A kind of installation vehicle for clean workshop color steel plate

Abstract

This invention discloses an installation vehicle for color steel panels in cleanrooms, belonging to the technical field of cleanroom construction equipment. It mainly includes an omnidirectional mobile chassis, a telescopic arm assembly, and an end-effector suction cup device. The omnidirectional mobile chassis includes a frame, an omnidirectional walking mechanism, and four sets of outward-extending support mechanisms. The outward-extending support mechanisms adopt an independent drive and automatic leveling structure, providing a large-radius rigid support foundation. The telescopic arm assembly includes a multi-stage synchronously telescopic first support arm module and a pitch-adjustable second support arm module, achieving large-stroke lifting and coarse posture positioning. The end-effector suction cup device includes an alignment adjustment mechanism and a vacuum adsorption mechanism. The alignment adjustment mechanism adopts a three-stage architecture of circumferential rotation, pitch swing, and planar fine adjustment, combined with an angle encoder and displacement sensor to achieve closed-loop control. This invention, through integrated collaborative operation, takes into account both the narrow space of cleanrooms and the requirements of heavy-duty high-altitude installation, and features strong anti-tipping ability, high alignment accuracy, and safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of cleanroom color steel plate installation equipment technology, and in particular to an installation vehicle for cleanroom color steel plates. Background Technology

[0002] Cleanrooms, as core production sites in industries such as semiconductors, biomedicine, and precision electronics, primarily utilize prefabricated steel panels for their enclosure structures. The installation quality of these panels directly impacts the cleanliness level and airtightness of the cleanroom, making it a crucial aspect of cleanroom construction.

[0003] Traditional installation of prefabricated steel panels relies primarily on manual labor. Because individual panels are typically 2.5 to 4 meters in size and quite heavy, multiple people are needed to complete the transport, lifting, and installation. This process is not only labor-intensive and inefficient, but also poses safety hazards such as falling panels and injuries. Although the industry has attempted to develop auxiliary installation equipment in recent years, existing technologies still have many shortcomings.

[0004] For example, patent CN110242057A discloses a robot for installing color steel panels in cleanroom engineering, mainly including a walking mechanism, a hydraulic lifting mechanism, a hydraulic horizontal rotation and flipping mechanism, and a vacuum suction cup picking mechanism, which can realize basic operations such as grasping, lifting, and flipping of color steel panels. Authorization announcement CN223920504U discloses a color steel panel handling device, which achieves large-stroke movement of the suction cup frame in the X / Y directions through guide rails and a telescopic mechanism. Publication CN115741627A discloses an omnidirectional adaptive leveling robot, which improves the equipment's mobility in confined spaces through an omnidirectional movement structure and leveling device.

[0005] However, the aforementioned existing technologies still have the following drawbacks: Firstly, there is a lack of integrated machine design and weak multi-mechanism coordination capabilities. Existing equipment is mostly designed with independent single mechanisms such as walking, lifting, and adsorption, without forming an integrated machine linkage system for movement, support, lifting, alignment, and installation. It cannot simultaneously take into account narrow space passage, large stroke high lifting, heavy-load stable operation, and millimeter-level installation accuracy, making it difficult to adapt to the specific construction conditions of cleanrooms.

[0006] Secondly, the overall layout and anti-tipping structure are inadequate, resulting in poor safety during high-altitude operations. Existing technology has not optimized the overall center of gravity layout, the connection rigidity between the lifting mechanism and the chassis is insufficient, and there is no large-radius support or rigid locking structure. Under heavy load and high lifting conditions, the risk of tipping over due to uneven load is high, and the stability of high-altitude installation of large-size color steel plates cannot be guaranteed.

[0007] Third, the lack of a tiered alignment mechanism makes it difficult to balance accuracy and efficiency. Existing technologies do not employ a tiered alignment structure that involves coarse adjustment of the robotic arm's posture and fine adjustment of multiple dimensions at the end effector. This results in insufficient positioning accuracy, cumbersome posture adjustments, low construction efficiency, and easy damage to the panels, failing to meet the high-precision splicing and installation requirements of cleanrooms.

[0008] Fourth, the overall safety protection system is inadequate, resulting in significant operational risks. The actuators lack hardware-level interlocking structures, and the vacuum adsorption system lacks grouped redundancy design. This makes the sheet metal prone to detachment during power or gas outages, leading to insufficient safety and reliability for high-altitude operations.

[0009] To address the aforementioned technical issues, there is an urgent need to develop a novel color steel plate installation device to achieve fully automated, high-precision, and highly safe operation of color steel plate installation in cleanrooms. Summary of the Invention

[0010] To address the shortcomings of the existing technology, this invention provides an installation vehicle for color steel panels in cleanrooms. Through the modular collaboration of an omnidirectional mobile chassis, a telescopic arm assembly, and an end suction cup device, it enables flexible relocation in the narrow spaces of cleanrooms, large-stroke heavy-duty lifting, multi-degree-of-freedom attitude control, and high-precision, high-safety automated installation of color steel panels.

[0011] The technical solution adopted in this invention is as follows: An installation vehicle for color steel panels in cleanrooms, comprising: An omnidirectional moving chassis includes a frame and an omnidirectional traveling mechanism disposed under the frame, the omnidirectional traveling mechanism being configured to enable omnidirectional movement of the frame; The telescopic arm assembly has its lower end fixedly mounted on the vehicle frame. The telescopic arm assembly includes a first support arm module and a second support arm module pivotally connected to the upper end of the first support arm module. The first support arm module is configured to extend and retract in the vertical direction, and the second support arm module is configured to extend and retract in the horizontal direction. An end suction cup device is disposed at the end of the second support arm module. The end suction cup device includes an alignment adjustment mechanism and a vacuum adsorption mechanism. The input end of the alignment adjustment mechanism is fixedly connected to the end of the second support arm module, and the output end is rigidly connected to the vacuum adsorption mechanism. The vacuum adsorption mechanism includes a suction cup frame and multiple sets of vacuum suction cups disposed on the suction cup frame. The omnidirectional mobile chassis also includes an outward support mechanism, which is provided at multiple points on the side of the frame. Each outward support mechanism includes a telescopic component and a support leg connected to the end of the telescopic component. The outward support mechanism is configured to provide expandable and adaptive support for the frame after movement. The omnidirectional walking mechanism, the telescopic arm assembly, and the end suction cup device are all electrically connected to the control module.

