Seven-degree-of-freedom redundant omnidirectional mobile engineering robot

Abstract

The invention provides a seven-degree-of-freedom redundant omnidirectional mobile engineering robot, and belongs to the technical field of robots and automatic control. The robot comprises a chassis mechanism, a storage and pickup integrated mechanism and a seven-axis mechanical arm assembly. The chassis mechanism adopts multiple sets of wheel trains, each set of wheel train is provided with an independent suspension system, ground vibration is absorbed through a connecting rod mechanism, the chassis mechanism adapts to an unstructured road surface, and the moving stability is improved. The seven-axis mechanical arm assembly has the redundant freedom degree, the configuration is adjusted through null-space motion on the premise that the pose of an end effector is kept unchanged, and obstacles in a narrow space are avoided. A differential joint is arranged at the tail end, the size and rotational inertia are reduced, and rapid dynamic response is achieved. The storage and pickup integrated mechanism integrates lifting, forward stretching and sucking functions, and multi-target continuous operation can be achieved. The problems that the robot is poor in road surface driving stability and insufficient in operation flexibility and the size of an end effector is too large are solved, and the robot is suitable for complex environments such as post-disaster rescue and substation inspection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot and automation control technology, and particularly relates to a seven-degree-of-freedom redundant omnidirectional mobile engineering robot. BACKGROUND

[0002] With the development of industrial automation technology, mobile manipulators are widely used in post-disaster rescue, substation inspection, narrow space equipment maintenance, and hazardous material disposal. These application scenarios usually require the robot to have stable mobility on unstructured roads and the ability to perform flexible grasping or operation in extremely limited space.

[0003] The existing mobile manipulator mostly adopts the structure of a traditional four-wheel rigid chassis combined with a six-axis mechanical arm. However, when facing complex unstructured environments, this conventional structure has obvious limitations: first, the rigidly connected wheel system lacks an effective shock absorption mechanism when passing through rough roads, speed bumps, or cable grooves, causing the vehicle body to shake violently and seriously affecting the operation accuracy of precision instruments and mechanical arms on board; second, the six-axis mechanical arm often has kinematic singular points and dead angles when operating inside narrow pipes, deep cavities of equipment, or corridors with dense obstacles, making it difficult to avoid obstacles around by changing its own configuration while keeping the position and attitude of the end effector unchanged (i.e., lacking redundant degrees of freedom); third, the traditional mechanical arm end joint usually uses motor direct drive, resulting in a large volume and large moment of inertia of the end effector, making it difficult to enter narrow operation spaces for operation, and the dynamic response speed is slow.

[0004] In addition, when multiple targets need to be continuously operated or high-position materials need to be transported, the existing robot lacks efficient auxiliary lifting or buffering devices, often requiring frequent adjustment of the chassis position or repeated extension and retraction of the mechanical arm, resulting in low overall operation efficiency. Therefore, there is an urgent need for a mobile operation robot with a high-terrain adaptability chassis, a compact end structure, and redundant degrees of freedom to solve the above technical problems. SUMMARY

[0005] The purpose of the present application is to provide a seven-degree-of-freedom redundant omnidirectional mobile engineering robot to solve the problems of poor stability of existing mobile robots on complex roads, insufficient flexibility in narrow space operation, and large volume of end effectors that make it difficult to enter the operation point.

[0006] The technical scheme of a seven-degree-of-freedom redundant omnidirectional mobile engineering robot of the present application is as follows:

[0007] A seven-degree-of-freedom redundant omnidirectional mobile engineering robot, comprising a chassis mechanism, a storage and picking integrated mechanism, and a seven-axis mechanical arm assembly.

[0008] The integrated storage and retrieval mechanism and the seven-axis robotic arm assembly are both mounted on the chassis mechanism.

[0009] The chassis mechanism includes multiple wheel systems, each with an independent suspension system, which forms a linkage mechanism and absorbs ground vibrations to adapt to the terrain.

[0010] The seven-axis robotic arm assembly has redundant degrees of freedom and is configured to avoid obstacles by moving through zero space while the position and orientation of the end effector remain unchanged.

[0011] The seven-axis robotic arm assembly has a differential joint at its end, which is used to reduce the end volume and rotational inertia, thereby achieving a rapid dynamic response.

[0012] Furthermore, when the robot operates in an unstructured environment, the independent suspension system can absorb ground vibrations and reduce vehicle sway; the redundant degrees of freedom enable the robotic arm to change its configuration to avoid obstacles in narrow spaces.

[0013] Furthermore, the chassis mechanism includes a chassis frame, a storage mechanism, and a battery compartment; the storage mechanism and the battery compartment are both connected to the chassis frame; each pair of wheel trains is symmetrically arranged around the central axis of the chassis frame in the circumferential direction; each wheel train also includes omnidirectional wheels.

[0014] Furthermore, the independent suspension system includes a shock absorber, an upper suspension link, a lower suspension link, and a vertical motor mount; one end of the shock absorber is rotatably connected to the vertical suspension link mounting base, and the other end of the shock absorber is rotatably connected to the vertical motor mount; one end of the upper suspension link and one end of the lower suspension link are both rotatably connected to the vertical motor mount, and the other ends of the upper suspension link and the lower suspension link are both rotatably connected to the vertical suspension link mounting base, and the upper suspension link and the lower suspension link are parallel; the wheel motor is installed inside the vertical motor mount and is used to drive the omnidirectional wheel.

[0015] Furthermore, the integrated storage and retrieval mechanism includes a lifting mechanism, a forward extension mechanism, and an end-effector suction mechanism; the lifting mechanism is connected to the chassis mechanism, one end of the forward extension mechanism is connected to the lifting mechanism, and the end-effector suction mechanism is connected to the other end of the forward extension mechanism, for absorbing and transferring the target object.

[0016] Furthermore, the lifting mechanism includes a first motor, a vertical gear, and a vertical rack. The first motor is connected to the vertical gear, and the vertical gear cooperates with the vertical rack to achieve movement in the vertical direction.

[0017] The forward extension mechanism includes a second motor, a horizontal gear, and a horizontal rack; the second motor is connected to the horizontal gear, and the horizontal gear cooperates with the horizontal rack to achieve horizontal movement.

[0018] The end-effector includes an air path, an air pump, a third motor, and a suction cup assembly; the third motor is connected to the suction cup assembly, and the suction cup assembly is connected to the air pump through the air path.

