, a fixing ring is fixed to the mounting box, a mounting pipe is fixed to an inner cavity of the fixing ring, and an extension component is arranged in the mounting pipe. According to the multi-joint intelligent industrial robot, the length and the diameter of the cross section of a small arm of the robot can be dynamically adjusted through the arranged small arm part, the passing ability and adaptability of a pipeline are improved, a first motor drives a driving pipe to rotate, a sliding groove is matched with a movable part, and first-time extension of a section of pipe is achieved; and secondary extension of the two-section pipe is achieved through matching of the matching column and the matching groove, and the trafficability of the robot in the pipeline is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a multi-joint intelligent industrial robot. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions by relying on their own power and control capabilities. As an irreplaceable and important piece of equipment and means in advanced manufacturing, industrial robots have become an important indicator of a country's manufacturing and technological level. Nowadays, with the rapid development and progress of social science and technology, industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Commonly used industrial robots can usually be divided into four-axis industrial robots, five-axis industrial robots, and six-axis industrial robots. Among them, six-axis industrial robots are multi-jointed, multi-degree-of-freedom robots with more movements, greater flexibility, and more degrees of freedom of movement. They are a type of industrial robot with higher flexibility technology, and the application of six-axis industrial robots is also more widespread. Traditional six-axis robots have fixed arm lengths and cross-sectional areas, lacking dynamic adjustment mechanisms. When the robot arm operates in a pipe, the fixed arm structure may prevent it from passing through small openings or reaching the target position without colliding with obstacles. This severely restricts the robot's mobility in pipes, often requiring manual repositioning or adjustment of the robot base, which is time-consuming, labor-intensive, and inconvenient to use. Summary of the Invention

[0003] The purpose of this invention is to address the problem that traditional six-axis robots lack a dynamic adjustment mechanism for the length and cross-sectional diameter of their forearms, which limits their mobility when operating in pipes. Therefore, this invention proposes a multi-joint intelligent industrial robot.

[0004] To achieve the above objectives, the present invention employs the following techniques; A multi-joint intelligent industrial robot includes a rotating base, an upper arm, and a joint assembly connected in sequence. The output end of the joint assembly is equipped with a forearm component, and the robot also includes a wrist and an output end fixed to the forearm component. The forearm component includes a mounting box fixed to the output end of the joint assembly. A fixing ring is fixed on the mounting box, and a mounting tube is fixed inside the fixing ring. An extension component is provided inside the mounting tube. The elongating component includes a motor fixed to the inner cavity of the mounting box and a fixed tube fixed to the mounting tube. A drive tube is fixed to the output end of the motor. A set of annular sliding grooves are formed on the outer surface of the drive tube. A cross groove is formed in the inner cavity of the drive tube. A set of annular limiting grooves are formed on the fixed tube. A section of tube is movably installed in the inner cavity of the fixed tube. A set of annular mating grooves are formed on the outer surface of the section of tube. Multiple limiting posts are fixed on the outer surface of the section of tube. A set of movable parts are provided on the inner surface of the section of tube. Two sections of tube are fixed on the cross rod. The drive tube is rotated by a motor, and the sliding groove and moving parts work together to extend one section of the tube outward, while the second section of the tube moves along with the first section.

[0005] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: A cross rod is slidably installed in the inner cavity of the cross groove, and a set of mating columns that move in the inner cavity of the mating groove are fixed on the outer surface of the two-section pipe. The two-section pipe can be extended twice from the inside of the first-section pipe by the mating columns on the second-section pipe and the mating groove on the first-section pipe.

[0006] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: The outer surface of the fixed tube is provided with a set of annular array of arc-shaped grooves, and an arc-shaped plate is movably installed in each arc-shaped groove. A rack is fixed on one side of the arc-shaped plate, and a driving component adapted to the rack is fixed on the outer surface of the fixed tube.

[0007] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: The mounting tube is provided with a support component on its outer side. The support component includes two drive assemblies installed in the inner cavity of the mounting box. The support component also includes a second drive ring, a partition ring and a first drive ring, which are rotatably mounted on the mounting tube from top to bottom. The first drive ring has a set of drive grooves arranged in an annular array. The outer surface of the first drive ring is fixed with a gear ring that is adapted to one of the drive assemblies.

