Carrying robot with sky rail type telescopic mechanical arm

Abstract

The utility model relates to a sky rail type telescopic mechanical arm carrying robot which comprises a main beam assembly, a mechanical arm, end beam assemblies and main beam motors, the end beam assemblies are installed at the two ends of the main beam assembly, and the main beam motors are installed on the end beam assemblies and used for longitudinal movement of the end beam assemblies. The manipulator is provided with a manipulator walking motor which is movably mounted in a sliding rail of the main beam assembly; the mechanical arm further comprises a telescopic mechanical arm and a mechanical arm lifting power mechanism. The telescopic mechanical arm comprises multiple stages of telescopic units which are sequentially arranged in a nested mode from outside to inside, and a mechanical arm object carrying fixing plate arranged at the bottom of the telescopic unit on the innermost side. The fixed end of the mechanical arm lifting power mechanism is connected with the outermost telescopic unit, and the telescopic end of the mechanical arm lifting power mechanism is connected with the mechanical arm carrying fixing plate. Compared with the prior art, the utility model has the advantages of good stability, high positioning accuracy, greatly increased load and stroke, standardized structural design and the like.

Description

Technical Field

[0001] This utility model relates to the field of handling robots, and in particular to a telescopic robotic arm handling robot with a ceiling track. Background Technology

[0002] Traditional bridge cranes in factories mostly achieve three-dimensional material handling by having the trolley move longitudinally along the overhead track in the workshop and the trolley move laterally on the bridge track, in conjunction with the vertical lifting of the wire rope; such as the bridge crane with wire rope lubrication function disclosed in the utility model with publication number CN222833904U.

[0003] The above-mentioned structure directly lifts and lowers materials vertically using steel wire ropes. However, the elastic deformation of the steel wire ropes can easily cause load swaying, and the positioning accuracy is low, which can easily lead to safety accidents. Therefore, it cannot meet the needs of automated production tasks in specific fields.

[0004] On the other hand, existing gantry robots generally achieve triaxial linear motion through a three-directional slider rail structure, such as the loading and unloading system of a gantry robot disclosed in utility model publication CN119871356A.

[0005] In existing gantry robot structures, most of them drive the corresponding slider (17) or transport rod through gear rack / belt transmission to achieve linear motion in all directions; however, they have limited load capacity and the lifting space is affected by their own structure, resulting in a short stroke. Utility Model Content

[0006] The purpose of this utility model is to overcome the shortcomings of the existing technology, such as the bridge crane being easy to sway and having low positioning accuracy due to the use of wire rope for transportation; and the gantry robot having limited load capacity and lifting space affected by its own structure, and to provide a ceiling-mounted telescopic robotic arm for transportation.

[0007] The objective of this utility model can be achieved through the following technical solutions:

[0008] A telescopic robotic arm handling robot with a ceiling track includes a main beam assembly, a robotic arm, end beam assemblies, and a main beam motor. The end beam assemblies are installed at both ends of the main beam assembly, and the main beam motors are installed on the end beam assemblies for longitudinal movement of the end beam assemblies. The robotic arm is equipped with a robotic arm walking motor and is movably installed in the slide rail of the main beam assembly.

[0009] The robotic arm also includes a telescopic robotic arm and a robotic arm lifting power mechanism. The telescopic robotic arm includes multiple telescopic units nested from the outside to the inside, and a robotic arm loading and fixing plate located at the bottom of the innermost telescopic unit. The fixed end of the robotic arm lifting power mechanism is connected to the outermost telescopic unit, and the telescopic end is connected to the robotic arm loading and fixing plate.

[0010] Furthermore, each telescopic unit includes a telescopic arm support plate and a connecting structure mounted on the telescopic arm support plate;

[0011] The connection structure of the two adjacent telescopic units includes a slider guide rail installed in the middle of the outer telescopic unit, a slider installed outside the inner telescopic unit, and a limiting pin installed at the bottom of the middle of the outer telescopic unit. The slider is slidably connected to the slider guide rail and is limited by the limiting pin.

[0012] The number of sliders is multiple, and they are evenly distributed in the upper half of the outer side of the inner telescopic unit.