[0019] Furthermore, the seven-axis robotic arm includes a base yaw joint, a first pitch joint, a second pitch joint, a third roll joint, a fourth pitch joint, and an end effector differential joint; the base yaw joint is connected to one end of the first pitch joint, the other end of the first pitch joint is connected to one end of the second pitch joint, the other end of the second pitch joint is connected to one end of the third roll joint, the other end of the third roll joint is connected to one end of the fourth pitch joint, and the other end of the fourth pitch joint is connected to the end effector differential joint.

[0020] Furthermore, the end differential joint includes a first fixed plate, a differential roll suction cup, a differential transmission rod, a driving bevel gear, a driven bevel gear, and a suction cup connector; the driving bevel gear meshes with the driven bevel gear; the driven bevel gear is connected to one end of the suction cup connector, and the other end of the suction cup connector is connected to the differential roll suction cup.

[0021] Furthermore, the base yaw joint achieves full-axis rotation through a synchronous belt mechanism and crossed roller bearings; the suction cup connector has an internal air passage, which is connected to the air pump through a rotary air connector.

[0022] Furthermore, during operation, the control system controls the rotation of the wheel system of the chassis mechanism, thereby moving the engineering robot to the target work position; the control system controls the movement of each joint of the seven-axis robotic arm assembly, using its redundant degrees of freedom to adjust the robotic arm configuration to avoid surrounding obstacles and locate the end effector; the control system controls the lifting and extending mechanisms of the integrated storage and retrieval mechanism, bringing the end effector closer to the target object; the suction cup assembly of the end effector is activated to pick up the target object through negative pressure; the control system controls the lifting and extending mechanisms of the integrated storage and retrieval mechanism to retract, transporting the target object into the storage mechanism or a designated placement position.

[0023] Compared with existing technologies, this invention achieves highly efficient and stable operation in complex environments through several innovative designs. Its chassis employs a four-link independent suspension system combined with omnidirectional wheels, replacing traditional rigid connections. This effectively absorbs ground vibrations, maintaining vehicle stability when traversing rough terrain and providing a stable working base for onboard precision instruments and the robotic arm. The robotic arm adopts a seven-axis redundant design. Compared to traditional six-axis robotic arms, the extra degree of freedom gives it "zero-space movement" capability, allowing it to adjust the elbow posture while maintaining the end effector's position, thus flexibly avoiding obstacles in narrow spaces and effectively preventing kinematic singularities and blind spots. Simultaneously, the robotic arm's end effector uses a differential transmission joint and a rear-mounted drive motor design, using synchronous belts and bevel gears to significantly reduce the end effector's volume and rotational inertia, enabling it to operate deep into confined spaces and improving dynamic response speed and control precision. Furthermore, the robot integrates a storage and retrieval mechanism. Combined with the chassis storage device, it can achieve continuous multi-target operation without moving the chassis or significantly retracting the robotic arm after each grab, thus significantly improving the efficiency of material handling and disposal in complex environments. Attached Figure Description

[0024] Figure 1 This is an isometric view of an engineering robot according to an embodiment of the present invention.

[0025] Figure 2 This is an isometric view of the chassis mechanism of an engineering robot according to an embodiment of the present invention.

[0026] Figure 3 This is an isometric view of the chassis frame of an engineering robot according to an embodiment of the present invention.

[0027] Figure 4 This is an isometric drawing of the wheel train of an engineering robot according to an embodiment of the present invention.

[0028] Figure 5 This is an isometric view of the wheel system of an engineering robot according to an embodiment of the present invention.

[0029] Figure 6 This is an isometric view of the bottom storage mechanism of the engineering robot according to an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of the bottom storage mechanism and chassis frame structure of an engineering robot according to an embodiment of the present invention.

[0031] Figure 8 This is a schematic diagram of the overall structure of the integrated storage and retrieval mechanism for an engineering robot according to an embodiment of the present invention.

[0032] Figure 9 This is a schematic diagram of the lifting mechanism of the integrated storage and retrieval mechanism for an engineering robot according to an embodiment of the present invention.

[0033] Figure 10 This is an exploded view of component A of the drive motor group of the integrated storage and retrieval mechanism for the engineering robot according to an embodiment of the present invention.

[0034] Figure 11 This is a schematic diagram of the extension mechanism of the integrated storage and retrieval mechanism for an engineering robot according to an embodiment of the present invention.

[0035] Figure 12 This is an exploded view of component B of the drive motor group for the integrated storage and retrieval mechanism of the engineering robot according to an embodiment of the present invention.

[0036] Figure 13 This is a schematic diagram of the end-effector suction mechanism of the integrated storage and retrieval mechanism for an engineering robot according to an embodiment of the present invention.

[0037] Figure 14 This is a cross-sectional view of the drive motor C of the suction cup assembly of the end-effector of the integrated storage and retrieval mechanism of the engineering robot according to an embodiment of the present invention.

[0038] Figure 15 This is an isometric view of an engineering robotic arm according to an embodiment of the present invention.

[0039] Figure 16 This is an isometric view of the yaw joint of the engineering robot arm according to an embodiment of the present invention.

[0040] Figure 17 This is a cross-sectional view of the yaw joint of the engineering robot arm according to an embodiment of the present invention.

[0041] Figure 18 This is an exploded view of the first pitch joint support assembly of the engineering robotic arm according to an embodiment of the present invention.

[0042] Figure 19 This is an exploded view of the first pitch joint assembly of the engineering robotic arm according to an embodiment of the present invention.

[0043] Figure 20 This is an exploded view of the second pitch joint of the engineering robotic arm and the image transmission gimbal assembly according to an embodiment of the present invention.

[0044] Figure 21 This is an exploded view of the third roll joint transmission assembly of the engineering robotic arm according to an embodiment of the present invention.

[0045] Figure 22 This is a cross-sectional view of the third roll joint of the engineering robotic arm according to an embodiment of the present invention.

[0046] Figure 23 This is an isometric view of the fourth pitch joint assembly of the engineering robotic arm according to an embodiment of the present invention.

[0047] Figure 24This is a cross-sectional view of the fourth pitch joint component of the engineering robotic arm according to an embodiment of the present invention.

[0048] Figure 25 This is an isometric view of the differential joint of an engineering robotic arm in an embodiment of the present invention.

[0049] Figure 26 This is a cross-sectional view of the differential joint of an engineering robotic arm according to an embodiment of the present invention.