[0008] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: The second drive ring has a set of annular array drive slots. The outer surface of the second drive ring is fixed with a gear ring that matches one of the drive components. A connecting rod is movably installed in the inner cavity of each drive slot and drive slot. The fixed ring has multiple sliding slots for sliding the connecting rod. The partition ring has multiple sliding grooves that match the connecting rod in the inner cavity of the drive slot.

[0009] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: The second drive ring has a set of arc grooves and straight grooves, and the inner cavities of the arc grooves and straight grooves located at the same position are connected.

[0010] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: Each of the connecting rods is fixed with a vertical plate, and each vertical plate is provided with a set of rolling support components, with two adjacent sets of rolling support components being perpendicular to each other.

[0011] As a further description of the above-mentioned technology, a multi-joint intelligent industrial robot is as follows: The rolling support assembly includes multiple telescopic components fixed to the vertical plate. Each of the multiple telescopic components has a common mounting frame on one side. A roller is rotatably mounted on the mounting frame, and multiple spiral friction strips are fixed on the outer surface of the roller.

[0012] In summary, due to the adoption of the above-mentioned technology in the multi-joint intelligent industrial robot, the beneficial effects of this invention are: 1. This device allows for dynamic adjustment of the robot's arm length and cross-sectional diameter via its forearm, improving pipe throughput and adaptability. A motor drives the drive pipe to rotate, and the sliding groove and moving parts work together to achieve the initial extension of one section of pipe. A second extension of the second section is achieved through the engagement of a mating column and a mating groove. Furthermore, the cross-sectional diameters of the fixed pipe, the first section, and the second section decrease progressively. This significantly improves the robot's throughput in pipes, enabling it to autonomously pass through smaller openings, avoid collisions with obstacles, adapt to various pipe sizes, reduce the need to replace robots for different pipes, and lower equipment costs and operational complexity.

[0013] 2. This device utilizes a specially designed support component that adaptively contacts the inner wall of the pipe, enhancing stability and movement efficiency. The expansion or contraction of the connecting rod, controlled by a drive assembly, ensures the rolling support component contacts the pipe's inner wall. The rolling support component operates in both vertical and horizontal directions, employing telescopic components and rollers with friction strips. It provides stable support within the pipe, reducing vibration and offset of the robot arm and improving operational accuracy. By selecting either a vertical or horizontal rolling support component, the movement method is optimized: horizontal rolling facilitates sliding, while vertical rolling facilitates rotation, adapting to different motion modes (rotation or movement) of the joint components and improving movement efficiency. Attached Figure Description

[0014] Figure 1 A schematic diagram of the overall structure of the present invention is shown; Figure 2 A schematic diagram of the forearm component structure of the present invention is shown; Figure 3 A schematic diagram of the elongation component structure of the present invention is shown; Figure 4A cross-sectional view of the fixed tube structure of the present invention is shown; Figure 5 A partial structural cross-sectional view of the present invention is shown; Figure 6 The diagram shows a cross-sectional view of the first and second pipe sections of the present invention; Figure 7 An exploded view of the elongated component portion of the present invention is shown; Figure 8 It shows Figure 3 Enlarged view of point A in the middle; Figure 9 This diagram illustrates the extended state of the elongated component of the present invention. Figure 1 ; Figure 10 This diagram illustrates the extended state of the elongated component of the present invention. Figure 2 ; Figure 11 A schematic diagram of the support component structure of the present invention is shown; Figure 12 An exploded view of the supporting component of the present invention is shown; Figure 13 This diagram illustrates the two-way mating of the connecting rod and the drive groove of the present invention. Figure 1 ; Figure 14 This diagram illustrates the two-way mating of the connecting rod and the drive groove of the present invention. Figure 2 ; Figure 15 It shows Figure 14 Enlarged view of section B in the middle.

