Telescopic mechanical arm assembly and wheel arm robot

Abstract

The invention discloses a telescopic mechanical arm assembly and a wheel arm robot, and belongs to the technical field of robots, the telescopic mechanical arm assembly comprises an arm rotation connecting unit, a telescopic unit, a clamping jaw movement unit, a clamping jaw and a clamping jaw camera shooting unit; the clamping jaw camera unit is connected with the clamping jaw and is used for identifying an object clamped by the clamping jaw; the clamping jaw movement unit is used for driving the whole of the clamping jaw and the clamping jaw camera shooting unit to do transverse rolling, pitching and deflection movement at the same time; the telescopic unit is used for driving the whole of the clamping jaw movement unit, the clamping jaw camera shooting unit and the clamping jaw to do telescopic movement; the arm rotating connecting unit is used for driving the telescopic unit, the clamping jaw moving unit, the clamping jaw and the clamping jaw camera shooting unit to rotate in the plane perpendicular to the stand column assembly as a whole. According to the telescopic mechanical arm assembly and the wheel arm robot, the problems that in the prior art, a telescopic mechanical arm of a wheel arm robot is poor in telescopic stability and limited in bearing capacity, and especially under the heavy-load or complex working condition, an arm body is prone to shaking, jamming, even structural deformation and the like can be effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology. Specifically, it relates to a telescopic robotic arm assembly and a wheeled robot. Background Technology

[0002] Wheeled robotic arms, with their advantages of flexible movement and wide operating range, are widely used in scenarios such as disaster relief, industrial inspection, and material handling. The telescopic robotic arm is the core execution component that enables these operations, directly determining their accuracy and load capacity. Existing wheeled robotic arm telescopic arms generally suffer from poor telescopic stability and limited load-bearing capacity, especially under heavy loads or complex conditions, where they are prone to arm swaying, jamming, or even structural deformation. Furthermore, some designs are complex, with slow telescopic response and insufficient adaptability, making it difficult to meet the precision requirements of different operating scenarios. These shortcomings limit the operational efficiency and application expansion of wheeled robotic arms, thus necessitating a compact, stable, reliable, and high-load-bearing telescopic robotic arm assembly structure. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned shortcomings by providing a telescopic robotic arm assembly and a wheeled robot, thereby solving the problems of poor telescopic stability and limited load-bearing capacity in existing wheeled robot telescopic arms, especially under heavy loads or complex working conditions, where problems such as arm swaying, jamming, and even structural deformation are prone to occur. To achieve the above objective, this invention provides the following technical solution: A telescopic robotic arm assembly includes an arm rotation connection unit, a telescopic unit, a gripper motion unit, a gripper, and a gripper camera unit. The gripper camera unit is connected to the gripper and is used to identify the object held by the gripper. The gripper motion unit is connected to the gripper and is used to drive the gripper and the gripper camera unit to simultaneously perform roll, pitch, and yaw movements. The telescopic unit is connected to the gripper motion unit and is used to drive the gripper motion unit, the gripper camera unit, and the gripper to perform telescopic movements. The arm rotation connection unit is connected to the lifting sliders of the telescopic unit and the column assembly, respectively, and is used to drive the telescopic unit, the gripper motion unit, the gripper, and the gripper camera unit to rotate in a plane perpendicular to the column assembly. The arm rotation connection unit includes a synchronous belt connector, a motor mounting component, a rotating shaft, and bearings. The synchronous belt connector includes a first horizontal part and a first vertical part fixedly disposed thereon; the side of the first vertical part away from the first horizontal part is fixedly connected to the lifting slider of the column assembly; the first horizontal part is provided with a first through hole; the motor fixing component includes a first vertical plate; a first horizontal plate and a second horizontal plate are fixedly disposed parallel to each other at both ends of the first vertical plate; the first horizontal plate and the second horizontal plate are each provided with a second through hole aligned in position; the first horizontal part is disposed between the first horizontal plate and the second horizontal plate, and the first through hole and the second through hole are aligned in position; the outer wall of the bearing is fixed in the first through hole; the rotating shaft passes through and is fixedly connected to the second through hole on the first horizontal plate, the bearing, and the second through hole on the second horizontal plate in sequence, thereby allowing the motor fixing component to rotate relative to the synchronous belt connector.