[0050] In the diagram: Chassis mechanism 1, chassis frame 11, wheel system 12, storage mechanism 13, battery compartment 15, second electric pump 16, front protection plate 17, right side protection plate 18, rear protection plate 19, crossbeam aluminum square tube 111, longitudinal beam aluminum square tube 112, bumper 113, bumper fixing plate 114, guide wheel 115, wheel system fixing aluminum square tube 116, wheel system fixing plate 117, motor fixing aluminum square tube 118, motor support aluminum square tube 119, motor support plate 1110, transmission support aluminum square tube 1111, motor frame crossbeam 111 2. Battery rack fixing aluminum square tube 1113, omnidirectional wheel 121, coupling 122, vertical motor base 123, wheel system drive motor 124, lower suspension link 125, upper suspension link 126, shock absorber 127, vertical suspension link fixing seat 128, wheel system adapter block 129, thrust ball bearing 1210, upper link connecting block 1211, suction cup 131, suction cup fixing plate 132, right side suction cup fixing aluminum square 133, first electric pump fixing plate 134, right side support frame aluminum square 135, first electric pump 136.

[0051] Integrated storage and retrieval mechanism 2, lifting mechanism 21, forward extension mechanism 22, end suction mechanism 23, first motor 2101, pad block 2102, thrust ball bearing 2103, shaft clamp 2104, vertical gear 2105, bottom lifting aluminum square 211, first upper lifting aluminum square 212, vertical motor base 213, vertical rack 214, first lifting slider 215, second lifting slider 216, synchronous belt fixing plate 217, synchronous belt fixing lower plate 218, lifting aluminum square fixing plate 219, forward extension base aluminum square 220, forward extension aluminum square 221, first forward extension limit 222, second forward extension limit 223, second motor 224, forward extension slide rail 225, first forward extension slider 226, second forward extension slider 227, horizontal rack 228, First pad 2241, First thrust ball bearing 2242, First shaft clamp 2243, Horizontal gear 2244, Horizontal motor base 2245, Front end pad 231, End limiter 232, P-shaft front plate 2321, P-shaft rear plate 2322, P-shaft base plate 2322, P-shaft rear plate 2323, Third motor assembly 233, Third motor 2331, Second pad 2332, Second thrust ball bearing 2333, Second shaft clamp 2334, Flange bearing 2335, End frame 234, End first side plate 2341, End second side plate 2342, End suction cup fixing plate 2343, End rear plate 2344, Suction cup assembly 235, Vacuum logic valve 2351, Hardware bracket 2352, Suction cup 2353.

[0052] 7-axis robotic arm assembly 3, robotic arm first pitch joint support 31, robotic arm first pitch joint 32, robotic arm second pitch joint 33, robotic arm third roll joint 34, robotic arm fourth pitch joint 35, robotic arm differential joint 36, yaw position fixing plate 301, large synchronous belt pulley 302, small synchronous belt pulley 303, tension pulley 304, slip ring 305, robotic arm drive motor 306, bearing outer ring upper pressure plate 307, bearing outer ring lower pressure plate 308, crossed roller bearing 309, bearing inner ring upper pressure plate 3010, bearing inner ring lower pressure plate 3011, synchronous belt 3012, pitch 1 first support plate 3111, pitch 1 second support plate 3112, p Pitch1 limit block 3113, Pitch1 joint motor sleeve 3114, Pitch1 first clamping component 3115, Pitch1 second clamping plate 3116, YAW pulley adapter block 3121, Pitch1 joint motor 3131, Pitch1 deep groove ball bearing 3141, UWB fixing assembly 3151, Pitch1 frame 3211, Pitch1 joint motor coupling 3212, Pitch1 third clamping plate 3213, Pitch1 fourth clamping plate 3214, Pitch2 synchronous belt tensioning assembly 322, Pitch2 joint motor 3221, Pitch2 synchronous belt idler pulley 3222, Pitch2 drive synchronous belt pulley 3223, flange deep groove Ball bearing 3231, pitch2 frame 3311, pitch2 driven synchronous pulley 3312, roll1 joint motor 3321, roll1 joint motor coupling 3322, roll1 deep groove ball bearing clamping assembly 3323, image transmission pan / tilt assembly 333, pan / tilt pitch coupling 3331, image transmission lower frame 3332, image transmission upper frame 3333, pan / tilt pitch joint motor 3334, pan / tilt pitch limit block 3335, pan / tilt yaw limit block 3336, pan / tilt yaw joint motor 3337, fourth joint mounting plate 3410, third roll motor 3411, third roll motor rotor shaft connector 3412, third roll deep groove ball bearing 3413 The components are: 3414 (third roll deep groove ball bearing pad), 3415 (third roll deep groove ball bearing inner pressure plate), 3416 (third roll deep groove ball bearing outer pressure plate), 3417 (third roll transmission pad), 3510 (fourth pitch joint plate), 3511 (fourth pitch motor), 3512 (fourth pitch motor rotor shaft connector), 3513 (fourth pitch deep groove ball bearing), 3514 (fourth pitch deep groove ball bearing pad), 3515 (fourth pitch deep groove ball bearing outer pressure plate), 3516 (fourth pitch deep groove ball bearing inner pressure plate), 3517 (fourth pitch driving synchronous pulley), 3521 (driven synchronous pulley plug screw), and 35224 (driven synchronous pulley first flange deep groove ball bearing).Driven synchronous pulley second flange deep groove ball bearing 352, fourth pitch driving synchronous pulley 3523, driven synchronous pulley thrust ball bearing 3525, differential joint first fixed plate 3610, differential roll chuck 3611, chuck connector 3612, differential roll thrust ball bearing 3613, differential roll flange deep groove ball bearing 3614, driven bevel gear 3615, rotary air connector 3616, differential transmission rod 3620, driven... Synchronous belt pulley 3621, synchronous belt pulley clamping thrust ball bearing 3622, first flange deep groove ball bearing 3623, second flange deep groove ball bearing outer pressure plate 3624, second flange deep groove ball bearing 3625, driving bevel gear 3626, differential joint second fixing plate 3630, drive motor 3631, drive motor thrust ball bearing 3632, driving synchronous belt pulley 3633, idler pulley plug screw 3634, idler pulley 3635, idler pulley washer 3636. Detailed Implementation

[0053] A seven-degree-of-freedom redundant omnidirectional mobile engineering robot includes a chassis mechanism 1, a storage and retrieval integrated mechanism 2, and a seven-axis robotic arm assembly 3.

[0054] The integrated storage and retrieval mechanism 2 and the seven-axis robotic arm assembly 3 are both mounted on the chassis mechanism 1.

[0055] The chassis mechanism 1 includes multiple sets of wheel trains 12, each set of wheel trains 12 is equipped with an independent suspension system, which is used to form a linkage mechanism and absorb ground vibration, thereby adapting to the terrain.

[0056] The seven-axis robotic arm assembly 3 has redundant degrees of freedom and is configured to avoid obstacles by moving through zero space while the position and attitude of the end effector remain unchanged.