[0015] Legend: 10. Rotary base; 11. Upper arm; 12. Joint assembly; 13. Wrist; 14. Output end; 20. Forearm component; 21. Mounting box; 22. Fixing ring; 221. Moving groove; 23. Mounting tube; 30. Extension component; 31. Motor 1; 32. Fixed tube; 321. Limiting groove; 322. Arc-shaped groove; 33. First section tube; 331. Limiting post; 332. Moving part; 34. Mating groove; 35. Drive tube; 351. Cross groove; 36. Sliding groove; 37. Second section tube; 371. Mating post; 372. Cross rod; 38. Arc-shaped plate; 381. Rack; 39. Drive component; 40. Support component; 41. Drive assembly; 42. Spacer ring; 43. Drive ring one; 431. Drive groove one; 432. Gear ring one; 44. Drive ring two; 441. Straight groove; 442. Arc groove; 443. Drive groove two; 444. Gear ring two; 45. Connecting rod; 46. Vertical plate; 47. Rolling support assembly; 471. Telescopic assembly; 472. Mounting bracket; 473. Roller; 474. Friction strip. Detailed Implementation

[0016] The following will describe in detail, with reference to the accompanying drawings of the embodiments of the present invention, a multi-joint intelligent industrial robot according to the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] like Figure 1 and Figure 2 As shown, a multi-joint intelligent industrial robot includes a rotating base 10, a large arm 11, and a joint assembly 12 connected in sequence. The rotating base 10 rotates in the horizontal direction. A drive device for driving the large arm 11 to swing in the vertical direction is provided inside the rotating base 10. A forearm component 20 is installed at the output end of the joint assembly 12. The joint assembly 12 includes a drive device for driving the forearm component 20 to swing and rotate. The rotating base 10, the large arm 11, and the joint assembly 12 are used to drive the forearm component 20 to swing and rotate. The device also includes a wrist 13 and an output end 14 fixed on the forearm component 20. The output end of the forearm component 20 is equipped with the wrist 13 and the output end 14 that cooperates with the wrist 13. The forearm component 20 is used to drive the wrist 13 to move and rotate. The wrist 13 is provided with a drive device to drive the output end 14 to swing. The output end 14 is used to rotate the actuator, which can be a chuck, welding torch, etc.

[0018] like Figure 2 As shown, the forearm component 20 includes a mounting box 21 fixed to the output end of the joint assembly 12. The mounting box 21 can rotate or swing as driven by the joint assembly 12. A fixing ring 22 is fixed on the mounting box 21. A mounting tube 23 is fixed inside the fixing ring 22. An extension component 30 is provided inside the mounting tube 23. One end of the extension component 30 is connected to the wrist 13, which can extend the wrist 13. A support component 40 is provided on the outside of the mounting tube 23. The support component 40 can contact the inner wall of the tube when the forearm of the device is inside the tube, reducing the overall contact area. At the same time, it can be used in conjunction with the joint assembly 12.

