Mechanical arm with self-walking structure

Abstract

This invention discloses a self-propelled robotic arm, belonging to the field of robotics technology. It includes a robotic arm body, a walking assembly, and a mounting base. The robotic arm body is positioned above the walking assembly, with the mounting base positioned between them, allowing it to reciprocate horizontally relative to the walking assembly. The walking assembly has a first telescopic component and a second moving component. Through the transmission mechanism of the staircase surface structure, the mounting base can be driven to move in two orthogonal directions within a plane, achieving two-dimensional fine adjustment of the base position. The walking assembly also includes liftable rollers. During operation, the rollers retract so that the lower surface of the grooved plate contacts the support surface to lower the center of gravity; during walking, the rollers extend to achieve movement. This invention combines macroscopic walking with local fine-tuning capabilities, has a compact structure, and high operational stability, making it widely applicable to robotic operations such as inspection, welding, painting, and logistics.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robotic arm with a self-propelled structure. Background Technology

[0002] In industrial inspection, equipment maintenance, welding and painting, and material handling, robotic arms need to perform position adjustments and precise operations over a wide range. Existing robotic arms are mainly divided into two categories: fixed robotic arms and mobile robotic arms. Fixed robotic arms have their bases fixed to the work platform, and their working range depends entirely on the coordinated movement of their joints. When adjusting the end effector position over a large range, frequent extension of the arm or large-scale rotation of the joints is necessary, leading to increased joint wear, increased energy consumption, and significantly reduced rigidity, increased vibration, and difficulty in guaranteeing end-effector positioning accuracy when the arm is extended too far, severely restricting the reliability of high-precision operations. Mobile robotic arms are fixed to a walking platform to achieve overall displacement. However, in this type of solution, the robotic arm base is rigidly connected to the walking platform, allowing only large-scale macroscopic movement and preventing fine adjustments to the base position within localized areas. When the end effector needs to be finely adjusted within a small range, it still relies on joint movement, failing to fundamentally solve the problems of positioning accuracy and joint wear.

[0003] Furthermore, existing mobile robotic arms lack sufficient center of gravity adjustment capabilities, making them prone to tipping over when lifting heavy objects or extending to their limit. Additionally, the base movement mechanisms are mostly unidirectionally driven, making it difficult to achieve compact two-dimensional displacement within a limited space. To address these issues, it is necessary to develop a robotic arm walking base solution that combines macroscopic movement with fine local adjustment capabilities, adaptive center of gravity adjustment, and a compact structure. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art where the fixed connection between the base of the robotic arm and the walking platform makes it impossible to finely adjust the position of the base in a local area, and large-scale displacement relies on joint movement, resulting in decreased positioning accuracy and increased joint wear. Therefore, this invention proposes a robotic arm with a self-walking structure.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm with a self-propelled structure includes a robotic arm body, a walking component, and a mounting base. The walking component is located at the bottom of the robotic arm body, and the mounting base is located between the robotic arm body and the walking component. The mounting base and the walking assembly are connected by a sliding fit structure. The mounting base can reciprocate relative to the walking assembly in at least one horizontal direction to adjust the macroscopic working position of the robotic arm body in the horizontal plane.

[0006] In some embodiments, vertical plates are symmetrically arranged on both sides of the top of the walking assembly, and a slide rail corresponding to and cooperating with the mounting base is provided on the inner side of the vertical plate. The mounting base is slidably disposed in the slide rail, and the slide rail is used to guide and limit the horizontal movement of the mounting base. The slide is equipped with a first telescopic component, the telescopic end of which is connected to the mounting base and is used to push the mounting base to reciprocate along a first horizontal direction.

[0007] In some embodiments, the mounting base has sliding blocks on both sides that correspond to and cooperate with the slide rail. The sliding blocks have slots, and the slots have limiting grooves inside. The telescopic end of the first telescopic component has a sliding plate that corresponds to and cooperates with the limiting groove. The sliding plate can slide in the limiting groove in the vertical direction to maintain the transmission connection between the first telescopic component and the sliding block when the mounting base produces vertical displacement.

[0008] In some embodiments, there is a gap between the mounting base and the top of the walking assembly. A second moving assembly is symmetrically provided on the walking assembly near the vertical plate and is perpendicular to the first telescopic assembly. The telescopic end of the second moving assembly is provided with a push plate. A corresponding plate is provided at the bottom of the mounting base, and a protrusion is provided at the bottom of the corresponding plate. The push plate and the protrusion are engaged through a mutually cooperating stair surface structure. When the second moving component drives the push plate to move along the second horizontal direction, the push plate drives the mounting seat to move synchronously along the second horizontal direction through the abutting fit of the stair surface structure, so as to realize the position adjustment of the mounting seat in two orthogonal directions in the horizontal plane.

[0009] In some embodiments, the stair surface structure includes a first stair surface disposed at one end of the push plate away from the second moving component, and a second stair surface disposed on the lower surface of the protrusion, wherein the first stair surface and the second stair surface are mutually adapted step surface mating structures. When the second moving component extends or retracts, the first stair surface and the second stair surface can be offset vertically to drive the mounting base and the mechanical arm body to be lifted upward as a whole.