[0057] The seven-axis robotic arm assembly 3 is equipped with a differential joint 36 at its end, which is used to reduce the end volume and rotational inertia, thereby achieving a rapid dynamic response.

[0058] Furthermore, when the robot operates in an unstructured environment, the independent suspension system can absorb ground vibrations and reduce vehicle sway; the redundant degrees of freedom enable the robotic arm to change its configuration to avoid obstacles in narrow spaces.

[0059] Furthermore, the chassis mechanism 1 includes a chassis frame 11, a storage mechanism 13, and a battery compartment 15; the storage mechanism 13 and the battery compartment 15 are both connected to the chassis frame 11; each pair of wheel trains 12 are symmetrically arranged around the central axis of the chassis frame 11 in the circumference of the chassis frame 11; each wheel train 12 also includes an omnidirectional wheel 121.

[0060] Furthermore, the independent suspension system includes a shock absorber 127, an upper suspension link 126, a lower suspension link 125, and a vertical motor mount 123; one end of the shock absorber 127 is rotatably connected to the vertical suspension link mounting base, and the other end of the shock absorber 127 is rotatably connected to the vertical motor mount 123; one end of the upper suspension link 126 and one end of the lower suspension link 125 are both rotatably connected to the vertical motor mount 123, and the other ends of the upper suspension link 126 and the lower suspension link 125 are both rotatably connected to the vertical suspension link mounting base, and the upper suspension link 126 and the lower suspension link 125 are parallel; the wheel motor is installed inside the vertical motor mount 123 and is used to drive the omnidirectional wheel 121.

[0061] Furthermore, the integrated storage and retrieval mechanism 2 includes a lifting mechanism 21, a forward extension mechanism 22, and an end suction mechanism 23; the lifting mechanism 21 is connected to the chassis mechanism 1, one end of the forward extension mechanism 22 is connected to the lifting mechanism 21, and the end suction mechanism 23 is connected to the other end of the forward extension mechanism 22, for retrieval and transfer of the target object.

[0062] Furthermore, the lifting mechanism 21 includes a first motor 2101, a vertical gear 2105, and a vertical rack 214. The first motor 2101 is connected to the vertical gear 2105, and the vertical gear 2105 cooperates with the vertical rack 214 to realize vertical movement.

[0063] The forward extension mechanism 22 includes a second motor 224, a horizontal gear 2244, and a horizontal rack 228; the second motor 224 is connected to the horizontal gear 2244, and the horizontal gear cooperates with the horizontal rack 228 to realize horizontal movement.

[0064] The end suction mechanism 23 includes an air passage, an air pump, a third motor unit 233, and a suction cup assembly 235; the third motor unit 2331 is connected to the suction cup assembly 235, and the suction cup assembly 235 is connected to the air pump through the air passage.

[0065] Furthermore, the seven-axis robotic arm 3 includes a base yaw joint 30, a first pitch joint 32, a second pitch joint 33, a third roll joint 34, a fourth pitch joint 35, and an end differential joint 36; the base yaw joint 30 is connected to one end of the first pitch joint 32, the other end of the first pitch joint 32 is connected to one end of the second pitch joint 33, the other end of the second pitch joint 33 is connected to one end of the third roll joint 34, the other end of the third roll joint 34 is connected to one end of the fourth pitch joint 35, and the other end of the fourth pitch joint 35 is connected to the end differential joint 36.

[0066] Furthermore, the end differential joint 36 includes a first fixed plate, a differential roll suction cup 3611, a differential transmission rod 3620, a driving bevel gear 3626, a driven bevel gear 3615, and a suction cup connector 3612; the driving bevel gear 3626 meshes with the driven bevel gear 3615; the driven bevel gear is connected to one end of the suction cup connector 3612, and the other end of the suction cup connector 3612 is connected to the differential roll suction cup 3611.

[0067] Furthermore, the base yaw joint 30 achieves full-axis rotation through a synchronous belt mechanism and crossed roller bearings; the suction cup connector 3612 has an internal air passage, which is connected to the air pump through a rotary air connector.

[0068] Furthermore, during operation, the control system controls the wheel system 12 of the chassis mechanism 1 to rotate, thereby moving the engineering robot to the target operation position; the control system controls the movement of each joint of the seven-axis robotic arm assembly 3, using its redundant degrees of freedom to adjust the robotic arm configuration to avoid surrounding obstacles and locate the end effector; the control system controls the lifting mechanism 21 and the extension mechanism 22 of the storage and retrieval integrated mechanism 2 to bring the end suction mechanism 23 close to the target object; the suction cup assembly 235 of the end suction structure 23 is activated to suck up the target object through negative pressure; the control system controls the lifting mechanism 21 and the extension mechanism 22 of the storage and retrieval integrated mechanism 2 to retract and transport the target object into the storage mechanism 13 or to the designated placement position.

[0069] Example

[0070] See Figures 1 to 26This embodiment provides a seven-DOF redundant omnidirectional mobile engineering robot for narrow, unstructured environments, including a chassis mechanism 1, a storage and retrieval integrated mechanism 2, a seven-axis robotic arm assembly 3, and a control system. The storage and retrieval integrated mechanism 2 and the seven-axis robotic arm assembly 3 are fixedly mounted on the chassis mechanism 1. The control system is electrically connected to the chassis mechanism 1, the storage and retrieval integrated mechanism 2, and the seven-axis robotic arm assembly 3, and is capable of sending control commands to control the movement of each mechanism.

[0071] Specifically, the chassis mechanism 1 includes a chassis frame 11, a wheel system 12, a storage mechanism 13, and a battery compartment 15. The wheel system 12 is located at the bottom of the chassis frame 11, the storage mechanism 13 is located on the upper right side of the chassis frame 11, the robotic arm yaw joint 30 is located at the top center of the chassis frame 11, and the battery compartment 15 is located on the upper rear side of the chassis frame 11. The chassis frame 11 adopts a grid-like structure, which is formed by the overlapping of two horizontal aluminum square tubes 111 and six vertical aluminum square tubes 112, with arc-shaped aluminum square tubes fixed at the four corners as anti-collision bars 113.