[0019] like Figures 3-7 As shown, the elongation component 30 includes a motor 31 fixed to the inner cavity of the mounting box 21 and a fixing tube 32 fixed to the mounting tube 23. The fixing tube 32 is fixedly connected to the mounting tube 23 through a bracket. A drive tube 35 is fixed to the output end of the motor 31. The drive tube 35 is rotatably mounted in the inner cavity of the mounting tube 23. A set of sliding grooves 36 in an annular array are opened on the outer surface of the drive tube 35. Each sliding groove 36 includes a spiral part and an arc-shaped part. A cross groove 351 is opened in the inner cavity of the drive tube 35. Next, a set of annular array limiting grooves 321 are formed on the fixed tube 32. The limiting grooves 321 are in a vertical state, such as... Figure 4 As shown, a section of pipe 33 is movably installed in the inner cavity of the fixed pipe 32. A set of annular array mating grooves 34 are opened on the outer surface of the section of pipe 33. The mating grooves 34 are composed of a spiral part and an arc-shaped part. Multiple limiting posts 331 that slide in the inner cavity of the limiting groove 321 are fixed on the outer surface of the section of pipe 33. The movement of the pipe 33 is restricted by the sliding of the limiting post 331 on the pipe 33 within the limiting groove 321, so that the pipe 33 can only move. A set of movable parts 332 that slide within the sliding groove 36 are fixed on the inner surface of the pipe 33. By rotating the driving pipe 35, the sliding groove 36 rotates with the driving pipe 35, and the movable parts 332 move the pipe 33 under the drive of the sliding groove 36, so that the pipe 33 extends out from the inner cavity of the fixed pipe 32. This is one extension. like Figure 5 and Figure 6 As shown, a cross rod 372 is slidably installed in the inner cavity of the cross groove 351. A second section tube 37 located between the drive tube 35 and the first section tube 33 is fixed on the cross rod 372. One end of the second section tube 37 is sealed, and the other end is open and fitted between the drive tube 35 and the first section tube 33. The sealed end of the second section tube 37 is fixedly connected to the wrist 13. By sliding the cross rod 372 in the inner cavity of the cross groove 351, the second section tube 37 can rotate and slide during the rotation of the drive tube 35. A set of mating pins 371 that move in the inner cavity of the mating groove 34 are fixed on the outer surface of the second section tube 37. By using the mating pins 371 on the outer surface of the second section tube 37, the drive tube 35 rotates the second section tube 37 during the movement of the first section tube 33, causing the mating pins 371 to slide in the arc-shaped part of the mating groove 34 and move with the first section tube 33. Next, the drive tube 35 continues to rotate. At this time, the movable part 332 slides in the arc-shaped part of the sliding groove 36, and the mating column 371 slides in the spiral part of the mating groove 34, causing the second section tube 37 to spirally rise with the cross rod 372, so that the second section tube 37 extends out from the inner cavity of the first section tube 33. This is a secondary extension. The cross-sectional diameter of the fixed tube 32 is larger than that of the first section tube 33, and the cross-sectional diameter of the first section tube 33 is larger than that of the second section tube 37. This allows the device to adjust the part to be extended according to the cross-sectional diameter requirements, thereby realizing the dynamic adjustment mechanism of the device and making it easy for the device to be used for pipes with different inner diameters. like Figure 9 and Figure 10As shown, the drive tube 35 is rotated by the motor 31, causing the first section tube 33 to extend under the action of the sliding groove 36 and the movable part 332. This is the first extension. At the same time, the second section tube 37 moves with the first section tube 33. Then, the mating post 371 on the second section tube 37 engages with the mating groove 34 on the first section tube 33, causing the second section tube 37 to extend out of the inner cavity of the first section tube 33. This is the second extension. Through the two extensions, the length of the device arm can be adjusted, and the diameters of the cross-sections of the fixed tube 32, the first section tube 33, and the second section tube 37 decrease step by step, which can also adapt to different cross-section requirements.

[0020] like Figure 8 As shown, a set of annular arrayed arc-shaped grooves 322 are formed on the outer surface of the fixed tube 32. An arc-shaped plate 38 is movably installed in each arc-shaped groove 322. The arc-shaped plate 38 slides in the inner cavity of the movable part 332. A rack 381 is fixed on one side of the arc-shaped plate 38. A driving part 39 adapted to the rack 381 is fixed on the outer surface of the fixed tube 32. The driving part 39 includes a driving motor and a gear fixedly installed at the output end of the driving motor. The driving motor is a micro servo motor. The gear meshes with the rack 381. The driving motor drives the gear to rotate, which in turn drives the rack 381 to rotate, thereby causing the arc-shaped plate 38 to slide in the inner cavity of the arc-shaped groove 322. The limiting post 331 can be used to block the sliding of the inner cavity of the fixed tube 32, so that a section of the tube 33 remains stable.

[0021] like Figure 11 and Figure 12 As shown, the support component 40 includes two drive assemblies 41 installed in the inner cavity of the mounting box 21. The two drive assemblies 41 are respectively fixedly installed on both sides of the inner cavity of the mounting box 21. The drive assembly 41 includes a drive motor and a gear fixedly connected to the output end of the drive motor. The support component 40 also includes a second drive ring 44, a spacer ring 42 and a first drive ring 43, which are rotatably installed on the mounting tube 23 from top to bottom. The first drive ring 43 has a set of drive grooves 431 arranged in a ring. A gear ring 432 that is adapted to one of the drive assemblies 41 is fixed on the outer surface of the first drive ring 43. The gear in the drive assembly 41 meshes with the gear ring 432. The drive assembly 41 can drive the gear ring 432 to rotate, thereby causing the first drive ring 43 to rotate around the mounting tube 23.