[0013] Furthermore, the telescopic unit located at the head end includes two telescopic arm support plates, and slider guide rails are provided on opposite sides of the two telescopic arm support plates.

[0014] Each telescopic unit located in the middle includes two telescopic arm support plates. Each of the two telescopic arm support plates has a slider guide rail on its opposite side. Each of the two telescopic arm support plates has a slider on its outer side that is slidably connected to the slider guide rail of the previous telescopic unit.

[0015] The telescopic unit located at the tail end includes two telescopic arm support plates. Support plates are connected to the middle of the opposite sides of the two telescopic arm support plates. The outer sides of the two telescopic arm support plates are provided with sliders that are slidably connected to the slider guide rail of the previous telescopic unit.

[0016] Furthermore, the telescopic unit has a four-level structure, including a zero-level telescopic arm, a first-level telescopic arm, a second-level telescopic arm, and a third-level telescopic arm nested from the outside to the inside.

[0017] The zero-stage telescopic arm includes two zero-stage telescopic arm support plates;

[0018] The first-stage telescopic arm includes two first-stage telescopic arm support plates. Each of the two first-stage telescopic arm support plates 18 is provided with a first-stage slider guide rail on its opposite side. Each of the two first-stage telescopic arm support plates is provided with a slider that is slidably connected to the zero-stage slider guide rail on its outer side.

[0019] The secondary telescopic arm includes two secondary telescopic arm support plates. Each of the two secondary telescopic arm support plates is provided with a secondary slider guide rail on its opposite side. Each of the two secondary telescopic arm support plates is provided with a slider that is slidably connected to the primary slider guide rail on its outer side.

[0020] The three-stage telescopic arm includes two opposing three-stage telescopic arm support plates. A fixed plate is connected to the middle of the opposite sides of the two three-stage telescopic arm support plates. A slider that is slidably connected to the secondary slider guide rail is provided on the outer side of each of the two three-stage telescopic arm support plates.

[0021] Furthermore, the telescopic units located at the head end and the middle are also provided with a front baffle and a rear baffle, which are connected to two telescopic arm support plates and respectively cover the front and rear sides of the two telescopic arm support plates.

[0022] Furthermore, the lifting power mechanism of the robotic arm includes a hydraulic drive unit and multiple hydraulic cylinders. The multiple hydraulic cylinders are installed at the four corners of the robotic arm's loading and fixing plate or at two corners on the diagonal. The hydraulic drive unit draws hydraulic oil and transmits it to each of the multiple hydraulic cylinders, which then perform telescopic movements synchronously.

[0023] Furthermore, the lifting power mechanism of the robotic arm includes a motor, a winch, and a wire rope. One end of the wire rope is connected to the output end of the winch, and the other end is connected to the loading plate of the robotic arm. The number of wire ropes is multiple or single, and they are respectively connected to the center, four corners, or two corners on the diagonal of the loading plate of the robotic arm. The winch is driven by the motor.

[0024] Furthermore, the lifting power mechanism of the robotic arm includes a motor, gears, and chains. One end of the chain is wound around a gear, and the other end is connected to the robotic arm's loading plate through a gear. There are multiple gears and chains, and each chain is connected to one of the four corners or two diagonal corners of the robotic arm's loading plate through a gear. The gears are driven by the motor.

[0025] Furthermore, the lifting power mechanism of the robotic arm includes a motor, gears, and multi-stage racks. There are multiple multi-stage racks, which are respectively connected to the four corners of the robotic arm's loading and fixing plate or to two corners on the diagonal. Each multi-stage rack is connected to a corresponding gear and is driven by the motor.

[0026] Furthermore, the lifting power mechanism of the robotic arm includes a motor and a multi-stage telescopic screw. The number of multi-stage telescopic screws can be multiple or single, and they are respectively connected to the center, four corners, or two corners on the diagonal of the robotic arm's loading and fixing plate; each multi-stage telescopic screw is driven by the motor.