[0072] The chassis mechanism 1 enables omnidirectional movement of the robot and includes a chassis frame 11, wheel system 12, storage mechanism 13, and robotic arm yaw joint 30. The frame adopts a grid shape, consisting of two horizontal aluminum square tubes 111 and six vertical aluminum square tubes 112 overlapping each other, with four vertical aluminum square tubes 112 at the bottom and two at the top. Four corner-fixed arc-shaped aluminum square tubes serve as anti-collision bars 113. Two wheel system fixing aluminum square tubes 116 are installed above the uppermost vertical aluminum square tube 112 to meet the installation requirements of the vertical suspension link fixing seat 128. Two wheel system fixing plates 117 are located at the center of the chassis frame 11 and are fixed to the upper side of the wheel system fixing aluminum square tubes 116 and the lower side of the chassis frame 11 using hexagonal socket head cap screws. Two fixed motor aluminum square tubes 118 and two motor support aluminum square tubes 119 are fixed in a U-shape on the wheel system fixing plate 117 for wiring. A motor support plate 1110 is fixed above the motor support aluminum square tubes 119 to fix the robotic arm drive motor 306. Four transmission support aluminum square tubes 1111 are vertically fixed on the longitudinal beam aluminum square tubes 112 and secured to the longitudinal beam aluminum square tubes 112 with the assistance of fiberglass board. Motor frame crossbeams 1112 are fixed on the left and right sides of the top of the transmission support aluminum square tubes 1111, and the robotic arm yaw joint 30 is placed on the top of the motor frame crossbeams 1112. A battery rack fixing aluminum square tube 1113 is fixed to the rear side of the top of the motor rack fixing aluminum square tubes, and a battery compartment 15 is fixed to the rear side of the battery rack fixing aluminum square tube 1113. The battery compartment 15 is assembled from fiberglass board and adapter block and can hold two batteries to power the robot's various motors and control board.

[0073] Furthermore, the storage mechanism 13 is set in the chassis frame. The storage mechanism 13 includes a suction cup 131, a support frame, a suction cup fixing plate 132, an air line, a first electric pump 136, a first electric pump fixing plate 134, and a solenoid valve. The support frame includes a right-side support aluminum square 135, a right-side suction cup fixing aluminum square 133, and fiberglass boards of different shapes. The first electric pump 136 and the solenoid valve are bolted between two crossbeam aluminum square tubes 111. The right-side support aluminum square is fixed to the crossbeam aluminum square tube 111 on the outside. The top of the right-side support aluminum square is fixed to the right-side suction cup fixing aluminum square 133, which faces forward. The suction cup 131 is fixed to the front end of the right-side suction cup fixing aluminum square 133 by the suction cup fixing plate 132. The suction cup 131, the solenoid valve, and the first electric pump 136 are connected by an air line, sucking up objects through negative pressure. Four fiberglass boards and an adapter block are spliced ​​together to form a protective shell, protecting the wiring of the storage mechanism 13. A counterweight is installed above the wheel system 12 on the right rear side of the chassis frame 11, with an approximately quarter-circular counterweight support plate fixed here. On the front side of the chassis frame 11, a second electric pump is fixed between the longitudinal beam aluminum square tubes 112 via a second electric pump mounting base, with the air cable passing through a slip ring 305 and connected to the suction cup 131 on the robotic arm. On the rear side of the chassis frame 11, below the battery compartment 15, wiring and a development board are arranged, surrounded by a protective shell made of fiberglass board.

[0074] Specifically, the wheel system 12 includes an omnidirectional wheel 121 and a suspension system. The suspension system includes a shock absorber 127 and a load-bearing mechanism. The load-bearing mechanism includes a vertical suspension link fixing seat 128, an upper suspension link 126, a lower suspension link 125, a vertical motor seat 123, and an upper link connecting block 1211. The upper end of the shock absorber 127 is hinged to the upper end of the vertical suspension link fixing seat 128, and the lower end of the shock absorber 127 is hinged to the upper end of the vertical motor seat 123. The upper end of the upper suspension link 126 is hinged to the middle end of the vertical suspension link fixing seat 128, and the lower end of the upper suspension link 126 is hinged to the upper end of the vertical motor seat 123. The upper end of the lower suspension link 125 is hinged to the lower end of the vertical suspension link, and the lower end of the lower suspension link 125 is hinged to the lower end of the vertical motor seat 123. The two ends of the upper link connecting block 1211 are respectively hinged to the two ends of the upper suspension link 126. The wheel system drive motor 124 is installed inside the vertical motor seat 123, and its output shaft faces outward and is connected to the omnidirectional wheel 121. The vertical suspension link fixing seat 128 is fixed to the wheel system fixing plate 117 on the chassis frame 11 through the wheel system adapter block 129. This wheel system 12 can ensure the stability of the engineering robot when traveling on rough roads, and the suspension mechanism can fully absorb the vibration caused by the ground.

[0075] The seven-axis robotic arm assembly 3 includes a robotic arm yaw joint 30, a robotic arm first pitch joint support 31, a robotic arm first pitch joint 32, a robotic arm second pitch joint 33, a robotic arm third roll joint 34, a robotic arm fourth pitch joint 35, and a robotic arm differential joint 36. The seven-axis robotic arm is installed in the following order from the chassis upwards: robotic arm yaw joint 30, robotic arm first pitch joint support 31, robotic arm first pitch joint 32, robotic arm second pitch joint 33, robotic arm third roll joint 34, robotic arm fourth pitch joint 35, and robotic arm differential joint 36.

[0076] Specifically, the lifting mechanism 21 works as follows: the first motor 2101 drives the vertical gear 2105 to rotate, which in turn drives the vertical rack 214 to move vertically in a straight line. The vertical rack 214 is fixed to the first upper lifting aluminum square 212. The first upper lifting aluminum square 212 and the second upper lifting aluminum square 2120 are directly connected to the timing belt fixing plate 217 and the timing belt fixing lower plate 218, thereby realizing the vertical movement of the first upper lifting aluminum square 212 and the mechanism above it. The first upper lifting aluminum square 212 and the second upper lifting aluminum square 2120 are each fixed with a slide rail. The slide rail is connected to the first lifting slider 215 and the second lifting slider 216, which effectively reduces friction while ensuring the stability of the vertical linear motion trajectory. The first lifting slider 215 and the second lifting slider 216 are fixed to the lifting aluminum square fixing plate 219, and the lifting aluminum square fixing plate 219 is directly fixed to the forward extension base aluminum square 220 of the forward extension mechanism 22, thereby realizing the lifting function of the lifting mechanism 21.