[0012] Furthermore, the omnidirectional walking mechanism includes a set of steering wheels diagonally arranged at the bottom of the chassis and a set of driven wheels diagonally arranged at the bottom of the chassis. Each steering wheel is driven by an independent motor to realize the forward, backward, turning and stationary rotation of the chassis. Furthermore, the outward expansion support mechanism is provided in four sets, which are located on the four corner sides of the vehicle frame. The telescopic component of each set of the outward expansion support mechanism includes a lateral telescopic cylinder, a support arm and a telescopic connecting rod. The lateral telescopic cylinder drives the support arm to expand outward or retract inward through the telescopic connecting rod. The support leg includes a leveling cylinder and a universal foot cup connected to the end of the leveling cylinder. The leveling cylinder integrates a displacement sensor. The four sets of support legs are independently driven by the control module according to the feedback signal of the displacement sensor to achieve four-point coordinated automatic leveling.

[0013] Furthermore, the first support arm module includes a fixed frame and a lifting frame slidably connected within the fixed frame. A lifting cylinder is connected between the fixed frame and the lifting frame, and the lifting cylinder is used to drive the lifting frame to move up and down relative to the fixed frame. The lifting cylinder includes a cylinder body and a piston rod. A detection unit is provided inside the lifting cylinder. The detection unit is used to detect the extension and retraction length of the piston rod relative to the cylinder body and feed the signal back to the control module. The control module controls the extension and retraction stroke of the piston rod according to the signal.

[0014] Furthermore, the first support arm module also includes a lifting column slidably disposed within the lifting frame. The lifting column is connected to the second support arm module, and the lifting column is connected to the lifting frame via a transmission unit, so that the lifting column and the lifting frame maintain synchronous movement.

[0015] Furthermore, the second support arm module includes a fixed arm and a telescopic arm. The telescopic arm is slidably disposed within the fixed arm and extends and retracts along the axial direction of the fixed arm. A pitch angle adjustment unit is provided below the connection end between the first support arm module and the second support arm module. The pitch angle adjustment unit includes a pitch angle adjustment cylinder, a first connecting rod, and a second connecting rod. When the pitch angle adjustment cylinder extends and retracts, the pitch angle of the second support arm module relative to the first support arm module is adjusted through the linkage of the first connecting rod and the second connecting rod.

[0016] Furthermore, the alignment adjustment mechanism includes an attitude adjustment unit and a planar fine-tuning unit; The attitude adjustment unit includes a circumferential rotation reducer and a pitch rotation reducer. The circumferential rotation reducer is driven by a circumferential drive hydraulic motor and is used to drive the adsorption mechanism to rotate around the vertical axis. The pitch rotation reducer is driven by a pitch drive hydraulic motor and is used to drive the adsorption mechanism to pitch and swing around the horizontal axis. The planar fine-tuning unit is disposed between the attitude adjustment unit and the adsorption mechanism, and includes fine-tuning components arranged in the horizontal and vertical directions, for driving the adsorption mechanism to make small-amplitude translational adjustments in the horizontal plane.

[0017] Furthermore, angle encoders are respectively installed at the worm ends of the circumferential rotary reducer and the pitch rotary reducer. The angle encoders are connected to the control module for signal transmission and are used to detect the circumferential rotation angle and pitch angle of the adsorption mechanism in real time and feed them back to the control module to form a closed-loop control.

[0018] Furthermore, the adsorption mechanism includes a suction cup frame and multiple sets of vacuum suction cups disposed on the suction cup frame. Each set of vacuum suction cups is connected to an independent vacuum circuit unit, and each vacuum circuit unit works independently. Each vacuum circuit unit is equipped with a vacuum pressure sensor to monitor the vacuum level of the corresponding circuit in real time and feed the signal back to the control module; when the vacuum level of any circuit is lower than a preset threshold, the other normal circuits continue to maintain the adsorption state.

[0019] Furthermore, the vehicle frame also integrates functional supporting mechanisms, including an electrical control box, a multi-unit electro-proportional valve group, and a vacuum pump assembly. These functional supporting mechanisms provide power and control support for the omnidirectional walking mechanism, the telescopic arm assembly, the outward expansion support mechanism, and the end effector.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention adopts an omnidirectional mobile chassis, a multi-stage telescopic arm assembly, and an end suction cup device to form a series-connected whole machine structure, forming an integrated collaborative installation vehicle solution that integrates walking, support, lifting, positioning, coarse attitude adjustment, fine plane adjustment, and installation. It can simultaneously meet the needs of narrow passages in clean rooms, standard freight elevator transfer, and heavy-duty high-lifting operations.

[0021] This invention employs a large-radius outward-expanding support and a four-point independent automatic leveling structure. After the four sets of support legs are extended, the support radius is greater than one-third of the maximum working radius of the robotic arm. Combined with the coordinated automatic leveling via displacement sensors built into each cylinder and the rigid locking of the bidirectional hydraulic lock, this ensures that the overall center of gravity projection always falls within the support polygon. Simultaneously, all heavy-duty components such as hydraulic and vacuum systems are integrated at a low position, effectively lowering the overall center of gravity and addressing the risk of tipping over during heavy-duty high-lifting operations from a structural perspective.

[0022] This invention employs a three-stage alignment architecture: end-effector positioning, coarse suction cup attitude adjustment, and fine suction cup planar adjustment. Coarse attitude adjustment is performed by a circumferential rotary reducer and a pitch rotary reducer, with angle encoders at each reducer end forming a closed-loop angle control, achieving a coarse angle adjustment accuracy of ≤±1°. Fine planar adjustment is driven by X / Y-axis micro-adjustment cylinders, with a fine adjustment stroke ≥±100mm and a splicing accuracy ≤±2mm. The coarse adjustment error and fine adjustment stroke provide ample coverage margin, enabling millimeter-level alignment without frequent machine movement, significantly improving construction efficiency.