[0004] Furthermore, the arm rotation connection unit also includes an arm rotation motor and an arm rotation joint reinforcing plate; the arm rotation joint reinforcing plate is fixedly connected to the first vertical part and has a third through hole; the housing of the arm rotation motor is fixedly connected to the arm rotation joint reinforcing plate; the output shaft of the arm rotation motor passes through the third through hole and is fixedly connected to the rotating shaft, driving the motor fixing component to rotate.

[0005] Furthermore, the telescopic unit includes a cable chain drive mechanism, a telescopic mechanism, an arm connector, and a telescopic arm connector; the telescopic mechanism includes a first section, a second section, and a third section; the cable chain drive mechanism is provided with a cable chain and can drive the third section to retract into the second section and the second section to retract into the first section via the cable chain; the end of the third section away from the second section is fixedly connected to the gripper movement unit; the side of the first section is fixedly connected to the first horizontal plate via the arm connector; the bottom edge of the first section is fixedly connected to the first vertical plate via the telescopic arm connector.

[0006] Furthermore, the first segment includes a first outer shell, a pair of first slide rails, and a pair of first sliders; the first outer shell includes a first rectangular cylinder formed by a first upper cover, a first lower cover, a first left side wall, and a first right side wall; the pair of first slide rails are vertically opposite to each other on the first upper cover and the first lower cover; the pair of first sliders cooperate with the pair of first slide rails; the second segment includes a second outer shell, a pair of second slide rails, and a pair of second sliders; the second outer shell includes a second rectangular cylinder formed by a second upper cover, a second lower cover, a second left side wall, and a second right side wall; the second rectangular cylinder is fixedly connected to the pair of first sliders; the pair of second slide rails are vertically opposite to each other on the second upper cover and the second lower cover; the pair of second sliders cooperate with the pair of second slide rails; the third segment includes a fixedly connected third rectangular cylinder and a second slider connecting plate; the second slider connecting plate is fixedly connected to the pair of second sliders; the end of the third rectangular cylinder away from the second segment is fixedly connected to the gripper motion unit.

[0007] Furthermore, the gripper motion unit includes a deflection motion mechanism; the deflection motion mechanism includes a deflection mechanism connector, a deflection mechanism housing, a deflection mechanism mounting base, and a deflection mechanism motor; the deflection mechanism mounting base includes a second horizontal portion and a second vertical portion; a fourth through hole is provided on the second horizontal portion; the deflection mechanism housing cooperates with the second horizontal portion to form a deflection motor receiving cavity; the deflection mechanism motor is fixed in the deflection motor receiving cavity, and its output end passes through the fourth through hole; the second vertical portion is fixedly connected to the deflection mechanism connector; the deflection mechanism connector is fixedly connected to the end of the third rectangular cylinder.

[0008] Furthermore, the gripper motion unit also includes a pitch motion mechanism; the pitch motion mechanism includes a pitch mechanism mounting base, a pitch mechanism housing, and a pitch mechanism motor; the upper end of the pitch mechanism housing is fixedly connected to the output shaft of the pitch mechanism motor; the pitch mechanism mounting base and the pitch mechanism housing cooperate to form a pitch motor receiving cavity; the side wall of the pitch motor receiving cavity is provided with a fifth through hole; the pitch mechanism motor is fixed in the pitch motor receiving cavity, and its output end passes through the fifth through hole.

[0009] Furthermore, the gripper motion unit also includes a rolling motion mechanism; the rolling motion mechanism includes a rolling mechanism mounting base and a rolling mechanism motor; the rolling mechanism mounting base includes a third vertical part and a fourth vertical part that are perpendicular to each other; the third vertical part is fixedly connected to the output shaft of the pitch mechanism motor; the fourth vertical part is provided with a sixth through hole; the housing of the rolling mechanism motor is fixedly connected to the fourth vertical part, and its output end passes through the sixth through hole and is fixedly connected to the gripper.