[0077] Specifically, the working principle of the forward extension mechanism 22 is as follows: the forward extension base aluminum square 220 is fixed to the horizontal motor base 225, and the horizontal motor base 2245 fixes the second motor 224. The output axis of the second motor 224 passes through the first pad 2241, the first thrust ball bearing 2242, the first shaft clamp 2243, and the horizontal gear 2244 sequentially to the left. The horizontal gear 2244 meshes with the horizontal rack 228, and the horizontal rack 228 is fixed to the forward extension aluminum square 221. When the second motor 224 drives the horizontal gear 2244 to rotate, it in turn drives the horizontal rack 228 to move horizontally linearly back and forth, thereby realizing the forward extension function of the forward extension mechanism 22. The forward extension aluminum square 221 is fixed with a forward extension slide rail 225. The forward extension rail 225 is connected to the first forward extension slider 226 and the second forward extension slider 227, while the first forward extension slider 226 and the second forward extension slider 227 are fixed to the forward extension base aluminum square 220, which effectively reduces friction while ensuring the stability of the horizontal linear motion trajectory. The first forward extension limit 222 fixed to the forward extension base aluminum square 220 and the second forward extension limit 223 fixed to the forward extension aluminum square 221 interact to limit the further movement of the forward extension aluminum square 221 through mechanical limiting, effectively avoiding mechanical damage caused by overextension, and ensuring operational safety and equipment service life.

[0078] Specifically, the working principle of the end-effector 23 is as follows: the front end pad 231 and the forward-extending aluminum square 221 are fixed by four M4 bolts, and simultaneously pass through the p-axis front plate 2321 and the p-axis rear plate 2322. The p-axis front plate 2321, p-axis rear plate 2322, and p-axis side plate 2323 are perpendicularly connected to each other by adapter blocks and multiple M3 bolts. The third motor unit 233 consists of the output shaft of the third motor 2331 passing sequentially through the second pad 2332, the second thrust ball bearing 2333, the second shaft clamp 2334, the flange bearing 2335, and the end first side plate 2341. The end frame 234 consists of the end first side plate 2341, the end second side plate 2342, the end suction cup fixing plate 2343, and the end rear plate 2344. They are also perpendicularly connected to each other by adapter blocks and multiple M3 bolts. The end suction cup mounting plate 2343 has a suction cup assembly 235, consisting of a vacuum logic valve 2351, a hardware bracket 2352, and a suction cup 2353, arranged from left to right. After the third motor 2331 starts, its output shaft drives the end frame 234 and suction cup assembly 235 in the pitch direction to achieve corresponding adjustments. The suction cup assembly 235 is connected to the second electric pump 16 via an external air passage. When the second electric pump 16 starts suction, a negative pressure environment is created inside the suction cup 2353, thereby adsorbing objects. When the second electric pump 16 stops suction and releases air, the negative pressure inside the suction cup 2353 disappears, releasing the object. The entire process is controlled by the vacuum logic valve 2351 to regulate the air passage flow, ensuring precise and controllable suction and release actions.

[0079] Specifically, the robotic arm yaw joint 30 includes a yaw position fixing plate 301, a large synchronous pulley 302 with 70 teeth, a small synchronous pulley 303 with 35 teeth, a tensioning pulley 304, and a synchronous belt 3012. The yaw position fixing plate 301 is fixed to the motor frame crossbeam 1112. The large synchronous pulley 302 is located in front of the yaw position fixing plate 301, and the robotic arm is fixed above the large synchronous pulley 302. A slip ring 305 is located directly below the large synchronous pulley 302, and the slip ring 305 is used to realize the rotation of the entire axis of the robotic arm. The small synchronous pulley 303 is located behind the yaw position fixing plate 301, and the robotic arm drive motor 306 is located directly below the small synchronous pulley 303. The tensioning pulley 304 is fixed to the right side of the line connecting the centers of the large synchronous pulley 302 and the small synchronous pulley 303, on the yaw position fixing plate 301 and the motor frame crossbeam 1112. The synchronous pulley is fixed to the yaw position fixing plate 301 by a shaft fixed below the synchronous pulley, which rotates synchronously with the synchronous pulley. The yaw position fixing plate 301 is equipped with a crossed roller bearing 309, an upper clamping plate 307 on the outer ring of the bearing, and a lower clamping plate 308 on the outer ring of the bearing. The crossed roller bearing 309 has good bearing capacity for axial and radial forces. The shaft of the synchronous pulley is tightly engaged with the inner ring of the crossed roller bearing 309 through the upper clamping plate 3010 and the lower clamping plate 3011 on the inner ring of the bearing, and can rotate relative to the yaw position fixing plate 301.

[0080] Furthermore, the first pitch joint support 31 of the robotic arm includes a first pitch 1 support plate 3111 and a second pitch 1 support plate 3112. The first pitch 1 support plate 3111 and the second pitch 1 support plate 3112 are fixed to the yaw pulley adapter block 3121 by bolts. The pitch 1 joint motor 3131 is fixedly connected to the first pitch 1 support plate 3111 by bolts. The pitch 1 limiting block 3113 is fixedly connected to the pitch 1 joint motor 3131 by bolts. The pitch 1 joint motor sleeve 3114 is fixedly connected to the second pitch 1 support plate 3112 by bolts. The pitch 1 deep groove ball bearing 3141 is nested on the first pitch 1 clamping member. The first pitch 1 clamping member 3115 is fixedly connected to the second pitch 1 clamping plate 3116, the second pitch 1 support plate 3112, and the pitch 1 joint motor sleeve 3114 by bolts. The UWB fixing component 3151 is fixedly connected to the second bracket plate 3112 of pitch1 by bolts.

[0081] Furthermore, the first pitch joint 32 of the robotic arm includes a pitch 1 frame 3211, a pitch 2 joint motor 3221, a pitch 2 synchronous belt tensioning assembly 322, and a pitch 2 synchronous belt pulley 3223. The bottom of the pitch 1 frame 3211 is equipped with a pitch 1 joint motor coupling 3212, which is bolted to the output shaft of the pitch 1 joint motor 3131. The other side is fixed to the outer ring of the pitch 1 deep groove ball bearing 3141 via a pitch 1 third clamping plate 3213 and a pitch 1 fourth clamping plate 3214. The pitch 2 joint motor 3221 is bolted to the pitch 1 frame 3211 on both sides, and the pitch 2 active synchronous belt pulley 3223 is bolted to the output shaft of the pitch 2 joint motor 3221. The pitch 2 synchronous belt tensioning assembly 322 includes a pitch 2 synchronous belt tensioning pulley 3224 and a pitch 2 synchronous belt idler pulley 3222, which are bolted to the pitch 1 frame 3211. The top of the pitch1 frame 3211 is fitted with a flange deep groove ball bearing 3231 for connecting the pitch2 frame 3311.