[0023] This invention integrates four layers of safety protection: dual emergency stop protection, integrated sensor detection, mechanical limit locking, and grouped redundant pressure holding. Each actuator cylinder adopts a mechanical stop structure with a built-in anti-detachment piston rod and a two-way hydraulic lock, which, together with the proximity switch overtravel limit, forms a triple motion safety constraint of electrical limit, mechanical stop, and hydraulic locking. Each of the two independent vacuum circuits is equipped with a dedicated vacuum pressure sensor. When one circuit leaks or loses pressure, the other circuit independently maintains effective adsorption force. Together with the chassis air tank, it forms an emergency pressure holding hardware architecture, comprehensively improving the safety and reliability of high-altitude operations. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram illustrating the overall storage and outward support of the present invention; Figure 3 This is a schematic diagram of the positioning sinkhole in this invention; Figure 4 This is a diagram showing the embedded connection structure between the omnidirectional mobile chassis and the robotic arm of the present invention; Figure 5 This is a schematic diagram of the pipeline connection principle of the distributed vacuum adsorption system of the present invention; Figure 6 This is a bottom view of the omnidirectional moving chassis of the present invention; Figure 7 This is a three-dimensional structural diagram of the omnidirectional mobile chassis of the present invention in an extended and outwardly supported state. Figure 8 This is a three-dimensional structural diagram of the retracted state of the omnidirectional mobile chassis of the present invention. Figure 9 This is a top view of the omnidirectional mobile chassis of the present invention in its retracted state; Figure 10 This is a schematic diagram of the universal foot cup in this invention; Figure 11 This is a three-dimensional structural diagram of the telescopic arm assembly of the present invention; Figure 12 This is a schematic diagram of the lifting cylinder structure in the telescopic boom assembly of the present invention; Figure 13 This is a top view of the end suction cup assembly in this invention; Figure 14 This is a bottom view of the end suction cup assembly in this invention; Figure 15 This is a top view of the attitude adjustment unit of the end suction cup assembly of the present invention; Figure 16 This is a schematic diagram showing the installation position of the angle encoder in the end suction cup assembly of the present invention.

[0025] Among them: 1. Omnidirectional moving chassis; 11. Support leg; 12. Support arm; 13. Telescopic linkage; 14. Steering wheel; 15. Driven wheel; 16. Lateral telescopic cylinder; 17. Frame; 18. Leveling cylinder; 19. Anti-collision pad; 21. Universal foot cup; 211. Adjusting screw; 212. Universal ball joint; 213. Locking nut; 214. Support base; 2. Telescopic boom assembly; 10. First support arm module; 101. Fixed frame; 102. Lifting frame; 103. Lifting column; 20. Second support arm module; 201. Fixed arm; 202. Telescopic arm; 30. Pitch angle adjustment unit; 301. Pitch angle adjustment cylinder; 302. First connecting rod; 303. Second connecting rod; 40. Lifting cylinder; 401. Cylinder body; 402. Cavity; 403. Piston rod; 404. Protrusion; 405. Oil port; 406. Pressure sensor; 407. Hydraulic lock; 501. Electronic chamber; 502. Waveguide wire; 503. Magnetic ring; 504. Accommodation cavity.

[0026] 3. End suction cup assembly; 31. Tilting hinge mount for robotic arm; 32. Circumferential drive hydraulic motor; 33. Circumferential rotation reducer; 34. Suction cup pitching hinge mount; 35. Pitch drive hydraulic motor; 36. Pitch rotation reducer; 37. Rotary support; 38. Suction cup frame; 39. Guide rail; 53. Moving frame; 41. Slider; 42. Fine-tuning cylinder; 43. Limiting anti-collision block; 44. Vacuum suction cup; 45. Negative pressure vacuum filter; 46. Air distribution block; 47. L-shaped quick-connect coupling; 48. Vacuum pressure sensor; 49. Air hose; 50. Proximity switch; 51. Position sensing plate; 52. Angle encoder; 7. Telescopic arm connection structure; 71. Positioning groove; 72. Hollow guide cavity; 73. Supporting protrusion; 8. Electro-hydraulic power integrated submodule; 81. Vacuum pump; 82. Gas storage tank; 83. Negative pressure filter; 84. Gas distribution block. Detailed Implementation

[0027] The technical solution of the present invention will be further described in a non-limiting manner below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1 to 16 As shown, this invention provides an installation vehicle for color steel panels in cleanrooms, mainly comprising an omnidirectional mobile chassis 1, which includes a frame 17 and an omnidirectional traveling mechanism disposed at the lower part of the frame 17, the omnidirectional traveling mechanism being configured to realize omnidirectional movement of the frame 17; a telescopic arm assembly 2, the lower end of which is fixedly disposed on the frame 17, the telescopic arm assembly 2 including a first support arm module 10 and a second support arm module 20 pivotally connected to the upper end of the first support arm module 10, the first support arm module 10 being configured to extend and retract in the vertical direction, and the second support arm module 20 being configured to extend and retract in the horizontal direction; and an end suction cup device disposed at the end of the second support arm module 20, the end suction cup device including a suction cup for... The positioning adjustment mechanism and the vacuum adsorption mechanism are described. The input end of the positioning adjustment mechanism is fixedly connected to the end of the second support arm module 20, and the output end is rigidly connected to the vacuum adsorption mechanism. The vacuum adsorption mechanism includes a suction cup frame 38 and multiple sets of vacuum suction cups 44 disposed on the suction cup frame 38. The omnidirectional moving chassis 1 also includes an outward expansion support mechanism. The outward expansion support mechanism is disposed at multiple points on the side of the frame 17. Each outward expansion support mechanism includes a telescopic component and a support leg 11 connected to the end of the telescopic component. The outward expansion support mechanism is configured to provide expandable and adaptive support for the frame 17 after movement. The omnidirectional walking mechanism, the telescopic arm assembly 2, and the end suction cup device are all electrically connected to the control module.

[0029] The preferred embodiment of the omnidirectional moving chassis 1 is as follows: In one embodiment of the present invention, the frame 17 serves as the chassis body and mounting base. The omnidirectional travel mechanism is disposed at multiple points on the lower part of the frame 17 to enable omnidirectional free movement of the frame 17. Preferably, the omnidirectional travel mechanism includes a set of steering wheels 14 diagonally arranged at the bottom of the frame 17 and a set of driven wheels 15 diagonally arranged at the bottom of the frame 17. Each steering wheel 14 is independently driven by a corresponding motor disposed in the inner cavity of the bottom of the frame 17 to achieve travel and steering. The driven wheels 15 are used to assist in supporting the frame 17 and the upper load. The bottoms of the steering wheels 14 and the driven wheels 15 protrude from the lower surface of the frame 17 to form a ground clearance. This clearance is set within the range of 20mm to 40mm to ensure the chassis's passability on the workshop floor while meeting the operational requirements of lifting the wheels to a near-contact or off-ground state after the support legs 11 extend. Optionally, the side of the frame 17 is fitted with anti-collision pads 19 to absorb collision impacts during movement.