[0010] Furthermore, the gripper includes a gripper motor and a pair of gripper arms; the gripper motor drives the pair of gripper arms to open and close to release or grip an item.

[0011] Furthermore, the gripper camera unit includes a camera mounting base and a camera; one end of the camera mounting base is fixedly connected to the housing of the gripper motor, and the other end is fixedly connected to the camera; the camera's imaging range covers the pair of gripper arms.

[0012] A wheeled robot includes the aforementioned telescopic robotic arm assembly.

[0013] The beneficial effects of this invention are: The telescopic robotic arm assembly of this application features an arm rotation connection unit with an arm rotation motor joint reinforcement plate, which enhances the anti-fall capability of the telescopic robotic arm assembly and strengthens the load-bearing capacity of the telescopic arm end. The arm connector and telescopic arm connector further enhance the structural rigidity of the arm rotation connection unit and the telescopic unit, preventing the telescopic unit from falling during the telescopic process. Through the cooperation of the drag chain drive structure and the telescopic mechanism, the stability of each slider during the telescopic process is ensured, improving the stability of the telescopic movement and avoiding jamming. The gripper motion unit achieves deflection, pitch, and roll movements through a reasonable structure, increasing the gripper's degree of freedom and adapting to more complex working scenarios. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of the telescopic robotic arm assembly of the present invention; Figure 2 yes Figure 1 Rear view; Figure 3 This is a schematic diagram of the arm rotation connection unit of the present invention; Figure 4 This is a perspective view of the arm rotation connection unit of the present invention; Figure 5 This is an exploded view of the arm rotation connection unit of the present invention; Figure 6 This is a schematic diagram of the structure of the telescopic unit of the present invention; Figure 7 yes Figure 6 Rear view; Figure 8 This is a schematic diagram of the internal structure of the telescopic unit of the present invention; Figure 9 This is a schematic diagram of the structure of the gripper motion unit, gripper, and gripper camera unit of the present invention. Figure 10 This is a top view of the gripper motion unit, gripper, and gripper camera unit of the present invention working together; Figure 11This is an exploded view of the gripper motion unit, gripper, and gripper camera unit of the present invention; In the attached diagram: 1. Arm rotation connection unit; 11. Synchronous belt connector; 12. Arm rotation motor; 13. Arm rotation joint reinforcing plate; 14. Motor fixing component; 15. Lifting slider support; 16. Lifting slider; 17. Rotating shaft; 18. Bearing; 2. Telescopic unit; 21. Cable chain drive mechanism; 22. Telescopic mechanism; 221. First section; 2211. First outer shell; 2212. First slide rail; 2213. First slider; 222. Second section; 2221. Second outer shell; 2222. Second slide rail; 2223. Second slider; 223. Third section; 2231. Third rectangular cylinder; 223 2. Second slider connecting plate; 24. Arm connector; 25. Telescopic arm connector; 3. Gripper motion unit; 31. Deflection motion mechanism; 311. Deflection mechanism housing; 312. Deflection mechanism motor; 313. Deflection mechanism mounting base; 32. Pitch motion mechanism; 321. Pitch mechanism housing; 322. Pitch mechanism motor; 323. Pitch mechanism mounting base; 33. Roll motion mechanism; 331. Roll mechanism mounting base; 332. Roll mechanism motor; 36. Gripper camera unit; 361. Camera; 362. Camera mounting base; 37. Deflection mechanism connector; 4. Gripper; 41. Gripper motor. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0016] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0018] In the description of this invention, "a plurality of" means two or more.