[0022] like Figure 12As shown, a set of annular array drive grooves 443 are provided on the drive ring 44. A gear ring 444 adapted to one of the drive components 41 is fixed on the outer surface of the drive ring 44. Similarly, the drive component 41 can drive the drive ring 44 to rotate around the mounting tube 23. A connecting rod 45 is movably installed in the inner cavity of each drive groove 431 and drive groove 443. The fixed ring 22 is provided with multiple sliding grooves 221 for sliding of the connecting rod 45. By rotating the drive ring 44 and drive ring 43, the connecting rod 45 in the inner cavity of drive groove 443 and drive groove 431 can slide in the inner cavity of the sliding groove 221, so that the connecting rods 45 in the same group can contract or expand synchronously. The partition ring 42 is provided with multiple sliding grooves adapted to the connecting rods 45 in the inner cavity of drive groove 431. The sliding grooves facilitate the passage of the connecting rods 45 in the inner cavity of drive groove 431 when they move.

[0023] like Figure 13 and Figure 14 As shown, a set of arc grooves 442 and straight grooves 441 are provided on the second drive ring 44. The inner cavities of the arc grooves 442 and straight grooves 441 located at the same position are connected. When the connecting rod 45 in the inner cavity of the second drive groove 443 contracts synchronously, the connecting rod 45 in the inner cavity of the first drive groove 431 is in an expanded state. When the second drive ring 44 rotates, the second drive groove 443 drives the connecting rod 45 in its inner cavity to move. At this time, the connecting rod 45 in the inner cavity of the first drive groove 431 is located in the arc groove 442, and the rotation of the second drive ring 44 will not affect the connecting rod 45 in the inner cavity of the first drive groove 431. When the connecting rod 45 in the inner cavity of the second drive groove 443 expands synchronously, the connecting rod 45 in the inner cavity of the first drive groove 431 is in a contracted state. During the rotation of the first drive ring 43, the first drive groove 431 drives the connecting rod 45 in its inner cavity to move. At this time, the connecting rod 45 in the inner cavity of the first drive groove 431 is located in the inner cavity of the straight groove 441 and will not affect the connecting rod 45 in the inner cavity of the first drive groove 431.

[0024] like Figure 13 and Figure 14 As shown, each connecting rod 45 is fixed with a vertical plate 46, and each vertical plate 46 is provided with a set of rolling support components 47. The two sets of rolling support components 47 are perpendicular to each other. That is, the rolling support components 47 on one of the two adjacent vertical plates 46 are in a vertical state to facilitate movement, while the rolling support components 47 on the other vertical plate 46 are in a horizontal state to facilitate rolling.

[0025] like Figure 15As shown, the rolling support assembly 47 includes multiple telescopic components 471 fixed on the vertical plate 46. Each telescopic component 471 includes a spring and a straight rod. A mounting frame 472 is provided on one side of the multiple telescopic components 471. The mounting frame 472 is slidably connected to the straight rod and fixedly connected to the spring, so that the mounting frame 472 can compress the spring and contact the vertical plate 46, thereby increasing friction and preventing the rolling support assembly 47 from sliding. At the same time, it can provide a buffer for the rolling support assembly 47. A roller 473 is rotatably mounted on the mounting frame 472. Multiple spiral friction strips 474 are fixed on the outer surface of the roller 473. The friction strips 474 are made of rubber material to increase the friction between the rolling support assembly 47 and the inner wall of the pipe and prevent sliding. By controlling the contraction or expansion of the connecting rod 45 in the same group through drive groove 1 431 and drive groove 2 443, it can adapt to pipes with different inner diameters, so that the rolling support assembly 47 contacts the inner wall of the pipe. On the one hand, it is used to stabilize the device, and on the other hand, the rolling support assembly 47, which is set vertically or horizontally, can move or roll on the inner wall of the pipe according to the usage method, adapting to the rotation or movement of the joint assembly 12, thus improving the applicability of the device.