[0030] In one embodiment of the present invention, the extended support mechanism is disposed at multiple points on the side of the frame 17, and each extended support mechanism can operate independently. Each extended support mechanism includes a telescopic component disposed on the frame 17 body and a support leg 11 connected to the end of the telescopic component and used for landing on the ground. The extended support mechanism is used to provide expandable and adaptive support after the frame 17 moves.

[0031] Specifically, the telescopic assembly includes a lateral telescopic cylinder 16, a laterally arranged support arm 12, and a telescopic connecting rod 13. The lateral telescopic cylinder 16 is disposed on the inner cavity plane of the frame 17, with its cylinder body 401 end hinged to the frame 17 and its piston rod 403 end hinged to one end of the telescopic connecting rod 13; the support arm 12 is laterally arranged on the side of the frame 17; the telescopic connecting rod 13 is disposed at the corner of the inner cavity of the frame 17, with its other end fixed to the support arm 12. The telescopic connecting rod 13 is driven to swing by the extension and retraction of the lateral telescopic cylinder 16, thereby causing the support arm 12 to complete the horizontal extension or retraction action.

[0032] Specifically, the support leg 11 is connected to the outer end of the support arm 12, and includes an upper leveling cylinder 18 and a lower universal foot cup 21 connected to each other. The cylinder body 401 end of the leveling cylinder 18 is hinged to the extended end of the support arm 12, and its piston rod 403 end is hinged to the universal foot cup 21, so as to drive the support leg 11 to extend and retract vertically, thereby achieving height adjustment and rigid support.

[0033] In one embodiment of the present invention, each of the leveling cylinders 18 also integrates a magnetostrictive displacement sensor. The universal foot cup 21 includes an adjusting screw 211 and a bottom support base 214. A universal ball joint 212 is embedded in the center of the support base 214, and the ball joint 212 is connected to the adjusting screw 211, allowing the support base 214 to adaptively rotate within a preset angle range to conform to uneven ground. An adjusting nut for locking the screw is also provided on the shaft of the adjusting screw 211. The bottom surface of the support base 214 is provided with an anti-slip pad or has anti-slip textures to achieve stable contact and anti-slip properties.

[0034] In one embodiment of the present invention, the outward expansion support mechanism comprises four sets, with the four sets of support leg 11 units operating independently and no mechanical synchronization structure between adjacent support arms 12. Each set of support leg 11 is driven by an independent lateral telescopic cylinder 16 and a leveling cylinder 18 to respectively realize the horizontal expansion of the support arm 12 and the vertical extension of the support leg 11. The magnetostrictive displacement sensor built into each cylinder is used to collect displacement signals in real time. The control box collects these displacement signals to calculate the chassis attitude and independently adjusts the extension amount of each leveling cylinder 18, thereby achieving four-point coordinated automatic leveling.

[0035] In particular, the internal structures of the lateral telescopic cylinder 16, the lifting cylinder 40 and the leveling cylinder 18 are the same, all including a cylinder body 401, an anti-detachment piston rod 403, a hydraulic lock 407, an oil port 405, an electronic chamber 501, a waveguide wire 502, a magnetic ring 503 and a pressure sensor 406. The hydraulic lock 407 is integrated at the oil port 405 to achieve mechanical locking at any position, preventing the piston rod 403 from shifting after the hydraulic pipeline is depressurized. The magnetic ring 503 is fixed to the bottom of the anti-detachment piston rod 403 and together with the waveguide wire 502 in the electronic chamber 501, it forms a magnetostrictive displacement sensor. During operation, the electronic chamber 501 sends an interrogation pulse to the waveguide wire 502. The pulse meets the magnetic field of the magnetic ring 503 and generates a torsional strain wave. The electronic chamber 501 detects the return time of the strain wave, calculates it, and obtains the relative displacement signal between the cylinder body 401 and the anti-detachment piston rod 403, and feeds it back to the control module to achieve closed-loop control of the stroke. The pressure sensor 406 is installed at the oil port 405 to monitor the driving oil pressure of the transverse telescopic cylinder 16 in real time. When the color steel plate contacts the mounting keel or adjacent plate in the planar direction, causing the oil pressure to rise instantaneously, the control module judges that the plate has made contact with the plate based on the pressure change signal and stops the fine adjustment action to avoid excessive squeezing and damage to the plate.

[0036] Notably, an electro-hydraulic power integrated submodule 8 is also installed on the upper part of the chassis 17, including a low-position, centrally symmetrically integrated axial piston hydraulic pump, drive motor, two sets of independent multi-unit electro-proportional valve groups, air tank 82, electrical control box, negative pressure filter 83, vacuum pump 81, and air distribution block 46. The first set of valve groups controls the lateral telescopic cylinder 16 and leveling cylinder 18 of the chassis outward expansion support mechanism, while the second set of valve groups independently controls the adjusting cylinders of the robotic arm and end suction cup, achieving independent oil circuit distribution and no interference between them. All heavy-duty components such as the vacuum air tank 82 and hydraulic power unit are integrated at a low position, further optimizing the overall center of gravity distribution and reducing the risk of off-center loading during high-lift operations.

[0037] The specific working principle of the omnidirectional mobile chassis 1 of this invention is as follows: In the initial state, all four sets of support arms 12 and support legs 11 are retracted inside the frame 17. During travel, omnidirectional movement is achieved through the diagonally arranged steering wheels 14 to reach the work position. After reaching the work position, firstly, each lateral telescopic cylinder 16 drives the corresponding support arm 12 to extend horizontally outward to the limit position; then, each leveling cylinder 18 drives the corresponding support leg 11 to extend vertically, so that the universal foot cup 21 contacts the ground and adaptively conforms to the unevenness of the ground; next, each leveling cylinder 18 independently fine-tunes the extension amount under the coordination of the control module, and achieves four-point coordinated automatic leveling of the chassis in conjunction with the tilt sensor signal; after leveling is completed, the bidirectional hydraulic lock 407 at the oil port 405 of each cylinder locks the oil circuit, so that the support structure remains in a rigid fixed state. At this time, the steering wheel 14 and driven wheel 15 are lifted to the ground, and the entire load is rigidly borne by the four sets of support legs 11. After the operation is completed, the support mechanism is retracted in reverse order: the support leg 11 retracts first, followed by the support arm 12, to restore the walking state and move to the next work station. When unfolding, the support arm 12 extends outward first, followed by the support leg 11; when retracting, the support leg 11 retracts first, followed by the support arm 12.