[0082] Furthermore, the second pitch joint 33 of the robotic arm includes a pitch2 frame 3311, a roll1 joint motor 3331, a roll1 joint motor coupling 3332, a roll1 deep groove ball bearing clamping assembly 3323, a video transmission gimbal assembly 333, and a pitch2 driven synchronous pulley 3312. The pitch2 frame 3311 is connected to the pitch1 frame 3211 by plug screws, and the pitch2 driven synchronous pulley 3312 is fixed to the pitch2 frame 3311 by bolts and drives the transmission with the pitch2 driving synchronous pulley 3223 via a synchronous belt. The tail end of the third roll motor 3411 is fixed to the pitch2 frame 3311 by bolts passing through the third roll joint motor connecting plate 3313. The image transmission gimbal assembly 333 includes a gimbal pitch coupling 3331, a lower image transmission frame 3332, an upper image transmission frame 3333, a gimbal pitch joint motor 3334, a gimbal pitch limit block 3335, a gimbal yaw limit block 3336, and a gimbal yaw joint motor 3337. The gimbal pitch joint motor 3334 is bolted to the pitch 2 frame 3311 and connected to the lower image transmission frame 3332 via the gimbal pitch joint motor coupling 3331. The gimbal pitch limit block 3335 is bolted to the pitch 2 frame 3311, serving to limit the range of motion of the gimbal pitch joint motor 3334 and for initial calibration. The image transmission module 3338 is bolted to the upper image transmission frame. The gimbal yaw motor 3337 is fixed to the lower frame 3332 of the image transmission system with bolts. The gimbal yaw limit block 3336 is fixed to the bottom of the upper frame 3333 of the image transmission system with bolts. The upper frame 3333 of the image transmission system is fixed to the other side of the gimbal yaw joint motor 3337 with bolts.

[0083] Furthermore, the third roll joint 34 of the robotic arm includes a fourth joint mounting plate 3410 and a roll transmission assembly (roll transmission pad 3417, deep groove ball bearing outer pressure plate 3416, deep groove ball bearing inner pressure plate 3415, deep groove ball bearing pad 3414, deep groove ball bearing 3413, roll motor rotor shaft connector 3412, and roll drive motor 3411). Specifically, with the pitch2 frame 3311 as the base, the third roll drive motor 3411 is fixed to the bearing mounting surface of the mounting plate. The outer ring of the third roll deep groove ball bearing 3413 is fitted inside the third roll deep groove ball bearing pad 3414, and its outer side is pressed and fixed by the third roll deep groove ball bearing outer pressure plate 3416. One end of the third roll motor rotor shaft connector 3412 is fixedly connected to the output shaft of the third roll drive motor 3411, and the other end passes through the inner ring of the third roll deep groove ball bearing 3413 and is connected and fixed to the third roll deep groove ball bearing inner pressure plate 3415. The third roll transmission pad 3417 is placed between the inner pressure plate 3415 of the third roll deep groove ball bearing and the fourth pitch joint plate 3510.

[0084] Furthermore, the fourth pitch joint 35 of the robotic arm includes a fourth pitch joint plate 3510, a fourth pitch motor 3511, a fourth pitch motor rotor shaft connector 3512, a fourth pitch deep groove ball bearing 3513, a fourth pitch deep groove ball bearing spacer 3514, a fourth pitch deep groove ball bearing outer pressure plate 3515, a fourth pitch deep groove ball bearing inner pressure plate 3516, a fourth pitch active synchronous pulley 3517, a driven synchronous pulley plug screw 3521, a driven synchronous pulley first flange deep groove ball bearing 3522, a fourth pitch driven synchronous pulley 3523, a driven synchronous pulley second flange deep groove ball bearing 3524, and a driven synchronous pulley thrust ball bearing 3525.

[0085] Specifically, the fourth pitch joint plate 3510 serves as the base, and the fourth pitch motor 3511 is fixedly mounted on it. One end of the fourth pitch motor rotor shaft connector 3512 is fixedly connected to the output shaft of the fourth pitch motor 3511, and the other end passes through the inner ring of the fourth pitch deep groove ball bearing 3513. The outer ring of the fourth pitch deep groove ball bearing 3513 is fitted inside the fourth pitch deep groove ball bearing spacer 3514, and its outer side is pressed and fixed by the fourth pitch deep groove ball bearing outer pressure plate 3515. The fourth pitch motor rotor shaft connector 3512 is connected and fixed to the fourth pitch deep groove ball bearing inner pressure plate 3516 at the inner ring, and the fourth pitch deep groove ball bearing inner pressure plate 3516 is connected to the fourth pitch driving synchronous pulley 3517. The fourth pitch driving synchronous pulley 3517 is connected to the fourth pitch driven synchronous pulley 3523 via a synchronous belt drive. The fourth pitch driven synchronous pulley 3523 is equipped with a first flange deep groove ball bearing 3522 and a second flange deep groove ball bearing 3524 at both ends. The driven synchronous pulley plug screw 3521 passes through the above components in sequence and is pressed and fixed to the first fixing plate 3610 of the differential joint by the driven synchronous pulley thrust ball bearing 3525, thereby realizing the connection and power transmission between the joints.

[0086] Furthermore, the differential joint 36 includes a first fixing plate 3610 for the differential joint, a differential roll suction cup 3611, a suction cup connector 3612, a differential roll thrust ball bearing 3613, a differential roll flange deep groove ball bearing 3614, a driven bevel gear 3615, a rotary air connector 3616, a differential transmission rod 3620, a driven synchronous pulley 3621, a synchronous pulley pressing thrust ball bearing 3622, a first flange deep groove ball bearing 3623, a second flange deep groove ball bearing outer pressure plate 3624, a second flange deep groove ball bearing 3625, a driving bevel gear 3626, a second fixing plate 3630 for the differential joint, a drive motor 3631, a drive motor thrust ball bearing 3632, a driving synchronous pulley 3633, an idler pulley plug screw 3634, an idler pulley 3635, and an idler pulley washer 3636.