[0027] Furthermore, the number of robotic arms is one or more, and each robotic arm can be movably installed within the slide rail of the main beam assembly.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] (1) This utility model upgrades and integrates a multi-stage telescopic robotic arm on the basis of the main beam of a bridge crane. It is equipped with guide rails and sliders to form a multi-stage nested mechanical telescopic arm structure. On the one hand, compared with the traditional wire rope lifting structure, it can limit the vertical lifting in the height direction, making it less prone to swaying and improving the stability and positioning accuracy of lifting. On the other hand, compared with the linear motion slider and guide rail structure in the traditional gantry robot, the multi-stage telescopic robotic arm of this utility model can greatly increase the load and has no top space restriction, thus greatly increasing the stroke. Overall, it has the advantages of good stability, high positioning accuracy, and significantly improved load and stroke.

[0030] (2) This utility model proposes to set up multiple multi-stage hydraulic cylinders driven by hydraulics on the outside of the telescopic robotic arm to lift the robotic arm. The multi-stage hydraulic cylinders are connected in parallel with the guide rail slider in the multi-stage telescopic robotic arm to bear the load and run synchronously, which greatly improves the overall anti-deviation ability and the load-bearing capacity.

[0031] (3) This utility model provides a standard modular definition for the telescopic robotic arm of the robot. The telescopic units at the front, middle and rear ends are defined with telescopic arm support plates, slider guide rails, sliders and fixing plates. The overall structure can be standardized and the structural dimensions can be adjusted according to the actual situation to meet the usage requirements of different application environments, providing a standardized structural design for the field of handling robots. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of a single-arm, ceiling-mounted telescopic robotic arm handling robot provided in this embodiment of the present utility model.

[0033] Figure 2 for Figure 1 A magnified view of region B in the diagram;

[0034] Figure 3 This is a schematic diagram of the right-side structure of a robotic arm provided in an embodiment of this utility model;

[0035] Figure 4 for Figure 3 CC section view;

[0036] Figure 5 for Figure 3 DD sectional view;

[0037] Figure 6 This is a schematic diagram of the overall structure of a dual-arm, ceiling-mounted telescopic robotic arm handling robot provided in an embodiment of this utility model.

[0038] In the diagram, 1. Main beam assembly, 2. Robotic arm, 3. End beam assembly, 4. Main beam motor, 5. Zero-stage telescopic arm, 6. First-stage telescopic arm, 7. Second-stage telescopic arm, 8. Multi-stage hydraulic cylinder, 9. Robotic arm loading and fixing plate, 10. Hydraulic station, 11. Oil pipeline assembly, 12. Electrical control cabinet, 13. Robotic arm walking motor, 14. Robotic arm base, 15. Zero-stage telescopic arm support plate, 16. Zero-stage slider guide rail, 17. Slider, 18. First-stage telescopic arm support plate, 19. First-stage slider guide rail, 20. Second-stage telescopic arm support plate, 21. Second-stage guide rail, 22. Third-stage telescopic arm, 23. Limit pin. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] Example 1

[0046] like Figure 1 As shown, this embodiment provides a telescopic robotic arm handling robot with a ceiling track, including a main beam assembly 1, a robotic arm 2, an end beam assembly 3, and a main beam motor 4. The end beam assembly 3 is installed at both ends of the main beam assembly 1, and the main beam motor 4 is installed on the end beam assembly 3 for the longitudinal movement of the robot. The robotic arm 2 is equipped with a robotic arm walking motor 13, which is movably installed in the slide rail of the main beam assembly 1.

[0047] The robotic arm 2 also includes a telescopic robotic arm and a robotic arm lifting power mechanism. The telescopic robotic arm includes multiple telescopic units nested from the outside to the inside, and a robotic arm loading fixing plate 9 located at the bottom of the innermost telescopic unit. The fixed end of the robotic arm lifting power mechanism is connected to the outermost telescopic unit, and the telescopic end is connected to the robotic arm loading fixing plate 9.