[0010] In some embodiments, a locking mechanism is provided between the first stair surface and the second stair surface, the locking mechanism being used to lock the relative position of the first stair surface and the second stair surface when the mounting base is in operation.

[0011] In some embodiments, the locking mechanism includes an electromagnet disposed on the first stair surface and an iron block disposed on the second stair surface and corresponding to the electromagnet. By energizing the electromagnet, the electromagnet and the iron block are fixedly attracted to each other, thereby realizing controllable locking and unlocking between the push plate and the protrusion.

[0012] In some embodiments, the walking assembly includes a grooved plate, a lifting device, and rollers. The lower surface of the grooved plate has a grooved structure, and the rollers are vertically and vertically disposed inside the grooved plate via the lifting device. The lifting device is used to drive the roller to extend or retract relative to the grooved plate. When the roller retracts, the lower surface of the grooved plate approaches or contacts the support surface, which is used to lower the center of gravity of the equipment and expand the support area. When the roller extends, it is used to enable the equipment to move.

[0013] In some embodiments, a central lifting plate is provided for the upper and lower limits inside the grooved plate. The fixed end of the lifting device is fixedly connected to the grooved plate, and the telescopic end of the lifting device is fixedly connected to the central lifting plate. The roller is installed below the central lifting plate. An electromagnetic pin is provided on the outer side of the central lifting plate, and a locking hole corresponding to the electromagnetic pin is provided on the inner side of the grooved plate. The electromagnetic pin and the locking hole are used to position the central lifting plate at different horizontal heights to achieve multi-level adjustment of the equipment's center of gravity.

[0014] In some embodiments, the grooved plate has an upward through-hole in the middle, the upper surface of the middle lifting plate has an extension, and the top of the extension is embedded with an electromagnetic trigger head; the bottom of the corresponding plate has a conductive contact that corresponds to and cooperates with the electromagnetic trigger head. When the lifting device retracts and the rollers retract, the extension extends upward, and the electromagnetic trigger head contacts the conductive contact to form an electrical path. The electrical path is used to supply power to the locking mechanism to automatically trigger the locking between the first stair surface and the second stair surface.

[0015] Compared with the prior art, the present invention provides a robotic arm with a self-propelled structure, which has the following beneficial effects.

[0016] 1. This invention achieves the separation of macroscopic positioning and microscopic operation functions by using the two-dimensional planar movement and lifting of the mounting base within the slide rail, in conjunction with the movement of each joint of the robotic arm. The robotic arm body maintains a compact posture, focusing on posture adjustment and precise operation, while the base undertakes a wide range of positional movements. This significantly expands the workspace without increasing the arm length, while avoiding the problems of decreased rigidity and increased energy consumption caused by excessive arm extension.

[0017] 2. In this invention, the second moving component achieves two movement modes through speed control: during slow extension and retraction, the mounting base moves horizontally in the vertical direction by engaging with the stair surface; during rapid extension and retraction, the mounting base and robotic arm are lifted upwards as a whole by the staggered effect of the stair surface. This dual-purpose design reduces the number of actuators, simplifies the structure, and lowers system complexity and cost. Simultaneously, an electromagnetic locking mechanism ensures stability in different movement modes.

[0018] 3. In this invention, the walking component adopts a structure of a grooved plate combined with liftable rollers. During operation, the rollers retract, and the lower surface of the grooved plate approaches the ground, lowering the center of gravity and increasing the support surface, effectively improving the anti-overturning ability under heavy loads. When walking, the rollers extend to ensure mobility. The linkage design between the extension and the upper mechanism further realizes multiple functions such as vibration buffering, automatic locking triggering, and auxiliary support, improving the overall stability of the system.

[0019] 4. In this invention, the rollers of the walking component can be flexibly configured at the bottom of the central lifting plate or on the outside of the grooved plate, adapting to various walking modes such as ground walking, rail-mounted walking, airborne rail-lowering walking, and tracked walking. This design enables the invention to be widely applied in the fields of inspection robots, logistics robots, municipal pipeline inspection robots, and special operation robots for nuclear facilities, chemical plants, etc., demonstrating good scenario adaptability and promotional value.

[0020] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the structure of the robotic arm of the present invention.

[0023] Figure 3 This is a schematic diagram of the sliding block of the present invention.

[0024] Figure 4 This is a schematic diagram of the connection between the sliding block and the vertical plate of the present invention.

[0025] Figure 5 For the present invention Figure 4 A magnified structural diagram of region A in the middle.

[0026] Figure 6 This is a schematic diagram of the structure of the second moving component of the present invention.

[0027] Figure 7This is a schematic diagram of the push plate and protrusion of the present invention.

[0028] Figure 8 This is a schematic diagram of the structure of the second stair surface and the first stair surface of the present invention.

[0029] Figure 9 This is a schematic diagram of the connection between the limiting groove and the slide of the present invention.

[0030] Figure 10 For the present invention Figure 9 Enlarged structural diagram of region B.