[0019] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0020] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0021] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] Example 1 See attached Figures 1-11 This embodiment discloses a telescopic robotic arm assembly for grasping, handling, and performing complex operations on objects. Specifically, it includes an arm rotation connection unit 1, a telescopic unit 2, a gripper motion unit 3, a gripper 4, and a gripper camera unit 36. The arm rotation connection unit 1 is used to slide the telescopic robotic arm assembly to the column assembly of the wheelb arm robot. Driven by the synchronous belt of the column assembly, it moves up and down along the length of the column assembly, and simultaneously drives the telescopic unit 2 and the gripper to rotate in a plane perpendicular to the column assembly. The telescopic unit 2 is connected to the arm rotation connection unit 1 and drives the gripper motion unit 3, gripper 4, and gripper camera unit 36 ​​to perform horizontal telescopic movements. The gripper motion unit 3 is connected to the gripper 4 and drives the gripper 4 and gripper camera unit 36 ​​to simultaneously perform roll, pitch, and yaw movements. The gripper 4 is used to grasp objects, and the gripper camera unit 36 ​​is connected to the gripper 4 to identify the objects to be grasped.

[0023] In this embodiment, as Figure 3 , Figure 4 and Figure 5As shown, the arm rotation connection unit 1 includes a timing belt connector 11, an arm rotation motor 12, an arm rotation joint reinforcing plate 13, a motor fixing component 14, a lifting slider support 15, a lifting slider 16, a rotating shaft 17, and a bearing 18. The timing belt connector 11 includes a first horizontal portion and a first vertical portion fixedly disposed. A first through hole is provided on the first horizontal portion. The side of the first vertical portion away from the first horizontal portion is fixedly connected to the lifting slider 16 via the lifting slider support 15. The lifting slider 16 is disposed on the lifting slide rail of the column assembly, used to realize the vertical lifting movement of the entire telescopic robotic arm assembly. The motor fixing component 14 includes a first vertical plate, with a first horizontal plate and a second horizontal plate fixedly disposed parallel to each other at both ends of the first vertical plate. A second through hole, aligned in position, is provided on the first horizontal plate and the second horizontal plate. The first horizontal portion of the timing belt connector 11 is disposed between the first horizontal plate and the second horizontal plate, and the first through hole and the second through hole are aligned in position. The bearing 18 is preferably a tapered roller bearing 18, whose outer wall is fixedly installed in the first through hole and abuts against the inner wall of the first through hole. The rotating shaft 17 passes sequentially through the second through hole on the first horizontal plate, the tapered roller bearing 18, and the second through hole on the second horizontal plate, and is fixedly connected, thereby enabling the motor fixing member 14 to rotate relative to the synchronous belt connecting seat 11 around the axis of the rotating shaft 17. The arm rotation joint reinforcing plate 13 is fixedly connected to the first vertical part of the synchronous belt connecting seat 11, and has a third through hole thereon. The housing of the arm rotation motor 12 is fixedly connected to the arm rotation joint reinforcing plate 13, and the output shaft of the arm rotation motor 12 passes through the third through hole and is fixedly connected to one end of the rotating shaft 17. Thus, when the arm rotation motor 12 is working, it drives the rotating shaft 17 to rotate, thereby causing the motor fixing member 14, which is fixedly connected to the rotating shaft 17, to rotate as a whole. Since the telescopic unit 2 is fixedly connected to the motor fixing member 14, the telescopic unit 2 and the gripper part are driven to rotate in a plane perpendicular to the column assembly. This structural design ensures that the bending moment caused by gravity in the telescopic robotic arm assembly—including the telescopic unit 2, gripper motion unit 3, gripper 4, and gripper camera unit 36—is entirely distributed on the tapered roller bearing 18. This effectively enhances the telescopic robotic arm assembly's anti-fall capability and improves its end effector load capacity. Furthermore, since the arm rotary motor 12 only provides the torque for the rotation of the telescopic unit 2, gripper motion unit 3, gripper 4, and gripper camera unit 36 ​​within a plane perpendicular to the column assembly, wear on the motor output shaft is reduced, extending the motor's service life.