[0048] This solution upgrades and integrates a multi-stage telescopic robotic arm onto the main beam of a bridge crane. This, combined with guide rails and sliders, forms a multi-stage, nested mechanical telescopic arm structure. On one hand, compared to traditional wire rope lifting structures, it restricts lifting to vertical height, reducing swaying and improving stability and positioning accuracy. On the other hand, the multi-stage telescopic robotic arm significantly increases load capacity and eliminates top space limitations, resulting in a substantial increase in travel distance.

[0049] Specifically, such as Figures 3-5 As shown, each telescopic unit includes a telescopic arm support plate and a connecting structure mounted on the telescopic arm support plate.

[0050] The connection structure of the two adjacent telescopic units includes a slider guide rail installed in the middle of the outer telescopic unit, a slider 17 installed on the outside of the inner telescopic unit, and a limiting pin 23 installed at the bottom of the middle of the outer telescopic unit. The slider 17 is slidably connected to the slider guide rail and is limited by the limiting pin 23.

[0051] Specifically, the telescopic unit at the head end includes two telescopic arm support plates, and slider guide rails are provided on opposite sides of the two telescopic arm support plates.

[0052] The telescopic unit located in the middle includes two telescopic arm support plates. The opposite sides of the two telescopic arm support plates are provided with slider guide rails. The outer sides of the two telescopic arm support plates are provided with sliders 17 that are slidably connected to the slider guide rails of the previous telescopic unit.

[0053] The telescopic unit located at the tail end includes two telescopic arm support plates. Support plates are connected to the middle of the opposite sides of the two telescopic arm support plates. Slider 17 is provided on the outer side of each of the two telescopic arm support plates and is slidably connected to the slider guide rail of the previous telescopic unit.

[0054] In this embodiment, the telescopic unit includes a zero-level telescopic arm 5, a first-level telescopic arm 6, a second-level telescopic arm 7, and a third-level telescopic arm 22.

[0055] Specifically, it includes two zero-level telescopic boom support plates 15, a first-level telescopic boom support plate 18, a second-level telescopic boom support plate 20, and a third-level telescopic boom 22; the two zero-level telescopic boom support plates 15, the first-level telescopic boom support plate 18, and the second-level telescopic boom support plate 20 are all arranged opposite to each other;

[0056] Each zero-level telescopic arm support plate 15 has two sets of zero-level slider guide rails 16 on its inner side, each first-level telescopic arm support plate 18 has two sets of first-level slider guide rails 19 on its inner side, and each second-level telescopic arm support plate 20 has two sets of second-level slider guide rails 21 on its inner side.

[0057] Two sets of sliders are evenly arranged on the upper outer half of the first-stage telescopic arm support plate 18, corresponding to two sets of zero-stage slider guide rails 15, with three sliders in each set; two sets of sliders are evenly arranged on the upper outer half of the second-stage telescopic arm support plate 20, corresponding to two sets of first-stage slider guide rails 19, with three sliders in each set; two sets of sliders are evenly arranged on the upper half of both sides of the third-stage telescopic arm 22, corresponding to two sets of second-stage slider guide rails 21, with three sliders in each set.

[0058] The bottom of the zero-level telescopic arm support plate 15, the first-level telescopic arm support plate 18 and the second-level telescopic arm support plate 20 are all provided with limit pins 23 for blocking the slider.

[0059] Specifically, the robotic arm loading and fixing plate 9 is simultaneously connected to the three-stage telescopic arm 22 and fixed together with bolts. The three-stage telescopic arm 22 is installed on 12 sliders 17. The sliders are assembled with the secondary guide rail 21. The secondary slider guide rail 21 is fixed to the secondary telescopic arm support plate 20 with bolts. After the slider is installed on the back of the secondary telescopic arm support plate 20, it is assembled with the primary slider guide rail 19. The primary slider guide rail is fixed to the primary telescopic arm support plate 18 with bolts. After the slider is installed on the back of the primary telescopic arm support plate 18, it is assembled with the zero-stage slider guide rail 16. The zero-stage slider guide rail 16 is fixed to the zero-stage telescopic arm support plate 15 with bolts. The zero-stage telescopic arm support plate 15 is rigidly connected to the robotic arm base 14 with bolts.