[0031] Figure 11 This is a schematic diagram of the sliding block and slide rail of the present invention.

[0032] Figure 12 This is a schematic diagram of the curved connection surface structure between the second stair surface and the first stair surface of the present invention.

[0033] Figure 13 This is a schematic diagram of the grooved plate and the central lifting plate of the present invention.

[0034] Figure 14 This is a schematic diagram of the mounting structure of the side rollers of the grooved plate of the present invention.

[0035] In the picture: 1. Robotic arm; 101. First rotating mechanism; 102. Connecting seat; 103. First movable arm; 1031. First rotating shaft; 1032. Second rotating shaft; 104. Second movable arm; 105. Third movable arm; 106. Joint seat; 107. Positioning component; 1071. Support seat; 1072. Swing rod; 1073. Positioning cylinder; 2. Walking assembly; 201. Groove plate; 2011. Opening; 20 2. Roller; 203. Central lifting plate; 2031. Extension piece; 204. Lifting device; 3. Mounting base; 301. Sliding block; 3011. Groove; 3012. Limiting groove; 302. Corresponding plate; 303. Protrusion; 3031. Second stair surface; 4. Vertical plate; 401. Slide rail; 5. First telescopic assembly; 501. Sliding plate; 6. Second moving assembly; 601. Push plate; 6011. First stair surface; Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0037] Example 1 This embodiment provides a basic implementation plan for a robotic arm with a self-propelled structure, focusing on solving the technical problems of limited working range of traditional fixed robotic arms and the inability of simple mobile robotic arms to achieve only overall displacement and finely adjust the position of the base in local areas.

[0038] In applications such as industrial inspection and equipment maintenance, robotic arms often need to adjust their position over a large range. However, frequent joint movements to achieve large-scale displacements can lead to increased joint wear and energy consumption. Furthermore, excessive arm extension can reduce rigidity and positioning accuracy. Therefore, it is necessary to install a base at the bottom of the robotic arm that can move independently within a local area. This allows the robotic arm itself to focus on posture adjustment and fine manipulation, while the base handles macroscopic positional movement.

[0039] like Figure 1 and Figure 2 As shown, the robotic arm with a self-propelled structure in this embodiment includes a robotic arm 1, a walking component 2, and a mounting base 3. The walking component 2 is provided at the bottom of the robotic arm 1, and the mounting base 3 is provided between the robotic arm 1 and the walking component 2.

[0040] A first rotation mechanism 101 for driving the entire robotic arm 1 to rotate is provided on the mounting base 3. The first rotation mechanism 101 can be a rotary motor (not shown in the figure), which is fixedly installed below the connecting base 102, and the rotating end of the rotary motor is connected to the connecting base 102. When the rotary motor is started, it drives the connecting base 102 and its main structure of the robotic arm 1 to rotate.

[0041] The robotic arm 1 includes a connecting base 102, a first movable arm 103, a second movable arm 104, and a third movable arm 105.

[0042] The connecting seat 102 is used to connect to the rotating end of the first rotating mechanism 101. In use, the robotic arm 1 can be rotated as a whole through the first rotating mechanism 101.

[0043] Specifically, the first movable arm 103 has a first rotating shaft 1031 at one end near the connecting seat 102, and the first movable arm 103 is rotatably connected to the inner side of the connecting seat 102 through the first rotating shaft 1031. The first movable arm 103 has a second rotating shaft 1032 at one end away from the connecting seat 102, and the first movable arm 103 is rotatably connected to the joint seat 106 through the second rotating shaft 1032.

[0044] It is understandable that a second rotating mechanism can be provided on one side of the connecting seat 102; the purpose of which is to drive the first movable arm 103 to rotate automatically around the first rotating shaft 1031 as the center through the second rotating mechanism.

[0045] The interior of the joint seat 106 is connected to the bottom end of the second movable arm 104. The top end of the second movable arm 104 is provided with a positioning member 107 that is rotatably connected.

[0046] Understandably, depending on the usage requirements, the bottom end of the second movable arm 104 is rotatably connected to the inside of the joint seat 106; a third rotating mechanism can be provided on one side of the joint seat 106; the third rotating mechanism is used to drive the second movable arm 104 to rotate and adjust the angle between the second movable arm 104 and the first movable arm 103. The positioning component 107 includes a support base 1071 rotatably connected to the top end of the second movable arm 104, and a swing rod 1072 is provided on the top of the support base 1071. A positioning cylinder 1073 is provided at one end of the swing rod 1072. The positioning cylinder 1073 is used to clamp the auxiliary tool.

[0047] As an example of a clamping method, threaded cylinders are provided at the top and bottom of the positioning cylinder 1073, and threaded rods are provided inside the threaded cylinders. The auxiliary tools inside the positioning cylinder 1073 are clamped by screwing the threaded rods inward.

