Industrial robot with changeable walking state

Abstract

This utility model discloses an industrial robot capable of changing its walking state, belonging to the field of robot technology. It includes a body with a detachable cargo box at the upper end. Mechanical legs for walking are symmetrically installed at both the front and rear ends of the body. This utility model controls a conversion motor to rotate, which drives a winding wheel. The winding wheel winds up a traction rope, which in turn pulls a rotating rod, causing a connecting component to rotate. This rotation of the connecting component drives a support wheel to rotate as well, changing the support wheel's position from horizontal to inclined. This changes the robot's walking posture. Then, the drive motor is activated to rotate the support wheel, allowing the robot to move quickly on flat ground, increasing transport speed. By switching the robot's walking state back and forth, the applicability of this utility model is greatly increased.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an industrial robot capable of changing its walking state. Background Technology

[0002] With the development of technology, robots are becoming increasingly popular, and more and more production bases are starting to use them. Many industrial production bases use robots for short-distance goods handling, which is characterized by high efficiency and large load capacity.

[0003] Chinese patent discloses a handling robot (publication number: CN112896363B). This patent describes a robot that uses a box to hold items for handling. The robot's wheels rotate, moving the items to a designated location. When unloading, an electric telescopic rod is activated, lifting one end of the box. The other end of the box rotates via a rotating lug on the outside of a first rotating shaft, causing the box to deflect downwards and move forward. This forward movement of the box causes a second rotating shaft to move forward, which in turn moves a rotating plate that rotates on the outside of the second rotating shaft, causing a third rotating shaft to move forward. This forward movement of the third rotating shaft also causes a connecting rod to rotate, deflecting the box away from the baffle. At this point, the items in the box slide down. Simultaneously, the lower end of the connecting rod rotates on the surface of a fourth rotating shaft. Two sets of limiting plates on the outside of the fourth rotating shaft prevent the connecting rod from detaching. This invention facilitates the unloading of items and prevents items from slipping during handling.

[0004] However, the handling robot in this patent uses a single, wheeled locomotion method. While wheeled robots are efficient, they are highly dependent on road conditions and can only travel on flat surfaces. They cannot traverse complex terrains, such as uneven ground or sections requiring stair climbing (these are just examples, not limited to these). Therefore, this invention provides an industrial robot with an adjustable locomotion mode to solve the aforementioned problems. Utility Model Content

[0005] The purpose of this invention is to provide an industrial robot that can change its walking state in order to solve the problems mentioned in the background art.

[0006] The technical solution of this utility model is as follows: An industrial robot capable of changing its walking state includes a body, a cargo box detachably connected to the upper end of the body, and mechanical legs installed at both the front and rear ends of the body; each mechanical leg includes a main body, one end of which is connected to the body, and a secondary body installed at the other end of the main body; a mounting plate is fixedly connected to the outer wall of the main body, and a second walking motor is fixedly connected to the end of the mounting plate near the body; a first walking motor is also installed inside the main body; the secondary body includes a drive block, which is rotatably connected to the main body via a support shaft; a connecting rod is fixedly connected inside the drive block, and a support leg is fixedly connected to the lower end of the connecting rod.

[0007] Preferably, a connecting structure is installed at the upper end of the body, the connecting structure includes a fixed shell, a positioning groove is provided at the lower end of the cargo box, and a rubber ring is fixedly connected to the inner wall of the positioning groove.

[0008] Preferably, a rifle sleeve is rotatably connected inside the fixed shell, a rifle rod is inserted inside the rifle sleeve, a support spring is sleeved on the outside of the rifle rod, and several push blocks are attached to the outside of the rifle sleeve.

[0009] Preferably, each of the pushing blocks is rotatably connected to the fixed shell, and a number of limiting rods are slidably connected inside the fixed shell, with each of the limiting rods corresponding to a number of pushing blocks, and a return spring is sleeved on the outer wall of each limiting rod.

[0010] Preferably, the lower end of the support leg is connected to a support wheel via a steering knuckle, a support frame is fixedly connected to the outer wall of the support wheel, the end of the support frame away from the support wheel is rotatably connected to the steering knuckle, and a drive motor is also fixedly connected inside the support frame.

[0011] Preferably, the steering knuckle includes a kit, which is fixedly connected to the lower end of the support leg, and a connector is rotatably connected inside the kit, with the support frame rotatably connected to the connector.