[0024] In this embodiment, as Figure 6 , Figure 7 and Figure 8As shown, the telescopic unit 2 includes a cable chain drive mechanism 21, a telescopic mechanism 22, an arm connector 24, and a telescopic arm connector 25. The telescopic mechanism 22 includes a first segment 221, a second segment 222, and a third segment 223. A cable chain is installed inside the cable chain drive mechanism 21, and the end of the cable chain is connected to the third segment. The cable chain can drive the third segment 223 to retract into the second segment 222, and drive the second segment 222 to retract into the first segment 221. The specific implementation of the cable chain drive can be found in the prior art, which has the document publication number CN120572563A, and will not be described in detail here. The end of the third segment 223 away from the second segment 222 is fixedly connected to the gripper motion unit 3, realizing the horizontal telescopic movement of the gripper motion unit 3 and the gripper 4.

[0025] In this embodiment, specifically, the first segment 221 includes a first outer shell 2211, a pair of first slide rails 2212, and a pair of first sliders 2213. The first outer shell 2211 is composed of a first upper cover, a first lower cover, a first left side wall, and a first right side wall, forming a first rectangular cylindrical structure. The pair of first slide rails 2212 are vertically oppositely disposed on the first upper cover and the first lower cover. The pair of first sliders 2213 are slidably engaged with the pair of first slide rails 2212. The second segment 222 includes a second outer shell 2221, a pair of second slide rails 2222, and a pair of second sliders 2223. The second outer shell 2221 is composed of a second upper cover, a second lower cover, a second left side wall, and a second right side wall, forming a second rectangular cylindrical structure. The second rectangular cylindrical structure is fixedly connected to the pair of first sliders 2213, allowing the second segment 222 to slide relative to the first segment 221 along the first slide rails 2212. The pair of second slide rails 2222 are vertically oppositely disposed on the second upper cover and the second lower cover. A pair of second sliders 2223 are slidably engaged with a pair of second slide rails 2222. The third segment 223 includes a fixedly connected third rectangular cylinder 2231 and a second slider connecting plate 2232. The second slider connecting plate 2232 is fixedly connected to the pair of second sliders 2223, allowing the third segment 223 to slide relative to the second segment 222 along the second slide rail 2222. The end of the third rectangular cylinder 2231 away from the second segment 222 is fixedly connected to the gripper motion unit 3. Preferably, the second slider connecting plate 2232 is provided with a through hole for cable passage, facilitating internal wiring. Simultaneously, to prevent the third segment 223 from detaching from the second segment 222 during movement, and the second segment 222 from detaching from the first segment 221 during movement, corresponding limiting blocks (not shown in the figure) are provided at both ends of the first slide rail 2212 and the second slide rail 2222.

[0026] In this embodiment, the side of the first segment 221 is fixedly connected to the first horizontal plate of the motor fixing member 14 via the arm connector 24, and the bottom edge of the first segment 221 is fixedly connected to the first vertical plate of the motor fixing member 14 via the telescopic arm connector 25, thereby achieving a stable connection between the telescopic unit 2 and the arm rotation connection unit 1. By setting the telescopic unit 2 as a three-segment structure and setting a pair of vertically opposite slide rails and sliders inside each segment, wherein the first slide rail 2212 and the first slider 2213 located on the first upper cover of the first segment 221 apply a downward force to the second upper cover of the second segment 222, and the second slide rail 2222 and the second slider 2223 located on the second upper cover of the second segment 222 apply a downward force to the third rectangular cylinder 2231 of the third segment 223, the anti-fall capability of the telescopic robotic arm assembly can be further enhanced, the load capacity of the end effector can be improved, and the smoothness and accuracy of the telescopic movement can be ensured at the same time.

[0027] In this embodiment, as Figure 9 , Figure 10 and Figure 11 As shown, the gripper motion unit 3 includes a deflection motion mechanism 31, a pitch motion mechanism 32, and a roll motion mechanism 33, used to realize multi-degree-of-freedom movement of the gripper 4. The deflection motion mechanism 31 includes a deflection mechanism connector 37, a deflection mechanism housing 311, a deflection mechanism mounting base 313, and a deflection mechanism motor 312. The deflection mechanism mounting base 313 includes a second horizontal portion and a second vertical portion, with a fourth through hole on the second horizontal portion. The deflection mechanism housing 311 and the second horizontal portion of the deflection mechanism mounting base 313 cooperate to form a deflection motor receiving cavity, and the deflection mechanism motor 312 is fixed inside this cavity, with its output end extending outward through the fourth through hole. The second vertical portion of the deflection mechanism mounting base 313 is fixedly connected to the deflection mechanism connector 37, and the deflection mechanism connector 37 is fixedly connected to the end of the third segment 223 of the telescopic unit 2, thereby realizing the connection between the entire gripper motion unit 3 and the telescopic unit 2.