[0048] It is understandable that a fourth rotating mechanism is provided at the top of the second movable arm 104. The fourth rotating mechanism is used to drive the swing arm 1072 to rotate, thereby controlling the rotation of the positioning component 107 and controlling the orientation of the auxiliary tool. The auxiliary tools include a variety of options, depending on the application. For example, a camera can be used for inspection; a welding gun can be used for welding operations; a spray gun can be used for spraying operations; a detection probe can be used for precision testing; and a gripper can be used for material handling.

[0049] like Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, the connection and movement structure between the mounting base 3 and the walking component 2 is as follows: Vertical plates 4 are symmetrically arranged on both sides of the top of the walking component 2. The inner side of the vertical plate 4 is provided with a slide rail 401 that corresponds to and cooperates with the mounting base 3. The mounting base 3 can move horizontally within the slide rail 401.

[0050] It should be noted that the mounting base 3 is designed to move horizontally within the slide rail 401, rather than being fixedly connected to the walking component 2. The technical reason for this is that if the mounting base 3 is fixed, the end effector's working range depends entirely on the coordinated movement of each joint. When a large range of position adjustments is required, the angles of each joint must be frequently adjusted. This not only increases the energy consumption of joint drives and accelerates wear, but also reduces rigidity, increases vibration, and lowers positioning accuracy when the arm is extended too far. By setting a horizontally movable mounting base 3, the joints of the robotic arm 1 can maintain a relatively compact posture. The mounting base 3 handles a large range of planar position adjustments, while the robotic arm 1 is only responsible for fine adjustments to the end effector's posture. This achieves a separation of macroscopic positioning and microscopic operation functions, thereby significantly improving work efficiency and accuracy.

[0051] Normally, the mounting base 3 slides horizontally within the slide rail 401 inside the vertical plate 4. For example, mounting holes are provided on the mounting base 3 and the vertical plate 4, and the mounting base 3 is fixed to the slide rail 401 of the vertical plate 4 by fasteners such as bolts.

[0052] Specifically, the mounting base 3 has sliding blocks 301 on both sides that correspond to and cooperate with the slide rail 401. When the sliding blocks 301 are used as the connection method with the slide rail 401 in the vertical plate 4, mounting holes can also be provided on the sliding blocks 301. The position is locked by cooperating with the fasteners through the mounting holes. The mounting holes can be threaded mounting holes, and the fasteners are screws.

[0053] Example 2 Based on Embodiment 1, this embodiment improves the driving method of the mounting base 3. Embodiment 1 uses a method of manually pushing the mounting base 3 and then fixing it with fasteners. While this method is simple in structure, it is inconvenient to operate, has poor positioning accuracy, and cannot achieve automated control. In modern industrial scenarios, the robotic arm 1 often needs to be linked with an automated control system, requiring precise and automatic adjustment of the base position. Therefore, it is necessary to improve the manual drive to an electric drive.

[0054] like Figure 4 and Figure 5 As shown, a first telescopic component 5 is provided inside the slide rail 401. The first telescopic component 5 is capable of pushing the mounting base 3 to move horizontally within the slide rail 401, replacing the above-mentioned solution of manually pushing and then fixing it by inserting parts.

[0055] Alternatively, a locking element can be provided on the first telescopic component 5 to lock the overall length of the first telescopic component 5 after telescopic extension.

[0056] With this configuration, the mounting base 3 can be moved horizontally directly via the first telescopic component 5. This allows the position of the auxiliary tool at the top of the robotic arm 1 to be adjusted by horizontal movement from below, while keeping the joint angles of the robotic arm 1 constant.

[0057] like Figure 9 and Figure 10 As shown, specifically, the telescopic end of the first telescopic component 5 corresponds to the position of the sliding block 301. A slot 3011 is provided on the sliding block 301 at the position corresponding to the telescopic end of the first telescopic component 5. A limiting groove 3012 is provided inside the slot 3011. The telescopic end of the first telescopic component 5 is adapted to the slot 3011 and can slide up and down inside the slot 3011. A sliding plate 501 corresponding to and cooperating with the limiting groove 3012 is also provided on the telescopic end of the first telescopic component 5, and the sliding plate 501 can slide up and down inside the limiting groove 3012.

[0058] This configuration does not affect the first telescopic component 5 from driving the mounting base 3 to telescopically move along the first direction (referred to as the X direction) via the sliding block 301.

[0059] Example 3 Building upon Embodiment 2, this embodiment further addresses the issue that the mounting base 3 can only move in a single direction (X-direction). In actual operations, the end effector of the robotic arm 1 often needs to be adjusted at any position within a plane, and the ability to move in a single direction cannot meet the requirements of complex work paths. Simply adding another independent Y-direction drive mechanism, while achieving two-dimensional movement, would add a complete drive system (e.g., motor, reducer, guide rail, controller, etc.), resulting in structural complexity, increased weight, and higher costs. Therefore, it is necessary to design a compact, multi-drive two-dimensional movement mechanism.

[0060] like Figure 6 , Figure 7 and Figure 8 As shown, currently, by moving horizontally, it can only move in one direction; it is also desired to move the mounting base 3 in another direction (let's call it the Y direction) to control the movement of the robotic arm 1.