[0060] The three-stage telescopic arm 22 includes two opposing three-stage telescopic arm support plates. A fixed plate is connected to the middle of the opposite sides of the two three-stage telescopic arm support plates. A slider 17 that is slidably connected to the secondary slider guide rail 21 is provided on the outer side of each of the two three-stage telescopic arm support plates.

[0061] Through the above connection method, the third-stage telescopic arm 22 can move relative to the second-stage telescopic arm support 20 via the slider, the second-stage telescopic arm 20 can move relative to the first-stage telescopic arm support 18 via the slider, and the first-stage telescopic arm support 18 can move relative to the first-stage telescopic arm support 18 via the slider. The travel of each telescopic arm is half the length of its telescopic arm, and it is limited by the limit pin and the lifting power mechanism of the robotic arm.

[0062] Preferably, the telescopic units located at the head end and the middle are also provided with a front baffle and a rear baffle, and the front baffle and the rear baffle are connected to two telescopic arm support plates and respectively cover the front and rear sides of the two telescopic arm support plates.

[0063] For the lifting power mechanism of the robotic arm, this embodiment provides the following five optional structural forms, which are described in detail below:

[0064] I. Hydraulic pump + hydraulic cylinder

[0065] The lifting power mechanism of the robotic arm includes a hydraulic drive unit and a retractable multi-stage hydraulic cylinder 8. There are multiple multi-stage hydraulic cylinders 8, which are installed at the four corners of the robotic arm's loading and fixing plate 9 or at two corners on the diagonal. The hydraulic drive unit draws hydraulic oil and transmits it to each multi-stage hydraulic cylinder 8, so that they can move in a synchronous manner.

[0066] Preferably, in this embodiment, there are four multi-stage hydraulic cylinders 8, which are respectively connected to the four corners of the robotic arm's loading and fixing plate 9.

[0067] Specifically, such as Figure 2As shown, the hydraulic drive unit includes a hydraulic station 10, an oil pipeline assembly 11, an electrical control cabinet 12, and a robot arm base 14 that supports the entire hydraulic drive unit. The robot arm walking motor 13 is mounted on the robot arm base 14.

[0068] The hydraulic station 10 may specifically include a piston pump, an oil tank, a cooler, a filter, a pressure reducing valve, and a solenoid directional valve. The piston pump is driven by the electrical control cabinet to operate, and the hydraulic oil is drawn from the oil tank through the oil pipeline assembly 11. After passing through the cooler and the piston pump, the oil enters the filter for filtration, then passes through the pressure reducing valve and the solenoid directional valve, and finally enters four multi-stage hydraulic cylinders 8 for synchronous driving.

[0069] The top of the piston rod of the multi-stage hydraulic cylinder 8 is connected to the loading and fixing plate 9 of the robot arm by bolts.

[0070] The maximum cylinder diameter flange of the multi-stage hydraulic cylinder 8 and the zero-stage telescopic arm support plate are simultaneously fixed to the robot base 14, and the top of the hydraulic cylinder piston plate and the third-stage telescopic arm 22 are also simultaneously fixed to the robot load fixing plate 9. Thus, the multi-stage hydraulic cylinder 8 is used to lift the load in the vertical direction of the Z-axis, while the multi-stage telescopic robot arm is used for the positioning of the load, thereby achieving a higher positioning accuracy.

[0071] II. Electric motor + winch + wire rope

[0072] The lifting power mechanism of the robotic arm includes a motor, a winch, and a wire rope. One end of the wire rope is connected to the output end of the winch, and the other end is connected to the robotic arm loading plate 9. There are multiple or single wire ropes, which are connected to the center, four corners, or two corners on the diagonal of the robotic arm loading plate 9. The winch is driven by the motor.

[0073] By controlling the rotation of the winch with a motor, the lifting and lowering of each wire rope can be driven synchronously, thus achieving the synchronous lifting and lowering of the multi-stage telescopic robotic arm.

[0074] III. Motor + Gear + Chain

[0075] The lifting power mechanism of the robotic arm includes a motor, gears, and chains. One end of the chain is wound around a gear, and the other end is connected to the robotic arm's loading plate 9 through a gear. There are multiple gears and chains, and each chain is connected to the four corners of the robotic arm's loading plate 9 or two corners on opposite diagonals through gears. The gears are driven by the motor.