[0012] Preferably, a rotating rod is fixedly connected to the outer wall of the connector, a conversion motor is fixedly connected to the upper end of the connecting rod, a winding wheel is fixedly connected to the output shaft of the conversion motor, a traction rope is wound inside the winding wheel, and the traction rope is fixedly connected to the rotating rod.

[0013] Preferably, the outer wall of the cargo box is provided with a loading port, the loading port is rotatably connected to a loading door, and the cargo box is also movably connected to a lifting plate.

[0014] Preferably, the lower end of the lifting plate is rotatably connected to a rotating shaft, and the ends of the rotating shaft are all fixedly connected to sliders, which are slidably connected to the inner wall of the cargo box.

[0015] A lifting structure is also installed on the outer wall of the cargo box. The lifting structure includes a protective sleeve, inside which a first pulling wheel and a second pulling wheel are installed. Pulling ropes are wound around the outside of both the first and second pulling wheels, and the pulling ropes are respectively connected to the lifting plate.

[0016] Preferably, the protective sleeve is also rotatably connected to a transmission rod, which is inserted into the second pulling wheel, and the first pulling wheel has a transmission channel corresponding to the transmission rod inside.

[0017] A drive wheel is fixedly connected to one end of the drive rod near the inside of the protective sleeve, and a winding motor is also fixedly connected to the outer wall of the cargo box. A drive wheel is also fixedly connected to the output shaft of the winding motor, and the two drive wheels are connected by a drive belt. An electromagnet ring is fixedly connected to one end of the second pulling wheel near the drive wheel, and a connecting spring is sleeved between the electromagnet ring and the drive wheel.

[0018] This utility model has the following beneficial effects:

[0019] (1) When the machine body is on a flat ground, the mechanical legs can be raised, and then the conversion motor can be controlled to rotate, so that the conversion motor drives the winding wheel to rotate. When the winding wheel rotates, it will wind up the traction rope, thereby using the traction rope to pull the rotating rod to rotate the connecting part. During the rotation of the connecting part, the support wheel will rotate together, thereby causing the support wheel to rotate from a horizontal state to an inclined state, thus changing the walking posture of the machine body. Then, the drive motor is turned on to drive the support wheel to rotate, thereby using the support wheel to drive the machine body to move quickly on a flat ground, thereby increasing the transportation speed.

[0020] (2) When the support wheel rotates from a horizontal position to an inclined position, the first and second travel motors can be turned on to make the mechanical legs retracted, thereby reducing the distance between the machine body and the ground and thus lowering the center of gravity of the machine body, making the machine body more suitable for high-speed travel.

[0021] (3) By switching the walking state of the machine body back and forth, the applicability of this utility model can be greatly increased;

[0022] (4) When the cargo in the cargo box is a box body, the first pull wheel and the second pull wheel are used to wind up the pull rope during unloading, thereby driving the lifting plate to rise, which will move the box body in the cargo box.

[0023] When the cargo box contains loose goods, the rewind motor is turned on to drive the second rewind wheel to rotate, which in turn rewinds the pull rope, causing the lifting plate to rise away from the unloading door. The lifting plate then rotates around the rotating shaft, causing the goods on the lifting plate to be discharged from the unloading port. The unloading door will automatically open under the push of several goods. This method can increase the unloading modes, thereby increasing the versatility of this utility model. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of an industrial robot that can change its walking state;

[0025] Figure 2 A breakdown diagram of an industrial robot capable of changing its walking posture;

[0026] Figure 3 The structure of the cargo box in an industrial robot capable of changing its walking state. Figure 1 ;

[0027] Figure 4 This is an internal structural diagram of the connecting structure in an industrial robot that can change its walking state.

[0028] Figure 5 This is a structural diagram of a mechanical leg in an industrial robot that can change its walking state;

[0029] Figure 6 This is an exploded view of the mechanical leg in an industrial robot that can change its walking state.

[0030] Figure 7 This is a structural diagram of the main body of an industrial robot that can change its walking state;

[0031] Figure 8 The posture of the mechanical leg in an industrial robot that can change its walking state. Figure 1 ;

[0032] Figure 9 The posture of the mechanical leg in an industrial robot that can change its walking state. Figure 2 ;

[0033] Figure 10 The structure of the cargo box in an industrial robot capable of changing its walking state. Figure 2 ;

[0034] Figure 11 This is a split view of the cargo box in an industrial robot that can change its walking state.