[0038] In one embodiment of the invention, a telescopic arm 202 connection structure is also included, which is a stepped stop embedded anti-overturning connection. Specifically, the structure includes a stepped positioning groove 71 opened at the center of the top surface of the frame 17, which is formed by an upper solid support edge and a lower hollow guide cavity. The lower part of the robotic arm fixed base is embedded in the lower guide cavity, and the cavity wall constrains the horizontal displacement of the base to achieve automatic centering and circumferential positioning; the two outward support edges on both sides of the base overlap the upper solid support edge to form surface contact support.

[0039] Through the above technical solution, when subjected to overturning moment, the moment is decomposed into a couple with one side under compression and the other under tension: the load on the compression side is directly transmitted to the frame 17 through the contact of the supporting edge surface as compressive stress; the load on the tension side is borne by two hollow positioning columns extending from the rear side of the fixed base, with the bottom ends of the positioning columns rigidly locked to the frame 17 by full welding, and the tensile stress of the weld seam bears the upward pull-out force. This combined force-bearing mechanism of stepped stop bearing pressure + welded positioning columns bearing tension decomposes the overturning moment into compressive / tensile stress borne by different structures, avoiding the failure mode of traditional flange connections relying solely on bolt shear and stress concentration; it should also be noted that the hollow design of the lower guide cavity of the sump reduces its own weight and optimizes the center of gravity; the fixed base and the sump are fitted with a clearance and there are no fastening bolts, so the vertical load and overturning moment are both borne by the contact of the supporting surface and the welded positioning columns. The centroid of the sump, the centroid of the robotic arm installation, and the center of gravity of the whole machine are vertically collinear, eliminating the risk of overturning due to off-center loading during high-lifting operations.

[0040] The preferred embodiment of the telescopic arm assembly 2 of the present invention is as follows: In one embodiment of the present invention, the upper end of the first support arm module 10 is pivotally connected to the second support arm module 20. Typically, the first support arm module 10 is configured in a vertical position, and the second support arm module 20 consists of a fixed arm 201 and a telescopic arm 202. The telescopic arm 202 and the fixed arm 201 can be driven by a hydraulic cylinder to achieve a telescopic function. The first support arm module 10 includes at least a fixed frame 101 and a lifting frame 102 slidably connected within the fixed frame 101. In one embodiment, the first support arm module 10 further includes a lifting column 103, which is slidably disposed within the lifting frame 102 and connected to the second support arm module 20. The lifting column 103 and the lifting frame 102 are connected via a transmission unit, enabling them to maintain synchronous movement. This transmission unit is preferably a chain. The connection between the first support arm module 10 and the second support arm module 20 is specifically achieved through the connection between the lifting column 103 and the fixed arm 201.

[0041] In one embodiment of the present invention, a pitch angle adjustment unit 30 is provided below the connection end of the first support arm module 10 and the second support arm module 20, for adjusting the pitch angle of the second support arm module 20 relative to the first support arm module 10. In one embodiment, the pitch angle adjustment unit 30 includes a first connecting rod 302, a second connecting rod 303, and a pitch angle adjustment cylinder 301. One end of the first connecting rod 302 is pivotally connected to the proximal end of the fixed arm 201 facing the first support arm module 10; one end of the pitch angle adjustment cylinder 301 is pivotally connected to the non-upper region of the first support arm module 10, and the other end is pivotally connected to the other end of the first connecting rod 302; one end of the second connecting rod 303 is pivotally connected to the proximal end of the first support arm module 10 facing the second support arm module 20, and the other end is pivotally connected to the middle region of the first connecting rod 302. When the pitch angle adjusting cylinder 301 extends or retracts, the pitch angle of the second support arm module 20 relative to the first support arm module 10 can be adjusted. Preferably, both the first connecting rod 302 and the second connecting rod 303 can be configured as L-shaped structures to facilitate the adjustment of the pitch angle by the pitch angle adjusting cylinder 301 during operation.

[0042] In one embodiment of the present invention, the two ends of the lifting cylinder 40 are respectively connected to the fixed frame 101 and the lifting frame 102, and are used to control the lifting size of the lifting frame 102 within the fixed frame 101. The lifting cylinder 40 includes a cylinder body 401 and a piston rod 403. The cylinder body 401 has a cavity 402, and the piston rod 403 slides along the extending direction of the cavity 402 and is partially exposed outside the cavity 402. In one embodiment, one end of the piston rod 403 placed inside the cavity 402 has a protrusion 404, which is used to prevent the piston rod 403 from completely disengaging from the cavity 402. The lifting cylinder 40 also has an oil port 405, which communicates with the cavity 402 for supplying hydraulic oil to the cavity 402. Preferably, the oil port 405 is provided with a hydraulic lock 407 to close the flow channel of hydraulic oil in the cavity 402; a pressure sensor 406 may also be provided in the oil port 405 to detect the hydraulic oil pressure in the cavity 402 and feed back the detection signal to the control module. For example, when the pressure exceeds the threshold, the control module will stop the oil supply or perform a reverse operation in time.

[0043] In one embodiment of the present invention, the detection unit is disposed within the lifting cylinder 40 and is used to detect the length dimension of the piston rod 403 relative to the cylinder body 401 during extension and retraction. Specifically, the detection unit includes an electronic chamber 501, a waveguide wire 502, and a magnetic ring 503. The magnetic ring 503 is disposed on the side of the piston rod 403 facing the cavity 402; the electronic chamber 501 is connected to the waveguide wire 502, and the magnetic ring 503 is sleeved on the waveguide wire 502. In one embodiment, a receiving cavity 504 is provided on the side of the piston rod 403 facing the cavity 402, the depth dimension of the receiving cavity 504 matches the sliding dimension of the piston rod 403, and the waveguide wire 502 is at least partially disposed within the receiving cavity 504. The electronic chamber 501 is used to detect the size of the movement of the magnetic ring 503. Its working principle is as follows: the electronic chamber 501 sends an interrogation pulse signal to the waveguide wire 502. After the pulse signal meets the magnetic field of the magnetic ring 503, a torsional strain wave is generated. The electronic chamber 501 detects the return time of the strain wave, calculates it, and obtains the relative displacement signal between the bottom of the cavity 402 and the bottom of the piston rod 403. The displacement signal is then transmitted to the control module.