[0087] Specifically, the drive motor 3631 is fixedly mounted on the second fixed plate 3630 of the differential joint, and its output shaft is connected to the drive motor thrust ball bearing 3632, with the active synchronous pulley 3633 pressed and fixed at its end. The idler pulley 3635 is mounted next to the drive motor 3631 through the idler pulley washer 3636 and the idler pulley plug screw 3634, and the synchronous belt is tensioned by adjusting its position. The driven synchronous pulley 3621 is fixedly mounted on the top of the differential transmission rod 3620, and the thrust ball bearing 3622 is pressed against the second fixed plate 3630 of the differential joint by the synchronous pulley to achieve clamping. The two ends of the differential transmission rod 3620 are respectively sleeved in the first flange deep groove ball bearing 3623 and the second flange deep groove ball bearing 3625, and the outer side of the second flange deep groove ball bearing 3625 is pressed and fixed by the second flange deep groove ball bearing outer pressure plate 3624. The driving bevel gear 3626 is fixed to the end of the differential transmission rod 3620 by fastening bolts and meshes with the driven bevel gear 3615. The driven bevel gear 3615 is fixedly connected to the suction cup connector 3612 by a retaining ring fitted with a shaped hole. A differential roll thrust ball bearing 3613 and a differential roll flange deep groove ball bearing 3614 are sequentially fitted on the suction cup connector 3612. The differential roll suction cup 3611 is fixed to the end of the suction cup connector 3612 by an M5 thread. A rotary air connector 3616 is connected to the built-in air passage of the suction cup connector 3612 and is connected to the chassis air pump through an air pipe.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seven degree of freedom redundant omni-directional mobile engineering robot characterized by: The chassis mechanism (1), the storage and picking integrated mechanism (2) and the seven-axis mechanical arm assembly (3) are included. The storage and picking integrated mechanism (2) and the seven-axis mechanical arm assembly (3) are both mounted on the chassis mechanism (1). The chassis mechanism (1) includes multiple groups of wheel trains (12), each group of wheel trains (12) is provided with an independent suspension system, is used for forming a linkage mechanism and absorbing ground vibration, and then adapts to the terrain. The seven-axis mechanical arm assembly (3) has a redundant degree of freedom, is configured to avoid obstacles by zero space movement when the position and attitude of an end effector are unchanged. The end of the seven-axis mechanical arm assembly (3) is provided with a differential joint (36), which is used for reducing the volume and rotational inertia of the end, and then realizing rapid dynamic response.

2. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 1, characterized in that: When the robot works in an unstructured environment, the independent suspension system can absorb ground vibration and reduce body shaking; the redundant degree of freedom enables the mechanical arm to change its configuration to avoid obstacles in a narrow space.

3. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 2, characterized in that: The chassis mechanism (1) includes a chassis frame (11), a storage mechanism (13) and a battery compartment (15); the storage mechanism (13) and the battery compartment (15) are connected with the chassis frame (11); each two groups of wheel trains (12) are symmetrically arranged on the circumference of the chassis frame (11) with the central axis of the chassis frame (11) as the axis of symmetry; each group of wheel trains (12) further includes an omnidirectional wheel (121).

4. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 3, characterized in that: The independent suspension system includes a shock absorber (127), an upper suspension linkage (126), a lower suspension linkage (125) and a vertical motor seat (123); one end of the shock absorber (127) is rotationally connected with a vertical suspension linkage fixed seat, the other end of the shock absorber (127) is rotationally connected with the vertical motor seat (123); one end of the upper suspension linkage (126) and one end of the lower suspension linkage (125) are both rotationally connected with the vertical motor seat (123), the other end of the upper suspension linkage (126) and the other end of the lower suspension linkage (125) are both rotationally connected with the vertical suspension linkage fixed seat, and the upper suspension linkage (126) and the lower suspension linkage (125) are parallel; the wheel train motor is installed on the inner side of the vertical motor seat (123) and is used for driving the omnidirectional wheel (121).

5. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 4, characterized in that: The storage and picking integrated mechanism (2) includes a lifting mechanism (21), a front stretching mechanism (22) and an end suction mechanism (23); the lifting mechanism (21) is connected with the chassis mechanism (1), one end of the front stretching mechanism (22) is connected with the lifting mechanism (21), and the end suction mechanism (23) is connected with the other end of the front stretching mechanism (22) and is used for sucking and transferring a target object.

6. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 5, characterized in that: The lifting mechanism (21) includes a first motor (2101), a vertical gear (2105) and a vertical rack (214); the first motor (210) is connected with the vertical gear (2105), and the vertical gear (2105) is matched with the vertical rack (214) and is used for realizing movement in the vertical direction. The front extension mechanism (22) comprises a second motor (224), a horizontal gear (2244) and a horizontal rack (228); the second motor (224) is connected with the horizontal gear (2244), and the horizontal gear is matched with the horizontal rack (228) to realize movement in the horizontal direction. The end suction mechanism (23) comprises an air path, an air pump, a third motor group (233) and a suction disc assembly (235); the third motor group (2331) is connected with the suction disc assembly (235), and the suction disc assembly (235) is communicated with the air pump through the air path.

7. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 6, characterized in that: The seven-axis mechanical arm (3) comprises a base yaw joint (30), a first pitch joint (32), a second pitch joint (33), a third roll joint (34), a fourth pitch joint (35) and an end differential joint (36); the base yaw joint (30) is connected with one end of the first pitch joint (32), the other end of the first pitch joint (32) is connected with one end of the second pitch joint (33), the other end of the second pitch joint (33) is connected with one end of the third roll joint (34), the other end of the third roll joint (34) is connected with one end of the fourth pitch joint (35), and the other end of the fourth pitch joint (35) is connected with the end differential joint (36).

8. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 7, characterized in that: The end differential joint (36) comprises a first fixed plate, a differential roll suction disc (3611), a differential transmission rod (3620), a driving bevel gear (3626), a driven bevel gear (3615) and a suction disc connecting piece (3612); the driving bevel gear (3626) is engaged with the driven bevel gear (3615); one end of the driven bevel gear is connected with the suction disc connecting piece (3612), and the other end of the suction disc connecting piece (3612) is connected with the differential roll suction disc (3611).

9. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 8, characterized in that: The base yaw joint (30) is realized by synchronous belt mechanism and cross roller bearing to realize whole shaft rotation; the suction disc connecting piece (3612) is internally provided with an air path and communicated with the air pump through a rotary air joint.

10. A seven degrees of freedom redundant omnidirectional mobile engineering robot according to claim 9, characterized in that: When working, the control system controls the rotation of the wheel train (12) of the chassis mechanism (1), so as to move the engineering robot to a target working position; the control system controls the movement of each joint of the seven-axis mechanical arm assembly (3), adjusts the mechanical arm configuration by using the redundant freedom degree, avoids surrounding obstacles, and positions the end effector; the control system controls the lifting mechanism (21) and the front extension mechanism (22) of the storage and picking integrated mechanism (2), so that the end suction mechanism (23) approaches the target object; The suction disc assembly (235) of the end suction structure (23) is started to suck the target object by negative pressure; the control system controls the lifting mechanism (21) and the front extension mechanism (22) of the storage and picking integrated mechanism (2) to retract, and transports the target object to the storage mechanism (13) or a designated placement position.

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