[0035] Figure 12 This is a structural diagram of a lifting structure in an industrial robot that can change its walking state.

[0036] The markings in the attached diagram are as follows: 1-Fuse; 2-Loading box; 3-Mechanical leg; 4-Connecting structure; 200-Positioning groove; 201-Pushing groove; 202-Rubber ring; 203-Unloading port; 204-Unloading door; 205-Lifting plate; 206-Rotating shaft; 207-Slider; 208-Sliding rail; 209-Pull rope; 210-Adjusting block; 211-Protective sleeve; 212-First pull wheel; 213-Second pull wheel; 214-Electromagnetic ring; 215-Transmission rod; 216-Protruding strip; 217-Transmission channel; 218-Rewinding motor; 219-Transmission wheel; 220-Connecting spring; 221-Rotating sleeve; 300-Main body; 301-Secondary body; 302-Mounting plate; 303 304-Connecting rod; 305-Converter motor; 306-Take-up reel; 307-Connecting ear; 308-Support wheel; 309-Support frame; 310-Drive motor; 311-Connector; 312-Drive block; 313-Kit; 314-Rotating rod; 315-Traction rope; 316-Protective shell; 317-First travel motor; 318-Linkage rod; 319-Second travel motor; 320-Main shaft; 321-Synchronous pulley; 322-Synchronous belt; 322-Support shaft; 323-Support leg; 400-Fixing shell; 401-Rifling sleeve; 402-Rifling rod; 403-Support spring; 404-Push block; 405-Friction sleeve; 406-Guide sleeve; 407-Limit rod; 408-Reset spring. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0038] An industrial robot capable of changing its walking state includes a body 1, with a cargo box 2 detachably connected to the upper end of the body 1, and mechanical legs 3 installed at both the front and rear ends of the body 1; the mechanical legs 3 include a main body 300, one end of which is connected to the body 1, and a secondary body 301 installed at the other end of the main body 300; a mounting plate 302 is fixedly connected to the outer wall of the main body 300, and a second walking motor 318 is fixedly connected to the end of the mounting plate 302 near the body 1; a first walking motor 316 is also installed inside the main body 300; the secondary body 301 includes a drive block 311, which is rotatably connected to the main body 300 via a support shaft 322; a connecting rod 303 is fixedly connected inside the drive block 311, and a support leg 323 is fixedly connected to the lower end of the connecting rod 303.

[0039] A connecting structure 4 is installed at the upper end of the body 1. The connecting structure 4 includes a fixed shell 400. A positioning groove 200 is opened at the lower end of the carrying box 2, and a rubber ring 202 is fixedly connected to the inner wall of the positioning groove 200. A rifle sleeve 401 is rotatably connected inside the fixed shell 400. A rifle rod 402 is inserted inside the rifle sleeve 401. A support spring 403 is sleeved on the outside of the rifle rod 402, and several push blocks 404 are attached to the outside of the rifle sleeve 401. The push blocks 404 are all rotatably connected to the fixed shell 400. Several limiting rods 407 are also slidably connected inside the fixed shell 400, and the limiting rods 407 correspond to the pushing blocks 404 respectively. A return spring 408 is sleeved on the outer wall of the limiting rods 407.

[0040] The lower end of the support leg 323 is connected to a support wheel 307 via a steering knuckle. A support frame 308 is fixedly connected to the outer wall of the support wheel 307. The end of the support frame 308 away from the support wheel 307 is rotatably connected to the steering knuckle, and a drive motor 309 is also fixedly connected inside the support frame 308. The steering knuckle includes a kit 312, which is fixedly connected to the lower end of the support leg 323. A connector 310 is rotatably connected inside the kit 312, and the support frame 308 is rotatably connected to the connector 310. A rotating rod 313 is fixedly connected to the outer wall of the connector 310. A conversion motor 304 is fixedly connected to the upper end of the connecting rod 303. A winding wheel 305 is fixedly connected to the output shaft of the conversion motor 304. A traction rope 314 is wound inside the winding wheel 305, and the traction rope 314 is fixedly connected to the rotating rod 313.