[0044] In one embodiment of the present invention, the control module is connected to the detection unit and controls the sliding dimension of the piston rod 403. Specifically, the control module is connected to the electronic chamber 501 and determines whether to stop the movement of the piston rod 403 based on the received displacement signal, thereby achieving precise control of the lifting dimension.

[0045] In one embodiment of the present invention, limit blocks are provided at the upper limit of the lifting frame 102 and the lifting column 103 to prevent derailment; the surface of the limit blocks may also be provided with a buffer layer, such as a polyurethane buffer pad, to absorb impact energy and achieve soft stopping. Furthermore, the telescopic boom 202 is disposed in the telescopic boom assembly 2 of the color steel plate installation vehicle and is equipped with a hydraulic oil tank for supplying hydraulic oil to the pitch angle adjustment cylinder 301 and the lifting cylinder 40.

[0046] The specific working principle of the telescopic boom assembly 2 of this invention is as follows: When lifting is required, the control module issues a command, and hydraulic oil is added to the cavity 402 of the lifting cylinder 40. The piston rod 403 is gradually extended from the cavity 402 by the hydraulic oil pressure. During this process, the detection unit detects the extension size of the piston rod 403 in real time. Based on the signal fed back from the electronic chamber 501, the control module promptly reduces or stops the supply of hydraulic oil to the cavity 402, thereby preventing the piston rod 403 from detaching from the cavity 402 or causing impact to the end of the cavity 402, effectively extending the service life of the equipment.

[0047] The alignment adjustment mechanism, from the robotic arm to the suction cup frame 38, sequentially includes an installation reference unit, an attitude adjustment unit, a plane fine-tuning unit, and a differential sensing and positioning unit. These units are rigidly connected in sequence to form a fully free-degree-of-freedom adjustment system. The installation reference unit is rigidly connected to the end of the robotic arm, providing a mounting foundation for the entire alignment adjustment mechanism to ensure the overall coaxiality and structural rigidity of the device.

[0048] In one embodiment of the present invention, the attitude adjustment unit includes a circumferential rotation component and a pitch swing component, both of which are driven by independent hydraulic motors to achieve full-dimensional attitude adjustment of the color steel plate.

[0049] The circumferential rotation assembly includes a circumferential drive hydraulic motor 32 and a circumferential rotary reducer 33. The fixed end of the circumferential rotary reducer 33 is locked to the mounting reference unit, and its output end is connected to the pitch hinge seat. The circumferential drive hydraulic motor 32 drives the device to achieve continuous rotation. An angle encoder 52 is installed on the non-input shaft end of the worm gear of the circumferential rotary reducer 33 to collect the worm gear rotation angle signal in real time. After conversion by the reduction ratio, the actual circumferential angle of the suction cup frame 38 is obtained, and the angle signal is fed back to the control module to form a closed-loop control circuit for the circumferential angle.

[0050] The pitch swing assembly includes a pitch drive hydraulic motor 35, a pitch rotation reducer 36, a robotic arm pitch hinge 31, a suction cup pitch hinge 34, and a rotary support 37. The robotic arm pitch hinge 31 is used to achieve pitch connection with the robotic arm, the suction cup pitch hinge 34 is used to achieve pitch adjustment of the suction cup frame 38, and the pitch rotation reducer 36 is driven by the pitch drive hydraulic motor 35, causing the suction cup frame 38 to achieve pitch swing. The rotary support 37 connects the attitude adjustment unit and the planar fine-tuning unit, achieving a rigid connection between the two. An angle encoder 52 is also installed on the non-input shaft end of the worm gear of the pitch rotation reducer 36 to collect the pitch worm gear rotation angle signal in real time. After conversion by the reduction ratio, the actual pitch angle of the suction cup frame 38 is obtained and fed back to the control module to form a pitch angle closed-loop control circuit.

[0051] In one embodiment of the present invention, the planar fine-tuning unit is disposed between the movable frame 53 and the suction cup frame 38, and includes vertically arranged X-axis fine-tuning components and Y-axis fine-tuning components. The movable frame 53 is fixedly connected to the rotary support 37 as a fixed base. Both fine-tuning components employ fine-tuning cylinders 42, multiple high-precision linear guides 39, and corresponding sliders 41. The multiple guides 39 are symmetrically arranged on the movable frame 53 along the X and Y directions, respectively. The sliders 41 are connected to the suction cup frame 38 to realize bidirectional fine-motion adjustment of the suction cup frame 38 in the plane.

[0052] The differentiated sensing and positioning unit includes multiple proximity switches 50 and a position sensing element 51, configured differently according to the safety protection requirements of circumferential and pitch movements. Specifically, two sets of proximity switches 50 are provided at the tilt hinge 31 of the robotic arm for overtravel limit protection of the robotic arm's pitch movement; two sets of proximity switches 50 are provided at the tilt hinge 34 of the suction cup for overtravel limit protection of the suction cup frame 38's pitch movement; and two proximity switches 50 and a position sensing element 51 are provided at the circumferential rotation assembly. The position sensing element 51 moves synchronously with the circumferential rotation assembly, and the proximity switches 50 achieve zero-position positioning and overtravel limit of circumferential rotation by detecting the position of the sensing element.

[0053] In one embodiment of the present invention, the vacuum adsorption mechanism is integrated into the main body of the suction cup frame 38. The suction cup frame 38 adopts a lightweight welded structure, consisting of a rectangular rigid frame formed by two symmetrical main crossbeams and a longitudinal connecting rod. Multiple sets of vacuum suction cups 44 are arranged vertically and symmetrically along the main crossbeams. Preferably, the vacuum suction cups 44 are made of highly elastic, non-marking silicone material, and the edges are rounded to avoid scratching or indenting the surface of the color steel plate coating.