[0028] In this embodiment, the pitch mechanism 32 includes a pitch mechanism mounting base 323, a pitch mechanism housing 321, and a pitch mechanism motor 322. The upper end of the pitch mechanism housing 321 is fixedly connected to the output shaft of the deflection mechanism motor 312, thereby achieving overall deflection under the drive of the deflection mechanism motor 312. The pitch mechanism mounting base 323 and the pitch mechanism housing 321 cooperate to form a pitch motor receiving cavity, and a fifth through hole is provided on the side wall of the pitch motor receiving cavity. The pitch mechanism motor 322 is fixed inside the pitch motor receiving cavity, and its output end extends outward through the fifth through hole.

[0029] In this embodiment, the roll motion mechanism 33 includes a roll mechanism mounting base 331 and a roll mechanism motor 332. The roll mechanism mounting base 331 includes a third vertical portion and a fourth vertical portion that are perpendicular to each other. The third vertical portion is fixedly connected to the output shaft of the pitch mechanism motor 322, thereby achieving overall pitch under the drive of the pitch mechanism motor 322. A sixth through hole is provided on the fourth vertical portion. The housing of the roll mechanism motor 332 is fixedly connected to the fourth vertical portion, and its output end passes through the sixth through hole and is fixedly connected to the gripper 4, thereby driving the gripper 4 to perform roll motion.

[0030] In this embodiment, the deflection mechanism motor 312, the pitch mechanism motor 322, and the roll mechanism motor 332 work together to drive the gripper 4 and the gripper camera unit 36 ​​to simultaneously achieve three degrees of freedom of movement: deflection, pitch, and roll, so that the gripper can flexibly adapt to the gripping needs of various postures.

[0031] In this embodiment, the gripper 4 includes a gripper motor 41 and a pair of gripper arms. The gripper motor 41 drives the pair of gripper arms to open and close, thereby releasing or gripping an item. The gripper 4 can be made using technologies readily available in the art, and its structure will not be described in detail here.

[0032] In this embodiment, the gripper camera unit 36 ​​includes a camera mounting base 362 and a camera 361. One end of the camera mounting base 362 is fixedly connected to the housing of the gripper motor 41, and the other end is fixedly connected to the camera 361. The camera 361 covers the working area of ​​a pair of gripper arms, and is used to observe the position and posture of the object to be gripped in real time, providing visual feedback to the control system and achieving precise gripping.

[0033] In this embodiment, the telescopic robotic arm assembly features an arm rotation connection unit 1 with tapered roller bearings 18 and an arm rotation joint reinforcement plate 13, which enhances load-bearing capacity and anti-fall performance. The telescopic unit 2 adopts a three-section structure and upper and lower double slide rail design, which enhances telescopic stability and anti-deformation ability. The gripper motion unit 3 achieves flexible adjustment of three degrees of freedom, and with visual recognition, it can adapt to the precise grasping needs under complex working conditions.

[0034] Example 2 This embodiment discloses a wheeled robot, which includes the telescopic robotic arm assembly of Embodiment 1. Its synchronous belt connector 11 is slidably connected to the column assembly of the wheeled robot. Its various motor structures and camera 361 are electrically connected to the control unit within the wheeled robot's base assembly, enabling collaborative control operations. Utilizing the aforementioned stable, reliable, high-load-bearing, and highly flexible telescopic robotic arm assembly, this wheeled robot can efficiently and accurately complete tasks in scenarios such as disaster relief, industrial inspection, and material handling, with a wide range of applications. When the wheeled robot needs to perform a grasping operation, it is first driven by the arm rotation motor 12 of the arm rotation connection unit 1, causing the entire telescopic robotic arm assembly to rotate to the target direction. Simultaneously, the telescopic unit 2, based on the target distance, uses the drag chain drive mechanism 21 to extend or retract the telescopic mechanism 22, delivering the gripper 4 to the vicinity of the target. Subsequently, the deflection mechanism motor 312, pitch mechanism motor 322, and roll mechanism motor 332 of the gripper motion unit 3 work together to adjust the end-effector posture of the gripper 4, matching it to the posture of the object to be grasped. The gripper camera unit 36 ​​acquires images in real time, identifies and locates the object. Finally, the gripper motor 41 drives the gripper arm to close, completing the gripping process. Throughout the entire process, the various motion mechanisms work together to ensure the stability, accuracy, and reliability of the gripping operation.