[0061] Specifically, there is a gap between the mounting base 3 and the top of the traveling assembly 2. On the traveling assembly 2, near the vertical plate 4, symmetrically arranged second moving assemblies 6 are perpendicular to the first telescopic assembly 5.

[0062] The second moving component 6 is an electric telescopic pole. The fixed end of the electric telescopic pole is fixedly connected to the walking component 2, and a push plate 601 is provided at the telescopic end of the electric telescopic pole.

[0063] The end of the push plate 601 away from the electric push rod is the first stair surface 6011; correspondingly, a corresponding plate 302 is provided at the bottom of the mounting base 3, a protrusion 303 is provided at the bottom of the corresponding plate 302, and a second stair surface 3031 is provided on the lower surface of the protrusion 303; the first stair surface 6011 and the second stair surface 3031 are in a corresponding mating relationship.

[0064] In use, when the first telescopic component 5 drives the mounting base 3 to move horizontally along the first direction (X direction), the second moving component 6 remains stationary. When the mounting base 3 moves, the second stair surface 3031 on the lower surface of the protrusion 303 slides horizontally along the connection surface with the first stair surface 6011. At this time, the first stair surface 6011 only provides a limiting effect on the second stair surface 3031 in the Y direction and does not hinder movement in the X direction.

[0065] When the second moving component 6 drives the mounting base 3 to move horizontally in the (Y direction), the first telescopic component 5 remains stationary. Then, through the abutting engagement of the second stair surface 3031 on the protrusion 303 and the first stair surface 6011 on the push plate 601, the second moving component 6 slowly extends, driving the mounting base 3 to move horizontally in the Y direction.

[0066] In addition, the first stair surface 6011 and the second stair surface 3031 are not completely adjacent and cannot be staggered.

[0067] Specifically, when the second moving component 6 extends or retracts rapidly, the first stair surface 6011 and the second stair surface 3031 can be staggered.

[0068] The term "offset" here refers to the fact that mounting base 3 has the ability to move upwards.

[0069] When the first stair surface 6011 and the second stair surface 3031 come into contact, they can also drive the mounting base 3 and the mechanical arm 1 on it to move upward as a whole.

[0070] like Figure 11 As shown, it can be understood that the slide rail 401 is larger than the sliding block 301 to provide space for the upward movement of the mounting base 3. The first telescopic component 5 can move horizontally inside the slide rail 401 in the telescopic direction (i.e., the Y direction) of the second moving component 6 to accommodate changes in the position of the mounting base 3 in the Y direction.

[0071] Furthermore, since the first telescopic component 5 is slidably connected within the slide rail 401, an electromagnetic locking pin can be installed on the first telescopic component 5 to ensure that the push plate 601 pushes the second stair surface 3031 more stably by relying on the first stair surface 6011 on it. This electromagnetic locking pin is installed on the fixed end of the first telescopic component 5, and a locking pin hole is provided inside the slide rail 401 at a position corresponding to the electromagnetic locking pin for locking the position of the first telescopic component 5. After locking, the push plate 601, in conjunction with the protrusion 303 (i.e., the first stair surface 6011 in conjunction with the second stair surface 3031), can stably satisfy the upward lifting movement of the mounting base 3.

[0072] like Figure 12 As shown, further, the sharp corners of the first stair surface 6011 and the second stair surface 3031 are designed as curved surfaces, where the sharp corners refer to the outer sharp corners of the stair steps. The curved surface design can reduce stress concentration and wear during the mating process, thereby improving the service life of the mechanism.

[0073] Furthermore, a locking mechanism can be provided between the first stair surface 6011 and the second stair surface 3031. As an alternative locking mechanism, an electromagnet is provided on the first stair surface 6011, and an iron block corresponding to the electromagnet is provided on the second stair surface 3031. When the electromagnet corresponds to the iron block, the electromagnet is energized to fix the electromagnet and the iron block together.

[0074] After the first stair surface 6011 and the second stair surface 3031 are connected and locked, the mounting base 3 can move synchronously with the push plate 601 when the push plate 601 is moved. That is to say, in the locked state, the second moving component 6 can move the mounting base 3 more stably.

[0075] When the first telescopic component 5 moves the mounting base 3, the restriction between the first stair surface 6011 and the second stair surface 3031 can be released. Then, when the first telescopic component 5 extends or retracts, the first stair surface 6011 provides linear movement restriction in the Y direction for the second stair surface 3031, that is, the protrusion 303 and the mounting base 3, ensuring that the Y direction position remains unchanged when moving in the X direction.

[0076] Example 4 Based on Embodiment 3, this embodiment improves the structure of the walking component 2, focusing on solving the stability problem of the mobile robotic arm 1 during operation. When the robotic arm 1 lifts a heavy object or extends to its limit position, the center of gravity shifts forward. If the center of gravity exceeds the support surface range, the equipment will tip over. In the prior art, the rollers 202 of the mobile platform are usually fixed, and the center of gravity height is not adjustable, making it impossible to adaptively adjust according to the operation status. Therefore, it is necessary to design a walking component whose center of gravity height can be adjusted according to the operation requirements.