[0041] The outer wall of the cargo box 2 is provided with a loading port 203, and a loading door 204 is rotatably connected inside the loading port 203. A lifting plate 205 is also movably connected inside the cargo box 2. A rotating shaft 206 is rotatably connected to the lower end of the lifting plate 205, and a slider 207 is fixedly connected to the end of the rotating shaft 206. The slider 207 is slidably connected to the inner wall of the cargo box 2.

[0042] A lifting structure is also installed on the outer wall of the cargo box 2. The lifting structure includes a protective sleeve 211. A first pulling wheel 212 and a second pulling wheel 213 are installed inside the protective sleeve 211. Pulling ropes 209 are wound around the outside of both the first pulling wheel 212 and the second pulling wheel 213. The pulling ropes 209 are respectively connected to the lifting plate 205. A transmission rod 215 is also rotatably connected inside the protective sleeve 211. The transmission rod 215 is inserted into the second pulling wheel 213, and the first pulling wheel 212 has a transmission channel 217 corresponding to the transmission rod 215 inside.

[0043] A drive wheel 219 is fixedly connected to one end of the drive rod 215 near the inside of the protective sleeve 211. A winding motor 218 is also fixedly connected to the outer wall of the cargo box 2. A drive wheel 219 is also fixedly connected to the output shaft of the winding motor 218. The two drive wheels 219 are connected by a drive belt. An electromagnet ring 214 is fixedly connected to one end of the second pulling wheel 213 near the drive wheel 219. A connecting spring 220 is sleeved between the electromagnet ring 214 and the drive wheel 219.

[0044] Example 1:

[0045] Please see Figure 1 and Figure 2 In this embodiment of the utility model, an industrial robot with a changeable walking state includes a body 1, a cargo box 2 for carrying goods is detachably connected to the upper end of the body 1, and mechanical legs 3 for walking are symmetrically installed at both the front and rear ends of the body 1, and the mechanical legs 3 can change walking posture as needed.

[0046] Please see Figure 3 and Figure 4 The upper end of the body 1 is equipped with a connecting structure 4 for fixing the cargo box 2. The connecting structure 4 includes a fixing shell 400. The lower end of the cargo box 2 is provided with a positioning groove 200. The outer diameter of the positioning groove 200 is larger than the outer diameter of the fixing shell 400. A rubber ring 202 is also fixedly connected to the inner wall of the positioning groove 200. A pushing groove 201 is also provided at the top of the inner end of the positioning groove 200.

[0047] Inside the fixed housing 400, a rifle sleeve 401 is rotatably connected. Inside the rifle sleeve 401, a rifle rod 402 is inserted. Outside the rifle rod 402, a support spring 403 is fitted. Outside the rifle sleeve 401, several push blocks 404 are attached. All push blocks 404 are rotatably connected to the fixed housing 400. Outside the push blocks 404, a friction sleeve 405 is fitted. Outside the rifle sleeve 401, a rubber sleeve for increasing friction is fitted. Inside the fixed housing 400, several limiting rods 407 for fixing the cargo box 2 are slidably connected. The limiting rods 407 correspond to the push blocks 404 respectively. A return spring 408 is fitted on the outer wall of the limiting rods 407. Outside the fixed housing 400, several guide sleeves 406 are fixedly connected. Through the guide sleeves 406, the limiting rods 407 can slide stably inside the fixed housing 400.

[0048] When the cargo box 2 is placed on the upper part of the body 1, the cargo box 2 will press down the bolt 402. During the process of the bolt 402 being pressed down, it will drive the bolt sleeve 401 to rotate. When the bolt sleeve 401 rotates, it will drive several push blocks 404 to rotate. During the rotation of the push blocks 404, it will push the corresponding limit rod 407 to move to the outside of the fixed shell 400, so that the limit rod 407 abuts against the surface of the rubber ring 202 in the positioning groove 200, thereby restricting the cargo box 2 and allowing the cargo box 2 to be stably mounted on the upper part of the body 1.