[0035] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A telescopic robotic arm assembly, characterized in that: The system includes an arm rotation connection unit (1), a telescopic unit (2), a gripper motion unit (3), a gripper (4), and a gripper camera unit (36); the gripper camera unit (36) is connected to the gripper (4) and is used to identify the item held by the gripper (4); the gripper motion unit (3) is connected to the gripper (4) and is used to drive the gripper (4) and the gripper camera unit (36) to perform roll, pitch, and yaw movements simultaneously; the telescopic unit (2) is connected to the gripper motion unit (3). The arm rotation connection unit (1) is connected to the telescopic unit (2) and the lifting slider (16) of the column assembly, respectively, and is used to drive the telescopic unit (2), the gripper motion unit (3), the gripper (4) and the gripper camera unit (36) to rotate in a plane perpendicular to the column assembly; the arm rotation connection unit (1) includes a timing belt connector. (11) Motor fixing part (14), rotating shaft (17) and bearing (18); The synchronous belt connecting seat (11) includes a first horizontal part and a first vertical part fixedly arranged; the side of the first vertical part away from the first horizontal part is fixedly connected to the lifting slider (16) of the column assembly; the first horizontal part is provided with a first through hole; the motor fixing part (14) includes a first vertical plate; the two ends of the first vertical plate are fixedly arranged with a first horizontal plate and a second horizontal plate in parallel; the first horizontal plate and the second horizontal plate are both provided with second through holes aligned in position; the first horizontal part is arranged between the first horizontal plate and the second horizontal plate, and the first through hole and the second through hole are aligned in position; the outer wall of the bearing (18) is fixed in the first through hole; the rotating shaft (17) passes through and is fixedly connected to the second through hole on the first horizontal plate, the bearing (18) and the second through hole on the second horizontal plate in sequence, so that the motor fixing part (14) can rotate relative to the synchronous belt connecting seat (11).

2. The telescopic robotic arm assembly according to claim 1, characterized in that: The arm rotation connection unit (1) further includes an arm rotation motor (12) and an arm rotation joint reinforcing plate (13); the arm rotation joint reinforcing plate (13) is fixedly connected to the first vertical part and has a third through hole; the outer shell of the arm rotation motor (12) is fixedly connected to the arm rotation joint reinforcing plate (13); the output shaft of the arm rotation motor (12) passes through the third through hole and is fixedly connected to the rotating shaft (17) to drive the motor fixing part (14) to rotate.

3. The telescopic robotic arm assembly according to claim 2, characterized in that: The telescopic unit (2) includes a cable chain drive mechanism (21), a telescopic mechanism (22), an arm connector (24), and a telescopic arm connector (25); the telescopic mechanism (22) includes a first section (221), a second section (222), and a third section (223); the cable chain drive mechanism (21) is provided with a cable chain and can drive the third section (223) to retract into the second section (222) and drive the second section (222) to retract into the first section (221) through the cable chain; the end of the third section (223) away from the second section (222) is fixedly connected to the gripper motion unit (3); the side of the first section (221) is fixedly connected to the first horizontal plate through the arm connector (24); the bottom edge of the first section (221) is fixedly connected to the first vertical plate through the telescopic arm connector (25).