[0077] like Figure 13 As shown, the walking component 2 includes a grooved plate 201, the lower surface of which is a groove.

[0078] Inside the grooved plate 201, rollers 202 are connected vertically and vertically; specifically, a lifting device 204 is provided inside the grooved plate 201.

[0079] Normally, the roller 202 is located below the recessed plate 201 of the walking assembly 2. This design is based on the consideration that by housing the roller 202 within the recess of the recessed plate 201, rather than placing it on the outer side below the recessed plate 201, the overall height of the walking assembly 2 can be reduced, resulting in a more compact structure. Simultaneously, since the lower surface of the recessed plate 201 is close to the ground, when the roller 202 is raised, the lower surface of the recessed plate 201 can contact the ground, forming a larger support surface and improving stability.

[0080] To address this, the center of gravity of the walking assembly 2 can be lowered using the internal lifting device 204. Simultaneously, this allows the lower surface of the grooved plate 201 to be closer to the ground.

[0081] It is understandable that, for example, a middle lifting plate 203 is provided inside the groove plate 201 at the upper and lower limits. This middle lifting plate 203 can be closer to the top of the groove plate 201 when the lifting device 204 retracts.

[0082] The fixed end of the lifting device 204 is fixedly connected to the grooved plate 201, and the telescopic end of the lifting device 204 is fixedly connected to the central lifting plate 203. The lifting device 204 is equipped with a hydraulic cylinder to provide sufficient lifting force.

[0083] An electromagnetic pin is provided on the outer side of the central lifting plate 203, and a locking hole is provided on the inner side of the groove plate 201 to cooperate with the electromagnetic pin. The locking hole is used to position the central lifting plate 203 at different horizontal positions by the electromagnetic pin, so as to realize multi-level adjustment of the center of gravity height.

[0084] When the lifting device 204 retracts, the roller 202 retracts upwards, and the middle lifting plate 203 approaches the top of the groove plate 201. At this time, the lower surface of the groove plate 201 is close to or in contact with the ground, the support surface increases, the center of gravity decreases, which is suitable for the robotic arm 1 to perform heavy-load operations.

[0085] When the lifting device 204 extends, the roller 202 extends downward, and the middle lifting plate 203 moves away from the top of the groove plate 201. At this time, the equipment can move by the roller 202.

[0086] like Figure 14 As shown, this embodiment can further improve the applicable scenarios of the present invention by changing the setting position of the roller 202.

[0087] Understandably, depending on the usage requirements, the roller 202 can also be set on the outside of the groove plate 201. The purpose of this setting is that the roller 202 does not need to roll on the ground, but can move in the slide rails on both sides, thus improving adaptability.

[0088] When the roller 202 is positioned on the outer side of the grooved plate 201, roller mounting brackets are provided on both sides of the grooved plate 201, and the roller 202 is rotatably connected to the roller mounting brackets via a rotating shaft. The wheel surface of the roller 202 rolls in contact with the inner side or bottom surface of the outer slide rail.

[0089] Examples of application scenarios: It can be used as a rail-mounted inspection robot in scenarios such as tunnels, pipe corridors, and bridges, where suspended tracks are provided on the top or side walls. The rollers 202 cooperate with the side or bottom surface of the suspended track, allowing the entire device to move suspended below the track. At this time, the robotic arm 1 can extend downward to perform inspection operations, unaffected by ground obstacles, and suitable for scenarios with complex ground conditions or requiring high-altitude operations.

[0090] Alternatively, it can be used as an aerial, track-mounted inspection robot in scenarios such as power lines and communication towers, with parallel guide rails on both sides. Rollers 202 cooperate with the guide rails on both sides, allowing the device to move suspended between them. The robotic arm 1 can extend in any direction to perform equipment inspection and maintenance, avoiding dependence on terrain for ground-based movement.

[0091] It can also function as a tracked robot by installing a tracked walking assembly on the outer side of the grooved plate 201, replacing the single roller 202. The tracked walking assembly includes a drive wheel, a driven wheel, and a track surrounding both. This configuration is suitable for complex terrains such as wilderness, mud, and slopes, improving the device's mobility and stability.

[0092] Alternatively, it can be used as a track-based logistics robot in warehousing and logistics scenarios, with a walking track on the ground or shelves. The rollers 202 work in conjunction with the track, allowing the device to move along a fixed path for handling and sorting goods. The positioning cylinder 1073 of the robotic arm 1 can be equipped with grippers to grasp and place goods.

[0093] Alternatively, it can be used as a municipal pipeline inspection robot. In municipal pipeline inspection scenarios, the inner wall of the pipeline is equipped with a circular track or guide groove. The rollers 202 cooperate with the track on the inner wall of the pipeline, allowing the device to move along the inner wall. The robotic arm 1 is equipped with a camera and inspection probe to perform a comprehensive inspection of the inside of the pipeline.