[0054] Each group of vacuum suction cups 44 corresponds to a completely independent vacuum circuit unit. Each vacuum circuit unit includes a vacuum generator, a negative pressure vacuum filter 45, a gas distribution block 46, multiple L-shaped quick-connect fittings 47, a vacuum pressure sensor 48, and an air pipe 49. During operation, the inlet of the vacuum generator is connected to a clean air source, and its outlet is connected to the negative pressure vacuum filter 45 via the air pipe 49 to filter out impurities in the vacuum airflow. The filtered vacuum airflow enters the gas distribution block 46 via the air pipe 49. The gas distribution block 46 has a single-chamber shared passage, which evenly distributes the vacuum to each vacuum suction cup 44 in the same group through multiple L-shaped quick-connect fittings 47 and the air pipe 49. The vacuum pressure sensor 48 is installed on the side of the gas distribution block 46 to monitor the overall vacuum level of the circuit in real time and feed the signal back to the control module to achieve continuous monitoring of the adsorption state.

[0055] The specific working principle of the end suction cup assembly 3 of this invention: Each vacuum circuit is completely independent and does not affect the others. During the adsorption process, if the vacuum level of any circuit decreases due to suction cup damage or pipeline leakage, the vacuum pressure sensor 48 of that circuit immediately detects the pressure loss signal and transmits it to the control module, which triggers an alarm. At the same time, another normal circuit continues to maintain the effective adsorption force of its corresponding suction cup, ensuring that the color steel plate will not fall. After the color steel plate is accurately positioned and fixed, the control module controls the vacuum generator to stop evacuating the vacuum and switches the vacuum breaking valve to introduce atmospheric pressure, so that the vacuum circuit returns to normal pressure, and the suction cup releases the plate. During operation, the vacuum adsorption mechanism first firmly grips the color steel plate, and the device moves to the installation position with the robotic arm, where the robotic arm performs coarse positioning of the basic position and attitude. Then, through the circumferential rotation component, pitch swing component, and plane fine adjustment unit in the alignment adjustment mechanism, the attitude and installation position of the plate are finely adjusted to achieve precise alignment with the installation keel. After the plate is accurately positioned and fixed, the suction cup releases the plate, completing a single installation operation.

[0056] The overall working principle of this invention is as follows: Step 1: Suction cup grips the sheet metal: The machine moves to the color steel sheet stacking area, and the end suction cup device is close to the surface of the top sheet metal. The control module starts the vacuum generators of two independent vacuum circuits to draw a vacuum. The vacuum pressure sensor 48 of each circuit monitors the vacuum degree in real time. After the vacuum degree of both circuits reaches the set threshold, it is determined that the grip is firm, and the control module sends out a gripping completion signal.

[0057] Step 2: Move the machine to the workstation in all directions. The machine maintains the walking posture with the support legs 11 retracted. The diagonal steering wheel 14 drives the chassis to move in all directions. With a retracted width of ≤1.2m, it passes through the narrow passage of the clean room and transfers the plate to the area below the predetermined installation workstation. The steering wheel 14, together with the driven wheel 15, completes the fine-tuning in place to achieve the initial alignment near the workstation.

[0058] Step 3: Deployment and Automatic Leveling of Support Legs 11: After the machine comes to a complete stop, the four sets of lateral telescopic cylinders 16 drive the support arms 12 to extend outward to their maximum stroke, and the built-in bidirectional hydraulic locks 407 of the cylinders lock immediately. Subsequently, the four sets of leveling cylinders 18 independently drive the support legs 11 to extend downward. After the universal foot cups 21 contact the ground, they continue to extend, raising the entire vehicle to a state where the wheels are slightly in contact with or off the ground. The electrical control box collects the stroke signals of the built-in magnetostrictive displacement sensors of each leveling cylinder 18, calculates the real-time attitude of the chassis, and independently adjusts the extension amount of each support leg 11 to achieve four-point coordinated automatic leveling. After leveling is completed, the bidirectional hydraulic locks 407 of each leveling cylinder 18 lock synchronously, and the entire load of the machine is transferred to the rigid bearing of the four sets of support legs 11.

[0059] Step 4: The robotic arm is lifted to the installation height: The lifting cylinder 40 drives the first-stage lifting frame 102 to extend upward, and the chain synchronization mechanism drives the second-stage lifting column 103 to extend at the same speed and in sync, lifting the second support arm module 20 and the end suction cup device 3 to the predetermined installation height; during the lifting process, the built-in magnetostrictive displacement sensor of the lifting cylinder 40 provides real-time feedback on the lifting stroke, and the bidirectional hydraulic lock 407 locks it after it reaches the position.

[0060] Step 5: The tilt angle adjustment unit 30 of the second support arm module 20 drives the second support arm module 20 to tilt relative to the first support arm module 10; the boom telescopic cylinder drives the telescopic arm 202 to extend, sending the end suction cup device along with the plate to the vicinity of the installation position; the end tilt mechanism drives the end suction cup device to make a large tilt swing, flipping the plate to the working orientation.

[0061] Step 6: Coarse adjustment of suction cup posture: The circumferential rotary reducer 33 drives the suction cup frame 38 to rotate, and the pitch rotary reducer 36 drives the suction cup frame 38 to pitch and swing. The angle encoders 52 at the two reducer ends provide real-time feedback of the angle signal to the control module, forming an angle closed-loop control, adjusting the posture of the plate to be basically parallel to the installation keel plane, with an angle accuracy of ≤±1°.

[0062] Step 7: Fine-tuning and contact alignment of the suction cup plane: The X / Y fine-tuning cylinder 42 drives the suction cup frame 38 to move bidirectionally in the plane. The fine-tuning cylinder 42 has a built-in magnetostrictive displacement sensor that provides real-time feedback of the displacement signal. When the edge of the color steel plate contacts the installation keel or adjacent plate, the driving oil pressure of the fine-tuning cylinder 42 changes instantaneously. The pressure sensor 406 at the oil port 405 captures the pressure spike signal. The control module determines that "contact is in place", immediately stops the fine-tuning action, and triggers the bidirectional hydraulic lock 407 to lock the oil circuit. The splicing accuracy is ≤ ±2mm.

[0063] Step 8: Manual Tightening and Release: After the plates are precisely aligned, the construction personnel perform fixing operations such as tightening screws or locking clips. After fixing, the control module controls the two sets of vacuum circuits to break the vacuum, and the suction cups release the plates; then, the support legs 11 and the telescopic arm assembly 2 are retracted in sequence, first the outriggers and then the arms, and the whole machine returns to the retracted state, completing a single installation operation.

[0064] The above description is an explanation of the present invention and not a limitation thereof. Within the scope of protection of the present invention, any form of modification may be made. The scope of the present invention is defined by the claims.