[0076] By controlling the rotation of gears with a motor, the various chains can be raised and lowered synchronously, enabling the simultaneous lifting and lowering of the multi-stage telescopic robotic arm.

[0077] IV. Motor + Gear + Multi-stage Rack

[0078] The lifting power mechanism of the robotic arm includes a motor, gears, and multi-stage racks. There are multiple multi-stage racks, which are respectively connected to the four corners of the robotic arm's loading and fixing plate 9 or to the two corners on the diagonal. Each multi-stage rack is connected to a corresponding gear and is driven by the motor.

[0079] By controlling the rotation of gears via a motor, the multi-stage racks can be driven to contract or extend in stages, thereby lifting and lowering the multi-stage telescopic robotic arm.

[0080] V. Motor + Multi-stage Telescopic Screw

[0081] The lifting power mechanism of the robotic arm includes a motor and a multi-stage telescopic screw. The number of multi-stage telescopic screws can be multiple or single, and they are respectively connected to the center, four corners, or two corners on the diagonal of the robotic arm's loading and fixing plate 9; each multi-stage telescopic screw is driven by a motor.

[0082] The multi-stage telescopic screw is controlled by a motor to retract or extend in stages, thereby raising and lowering the multi-stage telescopic robotic arm.

[0083] Optionally, the number of robotic arms 2 may be one or more, and each robotic arm 2 may be movably installed in the slide rail of the main beam assembly 1.

[0084] For example, a robotic arm 2 can be installed to form a single-arm, overhead track-mounted telescopic robotic arm handling robot. Figure 1 As shown, material handling is carried out separately;

[0085] Two robotic arms 2 can be installed to form a dual-arm overhead track telescopic robotic arm handling robot, such as... Figure 6 As shown, they work together to handle materials.

[0086] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A ceiling track telescopic robotic arm handler characterized by, The system includes a main beam assembly (1), a robotic arm (2), an end beam assembly (3), and a main beam motor (4). The end beam assembly (3) is installed at both ends of the main beam assembly (1), and the main beam motor (4) is installed on the end beam assembly (3) for longitudinal movement of the end beam assembly (3). The robotic arm (2) is equipped with a robotic arm walking motor (13), which is movably installed in the slide rail of the main beam assembly (1). The robotic arm (2) also includes a telescopic robotic arm and a robotic arm lifting power mechanism. The telescopic robotic arm includes multiple telescopic units nested from the outside to the inside, and a robotic arm loading fixing plate (9) located at the bottom of the innermost telescopic unit. The fixed end of the robotic arm lifting power mechanism is connected to the outermost telescopic unit, and the telescopic end is connected to the robotic arm loading fixing plate (9).

2. The overhead track type telescopic mechanical arm handling robot according to claim 1, characterized in that, Each telescopic unit includes a telescopic arm support plate and a connecting structure mounted on the telescopic arm support plate; The connection structure of the two adjacent telescopic units includes a slider guide rail installed in the middle of the outer telescopic unit, a slider (17) installed outside the inner telescopic unit, and a limiting pin (23) installed at the bottom of the middle of the outer telescopic unit. The slider (17) can be slidably connected to the slider guide rail and is limited by the limiting pin (23). The number of sliders (17) is multiple, and they are evenly distributed in the upper half area outside the inner telescopic unit.

3. The ceiling rail type telescopic mechanical arm carrying robot according to claim 2, characterized in that, The telescopic unit at the front end includes two telescopic arm support plates, and slider guide rails are provided on opposite sides of the two telescopic arm support plates. The telescopic unit located in the middle includes two telescopic arm support plates. The opposite sides of the two telescopic arm support plates are provided with slider guide rails. The outer sides of the two telescopic arm support plates are provided with sliders (17) that are slidably connected to the slider guide rails of the previous telescopic unit. The telescopic unit located at the tail end includes two telescopic arm support plates. The middle of the opposite sides of the two telescopic arm support plates is connected to a support plate. The outer side of the two telescopic arm support plates is provided with a slider (17) that is slidably connected to the slider guide rail of the previous telescopic unit.