4. The telescopic robotic arm assembly according to claim 3, characterized in that: The first segment (221) includes a first outer shell (2211), a pair of first slide rails (2212), and a pair of first sliders (2213); the first outer shell (2211) includes a first rectangular cylinder formed by a first upper cover, a first lower cover, a first left side wall, and a first right side wall; the pair of first slide rails (2212) are arranged vertically opposite to each other on the first upper cover and the first lower cover; the pair of first sliders (2213) cooperate with the pair of first slide rails (2212); the second segment (222) includes a second outer shell (2221), a pair of second slide rails (2222), and a pair of second sliders (2223); the second outer shell (2221) includes a second upper cover, a second lower cover, a second left side wall, and a first right side wall. The second rectangular cylinder is formed by the side wall and the second right side wall; the second rectangular cylinder is fixedly connected to a pair of first sliders (2213); a pair of second slide rails (2222) are arranged opposite each other on the second upper cover and the second lower cover; a pair of second sliders (2223) cooperate with a pair of second slide rails (2222); the third segment (223) includes a fixedly connected third rectangular cylinder (2231) and a second slider connecting plate (2232); the second slider connecting plate (2232) is fixedly connected to a pair of second sliders (2223); the end of the third rectangular cylinder (2231) away from the second segment (222) is fixedly connected to the gripper motion unit (3).

5. The telescopic robotic arm assembly according to claim 4, characterized in that: The gripper motion unit (3) includes a deflection motion mechanism (31); the deflection motion mechanism (31) includes a deflection mechanism connector (37), a deflection mechanism housing (311), a deflection mechanism mounting base (313), and a deflection mechanism motor (312); the deflection mechanism mounting base (313) includes a second horizontal part and a second vertical part; a fourth through hole is provided on the second horizontal part; the deflection mechanism housing (311) cooperates with the second horizontal part to form a deflection motor receiving cavity; the deflection mechanism motor (312) is fixed in the deflection motor receiving cavity, and its output end passes through the fourth through hole; the second vertical part is fixedly connected to the deflection mechanism connector (37); the deflection mechanism connector (37) is fixedly connected to the end of the third rectangular cylinder (2231).

6. The telescopic robotic arm assembly according to claim 5, characterized in that: The gripper motion unit (3) further includes a pitch motion mechanism (32); the pitch motion mechanism (32) includes a pitch mechanism mounting base (323), a pitch mechanism housing (321), and a pitch mechanism motor (322); the upper end of the pitch mechanism housing (321) is fixedly connected to the output shaft of the deflection mechanism motor (312); the pitch mechanism mounting base (323) and the pitch mechanism housing (321) cooperate to form a pitch motor receiving cavity; the side wall of the pitch motor receiving cavity is provided with a fifth through hole; the pitch mechanism motor (322) is fixed in the pitch motor receiving cavity, and its output end passes through the fifth through hole.

7. The telescopic robotic arm assembly according to claim 6, characterized in that: The gripper motion unit (3) further includes a rolling motion mechanism (33); the rolling motion mechanism (33) includes a rolling mechanism mounting base (331) and a rolling mechanism motor (332); the rolling mechanism mounting base (331) includes a third vertical part and a fourth vertical part that are perpendicular to each other; the third vertical part is fixedly connected to the output shaft of the pitch mechanism motor (322); the fourth vertical part is provided with a sixth through hole; the housing of the rolling mechanism motor (332) is fixedly connected to the fourth vertical part, and its output end passes through the sixth through hole and is fixedly connected to the gripper (4).

8. The telescopic robotic arm assembly according to claim 1, characterized in that: The gripper (4) includes a gripper motor (41) and a pair of gripper (4) arms; the gripper motor (41) drives the pair of gripper (4) arms to open and close to release or grip an item.

9. The telescopic robotic arm assembly according to claim 8, characterized in that: The gripper camera unit (36) includes a camera mounting base (362) and a camera (361); one end of the camera mounting base (362) is fixedly connected to the housing of the gripper motor (41), and the other end is fixedly connected to the camera (361); the camera (361) covers the pair of gripper (4) arms.

10. A wheeled robot, characterized in that: The telescopic robotic arm assembly includes any one of claims 1 to 9.

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