[0094] Alternatively, it can be used as a special-purpose robot: in hazardous environments such as nuclear facilities and chemical plants, the equipment needs to move along a pre-set track or guide rail to prevent personnel from entering. The rollers 202 work in conjunction with the dedicated track, and the robotic arm 1 carries the corresponding tools to achieve remote control or autonomous operation.

[0095] Through the diverse configuration of the aforementioned walking components 2, the robotic arm system of this invention is not limited to ground-based walking applications, but can also be extended to various walking modes such as suspension, aerial, track, and track, making it suitable for a wide range of robotic applications such as inspection, logistics, municipal engineering, and special operations. The coordinated design of the lifting device 204, the central lifting plate 203, and the extension 2031 allows for adaptability to different walking modes. By adjusting the contact state between the rollers 202 and the walking surface, adaptive adjustment of the center of gravity and assurance of operational stability are achieved.

[0096] Example 5 In Embodiment 3, the electromagnetic locking mechanism between the first stair surface 6011 and the second stair surface 3031 requires a separate locking command from the external control system, increasing the complexity of the control logic. If the locking can be automatically triggered when the robotic arm 1 enters the working state, the control process can be simplified and the response speed improved.

[0097] Please continue reading. Figure 13 There is also an extension 2031 extending upward from the top of the middle lifting plate 203. Under normal circumstances, the top of the extension 2031 will not exceed the upper surface of the groove plate 201 to avoid interference with the upper mechanism.

[0098] It is understandable that an upward through-hole 2011 is provided in the middle of the groove plate 201, and an extension 2031 is provided on the upper surface of the middle lifting plate 203.

[0099] The fixed end of the lifting device 204 is fixedly connected to the inside of the opening 2011, and the telescopic end of the lifting device 204 is fixedly connected to the top of the middle lifting plate 203. An electromagnetic trigger head is embedded at the top of the extension 2031, and a conductive contact corresponding to the electromagnetic trigger head is provided at the bottom of the corresponding plate 302. When the lifting device 204 retracts, the roller 202 retracts, and the equipment enters the working state, the extension 2031 extends upward, and the electromagnetic trigger head at its top contacts the conductive contact at the bottom of the corresponding plate 302, forming an electrical path. This electrical path supplies power to the electromagnet on the first stair surface 6011, causing the electromagnet to automatically attract and lock with the iron block on the second stair surface 3031.

[0100] In this design, when the device enters the working state (roller 202 retracts), the locking actions of the first stair surface 6011 and the second stair surface 3031 are linked in the above manner, requiring no additional control commands. When the device needs to switch to the walking state, the lifting device 204 extends, the extension 2031 descends, the electromagnetic trigger head separates from the conductive contact, the electrical circuit is broken, the electromagnet loses its power supply, and the locking is automatically released.

[0101] Example 6 In Embodiment 3, the fit accuracy between the first stair surface 6011 and the second stair surface 3031 directly affects the smoothness of movement in the Y direction and the accuracy of lifting in the Z direction. After long-term use, wear on the first stair surface 6011 and the second stair surface 3031 will lead to an increase in the fit clearance, resulting in positional errors and impact vibrations. Regular manual adjustment of the clearance is costly and it is difficult to guarantee the optimal fit in real time. Therefore: An electromagnet and a pressure sensor are embedded in the top of the extension 2031, and the top of the extension 2031 can correspond to the push plate 601. When the second moving component 6 slowly extends and retracts to drive the mounting base 3 to move along the Y direction, the extension 2031 maintains contact with the push plate 601 on the ground under the control of the lifting device 204. At this time, the pressure sensor detects the contact pressure. When the detected pressure is lower than the set value (indicating that the gap between the stair surfaces has increased), the lifting device 204 slightly retracts, causing the extension 2031 to rise and push the push plate 601 to move slightly towards the protrusion 303 to compensate for the gap between the stair surfaces. When the pressure is higher than the set value, the lifting device 204 slightly extends, causing the extension 2031 to fall and reduce the compensation amount.

[0102] Through this design, the extension 2031 is used as a real-time compensation mechanism for the mating clearance of the stair surface. Through control and adjustment after pressure feedback, the first stair surface 6011 and the second stair surface 3031 always maintain the optimal mating clearance, which not only eliminates the positional error caused by wear, but also avoids the movement jamming caused by excessive tightness.

[0103] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A robotic arm with a self-propelled structure, characterized in that, include: The robotic arm body (1), the walking component (2) and the mounting base (3) are provided. The walking component (2) is provided at the bottom of the robotic arm body (1), and the mounting base (3) is provided between the robotic arm body (1) and the walking component (2). The mounting base (3) is connected to the walking component (2) by a sliding fit structure. The mounting base (3) can reciprocate relative to the walking component (2) in at least one horizontal direction to adjust the macroscopic working position of the robotic arm body (1) in the horizontal plane.

2. The robotic arm with a self-propelled structure according to claim 1, characterized in that, The walking component (2) has vertical plates (4) symmetrically arranged on both sides of its top. The inner side of the vertical plate (4) is provided with a slide rail (401) that corresponds to and cooperates with the mounting base (3). The mounting base (3) is slidably disposed in the slide rail (401). The slide rail (401) is used to guide and limit the horizontal movement of the mounting base (3). The slide (401) is provided with a first telescopic component (5), the telescopic end of the first telescopic component (5) is connected to the mounting base (3) and is used to push the mounting base (3) to reciprocate along the first horizontal direction.