4. The ceiling rail type telescopic mechanical arm carrying robot according to claim 3, characterized in that, The telescopic unit has a four-level structure, including a zero-level telescopic arm (5), a first-level telescopic arm (6), a second-level telescopic arm (7), and a third-level telescopic arm (22) nested from the outside to the inside. The zero-level telescopic arm (5) includes two zero-level telescopic arm support plates (15), and zero-level slider guide rails (16) are provided on opposite sides of the two zero-level telescopic arm support plates (15). The first-stage telescopic arm (6) includes two first-stage telescopic arm support plates (18). Each of the two first-stage telescopic arm support plates (18) is provided with a first-stage slider guide rail (19) on the opposite side. Each of the two first-stage telescopic arm support plates (18) is provided with a slider (17) that is slidably connected to the zero-stage slider guide rail (16) on the outer side. The secondary telescopic arm (7) includes two secondary telescopic arm support plates (20), and each of the two secondary telescopic arm support plates (20) is provided with a secondary slider guide rail (21) on the opposite side. Each of the two secondary telescopic arm support plates (20) is provided with a slider (17) that is slidably connected to the primary slider guide rail (19) on the outer side. The three-stage telescopic arm (22) includes two opposing three-stage telescopic arm support plates. A fixed plate is connected to the middle of the opposite side of the two three-stage telescopic arm support plates. A slider (17) that is slidably connected to the secondary slider guide rail (21) is provided on the outer side of each of the two three-stage telescopic arm support plates.

5. The ceiling rail type telescopic mechanical arm carrying robot according to claim 3, characterized in that, The telescopic units located at the head end and the middle are also equipped with a front baffle and a rear baffle. The front baffle and the rear baffle are connected to two telescopic arm support plates and cover the front and rear sides of the two telescopic arm support plates respectively.

6. The ceiling rail type telescopic mechanical arm carrying robot according to claim 1, characterized in that, The lifting power mechanism of the robotic arm includes a hydraulic drive unit and a multi-stage hydraulic cylinder (8). There are multiple multi-stage hydraulic cylinders (8), which are respectively installed at the four corners of the robotic arm loading plate (9) or at two corners on the diagonal. The hydraulic drive unit draws hydraulic oil and transmits it to each multi-stage hydraulic cylinder (8) to perform telescopic movements synchronously.

7. The ceiling rail type telescopic mechanical arm carrying robot according to claim 1, characterized in that, The lifting power mechanism of the robotic arm includes a motor, a winch and a wire rope. One end of the wire rope is connected to the output end of the winch and the other end is connected to the loading plate (9) of the robotic arm. The number of wire ropes is multiple or single, and they are respectively connected to the center, four corners or two corners on the diagonal of the loading plate (9) of the robotic arm. The winch is driven by the motor.

8. The ceiling rail type telescopic mechanical arm carrying robot according to claim 1, characterized in that, The lifting power mechanism of the robotic arm includes a motor, gears and chains. One end of the chain is wound around the gear, and the other end is connected to the robotic arm loading plate (9) through the gear. There are multiple gears and chains, and each chain is connected to the four corners of the robotic arm loading plate (9) or two corners on the diagonal through the gear. The gears are driven by the motor.

9. The ceiling rail type telescopic mechanical arm carrying robot according to claim 1, characterized in that, The lifting power mechanism of the robotic arm includes a motor, gears and multi-stage racks. There are multiple multi-stage racks, which are respectively connected to the four corners of the robotic arm's loading plate (9) or two corners on the diagonal. Each multi-stage rack is connected to a corresponding gear and is driven by the motor.

10. The ceiling rail type telescopic mechanical arm carrying robot according to claim 1, characterized in that, The lifting power mechanism of the robotic arm includes a motor and a multi-stage telescopic screw. The number of multi-stage telescopic screws can be multiple or single, and they are respectively connected to the center, four corners or two corners on the diagonal of the robotic arm loading plate (9); each multi-stage telescopic screw is driven by the motor.

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