[0026] It should be noted that the motor 31 and the drive motor in the drive assembly 41 of this device are both servo motors, which can lock the components connected to the output terminal when the device is stopped.

[0027] Working principle: This device is a multi-joint intelligent industrial robot. During use, the length of the forearm can be dynamically adjusted, and it can also adapt to pipes with different inner diameters. During use, the drive tube 35 is driven by the motor 31. As the drive tube 35 rotates, the movable part 332 is located in the inner cavity of the sliding groove 36. Under the action of the spiral part of the sliding groove 36, the movable part 332 causes the first section of the tube 33 to move in the inner cavity of the fixed tube 32. At the same time, the mating post 371 on the outer surface of the second section of the tube 37 slides in the arc-shaped part of the mating groove 34, so that the first section of the tube 33 and the second section of the tube 37 extend synchronously. Next, the drive tube 35 continues to rotate. At this time, the movable part 332 slides in the arc-shaped part of the sliding groove 36, and the arc plate 38 slides under the cooperation of the drive part 39 and the rack 381, so that the arc plate 38 blocks the limiting post 331 and keeps the first section of the tube 33 stable. At the same time, the mating post 371 slides in the spiral part of the mating groove 34, so that the second section of the tube 37 rises spirally with the cross rod 372, so that the second section of the tube 37 extends out of the inner cavity of the first section of the tube 33. This is the second extension, and the cross-sectional diameter of the two extensions decreases step by step, which makes it easy to select the length and position of the extension according to the pipeline conditions. In addition, by setting two drive components 41, the gears in the drive components 41 mesh with the gear ring 444 and gear ring 432, which can drive the drive ring 43 and drive ring 44 to rotate. By rotating the drive ring 43, the connecting rod 45 in the inner cavity of the drive groove 431 slides in the inner cavity of the moving groove 221, and can synchronously contract or expand. The vertical plate 46 connected to the connecting rod 45 in the inner cavity of the drive groove 431 is a horizontal rolling support component 47. By rotating the drive ring 44, the connecting rod 45 in the inner cavity of the drive groove 443 slides in the inner cavity of the moving groove 221, and can synchronously contract or expand. The vertical plate 46 connected to the connecting rod 45 in the inner cavity of the drive groove 443 is a vertical rolling support component 47. Depending on the output of the joint assembly 12, whether to drive the forearm component 20 to rotate or move, the connecting rod 45 inside the drive groove 431 can be retracted or expanded. When the forearm component 20 is driven to rotate, the position of the connecting rod 45 inside the drive groove 431 is adjusted by rotating the drive ring 43, so that the rolling support assembly 47 connected to the vertical plate 46 contacts the inner wall of the pipe, which facilitates the robot to roll in the pipe. When the forearm component 20 needs to slide in the pipe, the connecting rod 45 is adjusted by the drive ring 44, so that the vertically arranged rolling support assembly 47 contacts the inner wall of the pipe, which facilitates sliding. When one set of connecting rods 45 moves, the other set remains in a retracted and stationary state.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technology of the present invention and the inventive concept of the multi-joint intelligent industrial robot, should be covered within the scope of protection of the present invention.