3. The robotic arm with a self-propelled structure according to claim 2, characterized in that, The mounting base (3) has sliding blocks (301) on both sides that correspond to and cooperate with the slide rail (401). The sliding block (301) has a slot (3011) and a limiting groove (3012) inside the slot (3011). The telescopic end of the first telescopic component (5) has a sliding plate (501) that corresponds to and cooperates with the limiting groove (3012). The sliding plate (501) can slide in the limiting groove (3012) in the vertical direction to maintain the transmission connection between the first telescopic component (5) and the sliding block (301) when the mounting base (3) produces vertical displacement.

4. The robotic arm with a self-propelled structure according to claim 2 or 3, characterized in that, There is a gap between the mounting base (3) and the top of the walking component (2). The walking component (2) is symmetrically provided with a second moving component (6) near the vertical plate (4) and is perpendicular to the first telescopic component (5). The telescopic end of the second moving component (6) is provided with a push plate (601). The bottom of the mounting base (3) is provided with a corresponding plate (302). The bottom of the corresponding plate (302) is provided with a protrusion (303). The push plate (601) and the protrusion (303) are connected by a mutually cooperating stair surface structure. When the second moving component (6) drives the push plate (601) to move along the second horizontal direction, the push plate (601) drives the mounting seat (3) to move synchronously along the second horizontal direction through the abutting fit of the stair surface structure, so as to realize the position adjustment of the mounting seat (3) in two orthogonal directions in the horizontal plane.

5. The robotic arm with a self-propelled structure according to claim 4, characterized in that, The stair surface structure includes a first stair surface (6011) located at the end of the push plate (601) away from the second moving component (6), and a second stair surface (3031) located on the lower surface of the protrusion (303). The first stair surface (6011) and the second stair surface (3031) are mutually compatible stepped surface mating structures. When the second moving component (6) extends or retracts, the first stair surface (6011) and the second stair surface (3031) can be staggered in the vertical direction to drive the mounting base (3) and the mechanical arm body (1) to be lifted upward as a whole.

6. The robotic arm with a self-propelled structure according to claim 5, characterized in that, A locking mechanism is provided between the first stair surface (6011) and the second stair surface (3031). The locking mechanism is used to lock the relative position of the first stair surface (6011) and the second stair surface (3031) when the mounting base (3) is in operation.

7. The robotic arm with a self-propelled structure according to claim 6, characterized in that, The locking mechanism includes an electromagnet disposed on the first stair surface (6011) and an iron block disposed on the second stair surface (3031) and corresponding to the electromagnet. By energizing the electromagnet, the electromagnet and the iron block are fixedly attracted to each other, thereby realizing the controllable locking and unlocking between the push plate (601) and the protrusion (303).

8. The robotic arm with a self-propelled structure according to any one of claims 1 to 3, characterized in that, The walking component (2) includes a grooved plate (201), a lifting device (204) and a roller (202). The lower surface of the grooved plate (201) has a groove structure, and the roller (202) is vertically and vertically disposed inside the grooved plate (201) through the lifting device (204). The lifting device (204) is used to drive the roller (202) to extend or retract relative to the groove plate (201). When the roller (202) retracts, the lower surface of the groove plate (201) approaches or contacts the support surface, which is used to lower the center of gravity of the equipment and expand the support area. When the roller (202) extends, it is used to realize the walking movement of the equipment.

9. The robotic arm with a self-propelled structure according to claim 8, characterized in that, The grooved plate (201) is provided with a middle lifting plate (203) for upper and lower limit positioning. The fixed end of the lifting device (204) is fixedly connected to the grooved plate (201), and the telescopic end of the lifting device (204) is fixedly connected to the middle lifting plate (203). The roller (202) is installed below the middle lifting plate (203). The outer side of the middle lifting plate (203) is provided with an electromagnetic pin, and the inner side of the grooved plate (201) is provided with a locking hole that corresponds to and cooperates with the electromagnetic pin. The electromagnetic pin and the locking hole cooperate to position the middle lifting plate (203) at different horizontal heights, so as to realize the multi-level adjustment of the center of gravity of the equipment.

10. The robotic arm with a self-propelled structure according to claim 8, characterized in that, The groove plate (201) has an upward through hole (2011) in the middle, and the upper surface of the middle lifting plate (203) is provided with an extension (2031). The top of the extension (2031) is embedded with an electromagnetic trigger head; the bottom of the corresponding plate (302) is provided with a conductive contact that corresponds to and cooperates with the electromagnetic trigger head. When the lifting device (204) retracts and the roller (202) retracts, the extension (2031) extends upward, and the electromagnetic trigger head contacts the conductive contact to form an electrical path. The electrical path is used to supply power to the locking mechanism to automatically trigger the locking between the first stair surface (6011) and the second stair surface (3031).

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