[0049] Example 2:

[0050] Please see Figures 5-8 Based on Embodiment 1, the mechanical leg 3 includes a main body 300, one end of which is connected to the body 1, and a secondary body 301 is installed at the other end of the main body 300. A mounting plate 302 is fixedly connected to the outer wall of the main body 300. A second walking motor 318 for driving the main body 300 is fixedly connected to the end of the mounting plate 302 near the body 1. A main shaft 319 is also fixedly connected to the end of the main body 300 near the body 1. The main shaft 319 is rotatably connected to the body 1, and synchronous pulleys 320 are fixedly connected to the outside of the main shaft 319 and the output shaft of the second walking motor 318. The two synchronous pulleys 320 on the output shaft of the main shaft 319 and the second walking motor 318 are connected by a synchronous belt 321.

[0051] The main body 300 is also equipped with a first walking motor 316 for driving the movement of the secondary body 301. An output disk is fixedly connected to the output shaft of the first walking motor 316, and a linkage rod 317 is rotatably connected to the outside of the output disk. The linkage rod 317 is rotatably connected to the secondary body 301.

[0052] The secondary torso 301 includes a drive block 311, which is rotatably connected to the main torso 300 via a support shaft 322. The support shaft 322 is fixed inside the main torso 300. A connecting ear 306 is also fixedly connected to the outer wall of the drive block 311. The connecting ear 306 is obliquely installed on the outer wall of the drive block 311, and a linkage rod 317 is rotatably connected to the connecting ear 306. A connecting rod 303 is fixedly connected inside the drive block 311. A support leg 323 is fixedly connected to the lower end of the connecting rod 303. A support wheel 307 is connected to the lower end of the support leg 323 via a steering knuckle.

[0053] A support frame 308 is fixedly connected to the outer wall of the support wheel 307. The end of the support frame 308 away from the support wheel 307 is rotatably connected to the steering knuckle. A drive motor 309 is also fixedly connected inside the support frame 308. The support wheel 307 can be driven to rotate by the drive motor 309.

[0054] The steering knuckle includes a kit 312, which is fixedly connected to the lower end of the support leg 323. A connector 310 is rotatably connected inside the kit 312. The support frame 308 is rotatably connected to the connector 310. Specifically, the support wheel 307 is also rotatably connected to the connector 310. A rotating rod 313 is fixedly connected to the outer wall of the connector 310. A conversion motor 304 is fixedly connected to the upper end of the connecting rod 303. A winding wheel 305 is fixedly connected to the output shaft of the conversion motor 304. A traction rope 314 is wound inside the winding wheel 305 and is fixedly connected to the rotating rod 313. A protective shell 315 is also fixedly connected to the outside of the support leg 323. The protective shell 315 can protect the traction rope 314.

[0055] Example 3:

[0056] Please see Figures 10-12 Based on embodiment 1, a loading port 203 is provided on the outer wall of the loading box 2. The loading port 203 is rotatably connected to a loading door 204. A lifting plate 205 is also movably connected to the inside of the loading box 2. The material inside the loading box 2 can be moved out of the loading box 2 through the lifting plate 205, which facilitates unloading.

[0057] The length and width of the lifting plate 205 are both smaller than the length and width of the interior of the storage box 2. The lower end of the lifting plate 205 is rotatably connected to a rotating shaft 206. The ends of the rotating shaft 206 are fixedly connected to sliders 207, and the sliders 207 are slidably connected to the inner wall of the storage box 2. A sliding track 208 corresponding to the slider 207 is provided on the inner wall of the storage box 2, and the slider 207 is located in the sliding track 208.

[0058] The outer wall of the cargo box 2 is also symmetrically equipped with lifting structures for driving the lifting plate 205 to move. The lifting structure includes a protective sleeve 211. A first pulling wheel 212 and a second pulling wheel 213 are installed inside the protective sleeve 211. The first pulling wheel 212 is rotatably connected to the cargo box 2, and the second pulling wheel 213 is rotatably connected to the protective sleeve 211 through a rotating sleeve 221. The rotating sleeve 221 is sleeved on the outside of the second pulling wheel 213. Pulling ropes 209 are wound around the outside of both the first pulling wheel 212 and the second pulling wheel 213. The pulling ropes 209 are respectively connected to the lifting plate 205. Several adjusting blocks 210 are slidably connected to the outer wall of the lifting plate 205. The number of adjusting blocks 210 is the same as the number of pulling ropes 209, and the pulling ropes 209 are respectively fixedly connected to the adjusting blocks 210.