Claims

1. A multi-joint intelligent industrial robot comprising a rotary base (10), a large arm (11) and a joint assembly (12) connected in sequence, characterized in that, The joint assembly (12) output end is provided with a forearm component (20), further comprising a wrist (13) and an output end (14) fixed to the forearm component (20); The forearm component (20) comprises a mounting box (21) fixed to the output end of the joint assembly (12), a fixing ring (22) fixed to the mounting box (21), and a mounting pipe (23) fixed in the fixing ring (22), wherein an elongated component (30) is arranged in the mounting pipe (23); The elongated component (30) comprises a motor one (31) fixed in the mounting box (21), and a fixing pipe (32) fixed to the mounting pipe (23), wherein a driving pipe (35) is fixed to the output end of the motor one (31), a plurality of sliding grooves (36) are arranged in the outer surface of the driving pipe (35) in an annular array, a cross slot (351) is arranged in the inner cavity of the driving pipe (35), a plurality of limiting grooves (321) are arranged in the outer surface of the fixing pipe (32) in an annular array, a one-section pipe (33) is movably arranged in the inner cavity of the fixing pipe (32), a plurality of matching grooves (34) are arranged in the outer surface of the one-section pipe (33) in an annular array, a plurality of limiting columns (331) are fixed to the outer surface of the one-section pipe (33), and a plurality of movable components (332) are arranged on the inner surface of the one-section pipe (33), wherein a two-section pipe (37) is fixed to the cross rod (372). The motor one (31) drives the driving pipe (35) to rotate, and the sliding grooves (36) and the movable components (332) are matched to make the one-section pipe (33) extend outward, and the two-section pipe (37) moves with the one-section pipe (33).

2. The multi-joint intelligent industrial robot according to claim 1, characterized in that, The cross slot (351) movably accommodates a cross rod (372), the outer surface of the two-section pipe (37) is fixed with a plurality of matching columns (371) movably arranged in the inner cavity of the matching grooves (34), and the matching columns (371) on the two-section pipe (37) are matched with the matching grooves (34) on the one-section pipe (33) to realize the secondary extension of the two-section pipe (37) from the inside of the one-section pipe (33).

3. The multi-joint intelligent industrial robot according to claim 2, characterized in that, The outer surface of the fixing pipe (32) is provided with a plurality of arc-shaped grooves (322) arranged in an annular array, and an arc-shaped plate (38) is movably arranged in each arc-shaped groove (322), one side of the arc-shaped plate (38) is fixed with a rack (381), and the outer surface of the fixing pipe (32) is fixed with a driving component (39) matched with the rack (381).

4. The multi-joint intelligent industrial robot according to claim 1, characterized in that, The outer side of the mounting pipe (23) is provided with a supporting component (40), the supporting component (40) comprises two driving assemblies (41) movably arranged in the inner cavity of the mounting box (21), and the supporting component (40) further comprises a driving ring two (44), a partition ring (42) and a driving ring one (43) sequentially movably arranged on the mounting pipe (23), the driving ring one (43) is provided with a plurality of driving grooves one (431) arranged in an annular array, and the outer surface of the driving ring one (43) is fixed with a gear ring one (432) matched with one of the driving assemblies (41).

5. A multi-joint intelligent industrial robot according to claim 4, characterized in that, The driving ring two (44) is provided with a group of annular array driving grooves two (443), the outer surface of the driving ring two (44) is fixed with a gear ring two (444) matched with one of the driving assemblies (41), each driving groove one (431) and driving groove two (443) inner cavity is movably provided with a connecting rod (45), the fixed ring (22) is provided with a plurality of movement grooves (221) for the sliding of the connecting rod (45), the spacer ring (42) is provided with a plurality of sliding grooves matched with the connecting rod (45) in the driving groove one (431) inner cavity.

6. A multi-joint intelligent industrial robot according to claim 5, characterized in that, The driving ring two (44) is provided with a group of arc grooves (442) and straight grooves (441), the inner cavities of the arc grooves (442) and the straight grooves (441) at the same position are communicated.

7. A multi-joint intelligent industrial robot according to claim 6, characterized in that, Each of the connecting rods (45) is fixed with a vertical plate (46), each of the vertical plates (46) is provided with a group of rolling support assemblies (47), and two adjacent groups of the rolling support assemblies (47) are perpendicular to each other.

8. The multi-joint intelligent industrial robot according to claim 7, characterized in that, The rolling support assembly (47) comprises a plurality of telescopic assemblies (471) fixed on the vertical plate (46), a plurality of the telescopic assemblies (471) are provided with a mounting bracket (472) on one side, the mounting bracket (472) is rotatably provided with a plurality of rollers (473), and the outer surfaces of the rollers (473) are fixed with a plurality of spiral friction strips (474).

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