Claims

1. An installation vehicle for color steel panels in cleanrooms, characterized in that: include: An omnidirectional moving chassis (1) includes a frame (17) and an omnidirectional traveling mechanism disposed on the lower part of the frame (17), the omnidirectional traveling mechanism being configured to realize omnidirectional movement of the frame (17); The telescopic arm assembly (2) has its lower end fixedly mounted on the vehicle frame (17). The telescopic arm assembly (2) includes a first support arm module (10) and a second support arm module (20) pivotally connected to the upper end of the first support arm module (10). The first support arm module (10) is configured to extend and retract in the vertical direction, and the second support arm module (20) is configured to extend and retract in the horizontal direction. An end suction cup device is provided at the end of the second support arm module (20). The end suction cup device includes an alignment adjustment mechanism and a vacuum adsorption mechanism. The input end of the alignment adjustment mechanism is fixedly connected to the end of the second support arm module (20), and the output end is rigidly connected to the vacuum adsorption mechanism. The vacuum adsorption mechanism includes a suction cup frame (38) and multiple sets of vacuum suction cups (44) provided on the suction cup frame (38). The omnidirectional mobile chassis (1) also includes an outward support mechanism, which is provided at multiple points on the side of the frame (17). Each outward support mechanism includes a telescopic component and a support leg (11) connected to the end of the telescopic component. The outward support mechanism is configured to provide expandable and adaptive support for the frame (17) after movement. The omnidirectional walking mechanism, the telescopic arm assembly (2), and the end suction cup device are all electrically connected to the control module.

2. The installation vehicle as described in claim 1, characterized in that: The omnidirectional walking mechanism includes a set of steering wheels (14) arranged diagonally at the bottom of the chassis (17) and a set of driven wheels (15) arranged diagonally at the bottom of the chassis (17). Each steering wheel (14) is driven by an independent motor to realize the forward, backward, turning and stationary rotation of the chassis.

3. The installation vehicle as described in claim 1, characterized in that: The outward expansion support mechanism is provided in four sets, which are located on the four corner sides of the frame (17). The telescopic components of each set of the outward expansion support mechanism include a lateral telescopic cylinder (16), a support arm (12) and a telescopic connecting rod (13). The lateral telescopic cylinder (16) drives the support arm (12) to expand outward or retract inward through the telescopic connecting rod (13). The support leg (11) includes a leveling cylinder (18) and a universal foot cup (21) connected to the end of the leveling cylinder (18). The leveling cylinder (18) integrates a displacement sensor. The four sets of support legs (11) are independently driven by the control module according to the feedback signal of the displacement sensor to achieve four-point coordinated automatic leveling.

4. The installation vehicle as described in claim 1, characterized in that: The first support arm module (10) includes a fixed frame (101) and a lifting frame (102) slidably connected within the fixed frame (101). A lifting cylinder (40) is connected between the fixed frame (101) and the lifting frame (102). The lifting cylinder (40) is used to drive the lifting frame (102) to rise and fall relative to the fixed frame (101). The lifting cylinder (40) includes a cylinder body (401) and a piston rod (403). The lifting cylinder (40) is provided with a detection unit. The detection unit is used to detect the extension and retraction length of the piston rod (403) relative to the cylinder body (401) and feed the signal back to the control module. The control module controls the extension and retraction stroke of the piston rod (403) according to the signal.

5. The installation vehicle as described in claim 4, characterized in that: The first support arm module (10) further includes a lifting column (103) slidably disposed in the lifting frame (102). The lifting column (103) is connected to the second support arm module (20). The lifting column (103) and the lifting frame (102) are connected through a transmission unit, so that the lifting column (103) and the lifting frame (102) move synchronously.

6. The installation vehicle as described in claim 1, characterized in that: The second support arm module (20) includes a fixed arm (201) and a telescopic arm (202). The telescopic arm (202) is slidably disposed inside the fixed arm (201) and extends and retracts along the axial direction of the fixed arm (201). A pitch angle adjustment unit (30) is provided below the connection end between the first support arm module (10) and the second support arm module (20). The pitch angle adjustment unit (30) includes a pitch angle adjustment cylinder (301), a first connecting rod (302), and a second connecting rod (303). When the pitch angle adjustment cylinder (301) extends and retracts, the pitch angle of the second support arm module (20) relative to the first support arm module (10) is adjusted by the linkage of the first connecting rod (302) and the second connecting rod (303).

7. The installation vehicle as described in claim 1, characterized in that: The alignment adjustment mechanism includes an attitude adjustment unit and a planar fine-tuning unit; The attitude adjustment unit includes a circumferential rotary reducer (33) and a pitch rotary reducer (36). The circumferential rotary reducer (33) is driven by a circumferential drive hydraulic motor (32) and is used to drive the adsorption mechanism to rotate around the vertical axis. The pitch rotary reducer (36) is driven by a pitch drive hydraulic motor (35) and is used to drive the adsorption mechanism to pitch and swing around the horizontal axis. The planar fine-tuning unit is disposed between the attitude adjustment unit and the adsorption mechanism, and includes fine-tuning components arranged in the horizontal and vertical directions, for driving the adsorption mechanism to make small-amplitude translational adjustments in the horizontal plane.

8. The installation vehicle as described in claim 7, characterized in that: An angle encoder (52) is installed at the worm end of the circumferential rotary reducer (33) and the pitch rotary reducer (36). The angle encoder (52) is connected to the control module and is used to detect the circumferential rotation angle and pitch angle of the adsorption mechanism in real time and feed them back to the control module to form a closed-loop control.

9. The installation vehicle as described in claim 4, characterized in that: The adsorption mechanism includes a suction cup frame (38) and multiple sets of vacuum suction cups (44) disposed on the suction cup frame (38). Each set of vacuum suction cups (44) is connected to an independent vacuum circuit unit, and each vacuum circuit unit works independently. Each vacuum circuit unit is equipped with a vacuum pressure sensor (48) to monitor the vacuum level of the corresponding circuit in real time and feed the signal back to the control module; when the vacuum level of any circuit is lower than the preset threshold, the other normal circuits continue to maintain the adsorption state.

10. The installation vehicle as described in claim 1, characterized in that: The frame (17) also integrates functional supporting mechanisms, including an electrical control box, a multi-unit proportional valve group and a vacuum pump (81) assembly. The functional supporting mechanisms provide power and control support for the omnidirectional walking mechanism, the telescopic arm assembly (2), the external support mechanism and the end effector.

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