[0059] The protective sleeve 211 is also rotatably connected to a transmission rod 215. A protruding strip 216 is fixedly connected to the outer wall of the transmission rod 215. The transmission rod 215 is inserted into the second pulling wheel 213. The first pulling wheel 212 has a transmission channel 217 corresponding to the transmission rod 215 inside. A groove corresponding to the protruding strip 216 is opened in the transmission channel 217.

[0060] A drive wheel 219 is fixedly connected to one end of the drive rod 215 near the inside of the protective sleeve 211, and a winding motor 218 is also fixedly connected to the outer wall of the cargo box 2. The output shaft of the winding motor 218 is also fixedly connected to the drive wheel 219, and the two drive wheels 219 are connected by a drive belt. An electromagnet ring 214 is fixedly connected to one end of the second pulling wheel 213 near the drive wheel 219, and a connecting spring 220 is sleeved between the electromagnet ring 214 and the drive wheel 219.

[0061] When the cargo in the cargo box 2 is a box, the electromagnet ring 214 is activated directly during unloading. After the electromagnet ring 214 is activated, it will attract the transmission wheel 219 on the transmission rod 215 and move it towards the second pulling wheel 213. At this time, the transmission rod 215 will be inserted into the transmission channel 217. Then, the winding motor 218 is turned on to drive the transmission rod 215 to rotate, which will drive the first pulling wheel 212 and the second pulling wheel 213 to rotate. Thus, the first pulling wheel 212 and the second pulling wheel 213 are used to wind up the pulling rope 209, thereby driving the lifting plate 205 to rise, thereby moving the box in the cargo box 2.

[0062] When the cargo box 2 contains loose goods, the winding motor 218 is turned on to drive the second pulling wheel 213 to rotate, which in turn winds up the pulling rope 209, thereby raising the end of the lifting plate 205 away from the unloading door 204. This allows the lifting plate 205 to rotate around the rotating shaft 206, causing the goods on the lifting plate 205 to be discharged from the unloading port 203. The unloading door 204 will automatically open under the push of the goods.

[0063] The working principle of this utility model is as follows:

[0064] In use, this invention uses the first walking motor 316 and the second walking motor 318 to drive the mechanical legs 3, which in turn move the body 1. The four mechanical legs 3, moving the body 1 in a crawling manner, allow the body 1 to carry the cargo box 2 across complex terrains (such as climbing stairs, navigating potholes, or walking on gravel). When the body 1 is on flat ground, the first and second walking motors 316 and 318 within one mechanical leg 3 can be used to lift it. Then, the conversion motor 304 is controlled to rotate, causing the winding wheel 305 to rotate. The rotation of the winding wheel 305 winds up the traction rope 314, which in turn pulls the rotating rod 313, causing the connecting member 310 to rotate. During the rotation of the connecting member 310, the support wheel 307 rotates as well, causing it to change from a horizontal position to an inclined position (see details). Figure 9 Then repeat the above operation to change the state of the support wheels 307 in the other mechanical legs 3, thereby changing the walking posture of the body 1. Then turn on the drive motor 309 to drive the support wheels 307 to rotate, thereby using the support wheels 307 to drive the body 1 to move quickly on the flat ground, thereby increasing the transport speed.

[0065] When the support wheel 307 rotates from a horizontal position to an inclined position, the first walking motor 316 and the second walking motor 318 can be activated to put the mechanical leg 3 into a retracted state, thereby reducing the distance between the body 1 and the ground and lowering the center of gravity of the body 1, making the body 1 more suitable for high-speed travel. When encountering complex road sections, the mechanical legs 3 can be raised one by one, and then the traction rope 314 can be released through the conversion motor 304. After the traction rope 314 is released, the support wheel 307 will return to its original position under the action of gravity. Then, the mechanical leg 3 is controlled to move down, so that the support wheel 307 contacts the ground, and the walking state of the body 1 can be changed to a crawling state, which makes it easier for the body 1 to walk on complex ground. By switching the walking state of the body 1 back and forth in this way, the applicability of this utility model can be greatly increased.

[0066] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An industrial robot with changeable walking state, comprising a robot body (1), characterized in that: The upper end of the fuselage (1) is detachably connected to a cargo box (2), and mechanical legs (3) are installed at both the front and rear ends of the fuselage (1). Each mechanical leg (3) includes a main body (300), one end of which is connected to the fuselage (1), and a secondary body (301) is installed at the other end of which. An installation plate (302) is fixedly connected to the outer wall of the main body (300), and the installation plate (302) is close to the fuselage (1). One end of the main body (300) is fixedly connected to a second walking motor (318), and the main body (300) is also equipped with a first walking motor (316); the secondary body (301) includes a drive block (311), the drive block (311) is rotatably connected to the main body (300) through a support shaft (322), the drive block (311) is fixedly connected to a connecting rod (303), and the lower end of the connecting rod (303) is fixedly connected to a support leg (323).

2. The industrial robot according to claim 1, characterized in that: The upper end of the body (1) is equipped with a connecting structure (4), the connecting structure (4) includes a fixed shell (400), the lower end of the cargo box (2) is provided with a positioning groove (200), and a rubber ring (202) is fixedly connected to the inner wall of the positioning groove (200).

3. The industrial robot according to claim 2, characterized in that: The fixed shell (400) is rotatably connected to a rifle sleeve (401), a rifle rod (402) is inserted inside the rifle sleeve (401), a support spring (403) is sleeved on the outside of the rifle rod (402), and several push blocks (404) are attached to the outside of the rifle sleeve (401).

4. The industrial robot according to claim 3, characterized in that: The push blocks (404) are all rotatably connected to the fixed shell (400). The fixed shell (400) is also slidably connected to a number of limiting rods (407), and the number of limiting rods (407) corresponds to a number of push blocks (404). The outer wall of the limiting rods (407) is also fitted with a return spring (408).

5. The industrial robot of claim 1, wherein: The lower end of the support leg (323) is connected to a support wheel (307) via a steering knuckle. A support frame (308) is fixedly connected to the outer wall of the support wheel (307). The end of the support frame (308) away from the support wheel (307) is rotatably connected to the steering knuckle. A drive motor (309) is also fixedly connected inside the support frame (308). ​ 6. The industrial robot according to claim 5, characterized in that: The steering knuckle includes a kit (312), which is fixedly connected to the lower end of the support leg (323), and a connector (310) is rotatably connected inside the kit (312), and the support frame (308) is rotatably connected to the connector (310).

7. The industrial robot according to claim 6, characterized in that: A rotating rod (313) is fixedly connected to the outer wall of the connector (310). A conversion motor (304) is fixedly connected to the upper end of the connecting rod (303). A winding wheel (305) is fixedly connected to the output shaft of the conversion motor (304). A traction rope (314) is wound inside the winding wheel (305), and the traction rope (314) is fixedly connected to the rotating rod (313).

8. The industrial robot of claim 1, wherein: The outer wall of the cargo box (2) is provided with a loading port (203), and the loading port (203) is rotatably connected to a loading door (204). The interior of the cargo box (2) is also movably connected to a lifting plate (205).

9. The industrial robot according to claim 8, characterized in that: The lower end of the lifting plate (205) is rotatably connected to a rotating shaft (206), and the ends of the rotating shaft (206) are all fixedly connected to sliders (207), and the sliders (207) are slidably connected to the inner wall of the cargo box (2); The outer wall of the cargo box (2) is also equipped with a lifting structure, which includes a protective sleeve (211). The protective sleeve (211) is equipped with a first pulling wheel (212) and a second pulling wheel (213). Pulling ropes (209) are wound around the outside of the first pulling wheel (212) and the second pulling wheel (213). The pulling ropes (209) are respectively connected to the lifting plate (205).

10. The industrial robot according to claim 9, characterized in that: The protective sleeve (211) is also rotatably connected to a transmission rod (215), which is inserted into the second pulling wheel (213), and the first pulling wheel (212) has a transmission channel (217) corresponding to the transmission rod (215) inside. The transmission rod (215) is fixedly connected to a transmission wheel (219) at one end near the inside of the protective sleeve (211), and a winding motor (218) is also fixedly connected to the outer wall of the cargo box (2). The output shaft of the winding motor (218) is also fixedly connected to a transmission wheel (219), and the two transmission wheels (219) are connected by a transmission belt. The second pulling wheel (213) is fixedly connected to an electromagnet ring (214) at one end near the transmission wheel (219), and a connecting spring (220) is sleeved between the electromagnet ring (214) and the transmission wheel (219).

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