CN116197876A - Multidirectional flexible moving device for robot and working method thereof - Google Patents

Abstract

The invention discloses a multidirectional flexible moving device for a robot and a working method thereof, relates to the technical field of industrial robots, and aims to solve the problems that a moving base of an existing robot moves by adopting a conventional crawler mechanism, and the moving is slower and the flexibility is low when steering needs to be adjusted. An electric belt guide rail installed at both sides above the rotating table; the robot base, it is installed the top of electronic belt guide rail, the support arm is installed to the top of robot base, first transmission arm is installed to the upper end of support arm, the second transmission arm is installed to the one end of first transmission arm, the third transmission arm is installed to the one end of second transmission arm, the operating head is installed to the one end of third transmission arm, fore-and-aft movement mechanism includes first track mount table and first track support, first track support sets up in two, and two first track supports are installed respectively in the both sides of first track mount table below.

Description

A multi-directional flexible mobile device for a robot and its working method

technical field

The invention relates to the technical field of industrial robots, in particular to a multi-directional flexible mobile device for robots and a working method thereof.

Background technique

The robotic arm is the most widely used automatic mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Under the control of manual or computer, the mechanical arm performs actions such as clamping, moving, and loosening the workpiece, which can replace human hands to complete a series of repetitive, tedious labor or dangerous work, greatly reducing the labor intensity of labor and reducing the Workers are exposed to accidental risks and work efficiency is improved.

Existing robot is shown in notification number CN212947788U, and it comprises mobile base, adjustment mechanism, column, mechanical arm body and mechanical claw, and adjustment mechanism is fixed on mobile base, and column is connected to the top of adjustment mechanism, and mechanical arm body is fixedly installed on the top of column. On the side, the mechanical claw is movably connected with the mechanical arm. The mobile base includes a base body, a driving wheel, an induction wheel, a load wheel and a track. The driving wheel and the induction wheel are respectively arranged on both sides of the base body. The base body has a built-in first drive motor , the drive wheel is connected to the output end of the first drive motor, the load wheel is arranged at the bottom of the base body, and the track is set around the drive wheel, the inducer wheel and the load wheel.

However, the mobile base of the existing robot uses a conventional crawler mechanism to move. When the steering needs to be adjusted, the movement is relatively slow and the flexibility is low. Therefore, we provide a multi-directional flexible mobile device for a robot and its working method.

Contents of the invention

The purpose of the present invention is to provide a multi-directional flexible mobile device for a robot and its working method to solve the problem that the mobile base of the existing robot proposed in the above background technology adopts a conventional crawler mechanism to move, and when the steering needs to be adjusted, the movement is relatively slow , the problem of low flexibility.

In order to achieve the above object, the present invention provides the following technical solutions: a multi-directional flexible mobile device for robots, including a mobile chassis, the mobile chassis includes a forward and backward movement mechanism and a lateral movement mechanism, and the lateral movement mechanism is arranged on the front and rear movement mechanism. Below, the upper end of the mobile chassis is equipped with a transmission chamber, and both sides of the transmission chamber are welded with triangular reinforcing plates, and there are four triangular reinforcing plates;

Also includes:

a rotating table installed above the transmission chamber;

Electric belt guide rails installed on both sides above the turntable;

A robot base, which is installed above the electric belt guide rail, a support arm is installed above the robot base, a first transmission arm is installed on the upper end of the support arm, and a first transmission arm is installed on one end of the first transmission arm. A second transmission arm, a third transmission arm is installed at one end of the second transmission arm, and an operating head is installed at one end of the third transmission arm.

Preferably, the front and rear moving mechanism includes a first crawler mounting platform and a first crawler frame, and the first crawler frame is arranged on two, and the two first crawler frames are respectively installed on two sides below the first crawler mounting platform. On the outer wall of the first track frame, a first crawler belt is installed, and a first servo motor is installed on the outer wall of one end of the first track frame, and the lateral movement mechanism includes a second track mounting platform and a second track There are two second crawler brackets, and the two second crawler brackets are respectively installed on the front end and the rear end of the lower surface of the second crawler mounting platform, and the outer wall of the second crawler bracket is provided with a second crawler , a second servo motor is installed on the outer wall of one end of the second crawler bracket, a hydraulic cylinder is installed inside the transmission chamber, and the hydraulic cylinder runs through the first crawler installation platform and is fixedly connected with the second crawler installation platform.

Preferably, guide posts are installed around the upper end of the second crawler installation platform, the upper end of the guide post passes through the first crawler installation platform and extends to the inside of the transmission chamber, and a limit block is installed at one end of the guide post, A bearing is installed at the joint between the transmission chamber and the guide post.

Preferably, one end of the inside of the first track frame and the second track frame is equipped with a driving track wheel, and the first servo motor and the second servo motor are connected with the driving track wheels on the first track frame and the second track frame respectively. Wheel drive connection, the other end inside the first crawler bracket and the second crawler bracket is equipped with a driven track wheel, and an upper supporting wheel is arranged above the driving track wheel and the driven track wheel, and the upper supporting wheel is set There are six, and the six upper supporting rollers are equidistantly distributed, and the lower supporting roller is arranged between the driving track wheel and the driven track wheel, and there are six lower supporting rollers, which are symmetrically distributed with the upper supporting roller.

Preferably, every two brackets of the upper supporting wheel and the lower supporting wheel are connected by a cross reinforcing rod.

Preferably, ultrasonic obstacle avoidance sensors are installed around the first crawler installation platform, and there are four ultrasonic obstacle avoidance sensors.

Preferably, a driven gear is installed inside the turntable, and the bottom of the robot base is fixedly connected to the axle of the driven gear, and a first stepping motor is installed at the lower end of one side of the turntable, and the first The output end of the stepping motor runs through and extends to the inside of the turntable, and a driving gear is installed, and the output end of the first stepping motor is connected to the driven gear through the driving gear.

Preferably, a second stepper motor is installed on the outer wall of one end of the electric belt guide rail on one side, and the rear ends of the electric belt guide rails on both sides are connected through a synchronous rod transmission, and a bracket is arranged between the electric belt guide rails on both sides. A platform, the upper end of the support platform is provided with ball grooves, and there are several ball grooves, and balls are installed inside the ball grooves.

Preferably, the upper end of the support arm is in transmission connection with the first transmission arm through a third stepping motor, and one end of the first transmission arm is in transmission connection with the second transmission arm through a fourth stepping motor, and the second transmission arm One end of the arm is in transmission connection with the third transmission arm through the fifth stepping motor, and one end of the third transmission arm is in transmission connection with the operation head through the sixth stepping motor.

Preferably, a working method for a multi-directional flexible mobile device for a robot comprises the following steps:

Step 1: When in use, the robot moves through the mobile chassis at the bottom. When moving back and forth, the two sets of first servo motors on the front and rear moving mechanism are driven in the same direction, and the first track drive is driven by the active track wheel to realize the forward and backward movement of the robot. When moving left and right, the two groups of hydraulic cylinders in the transmission chamber are driven to drive the lateral movement mechanism down to make it touch the ground and support the front and rear movement mechanism. The track wheel drives the second track drive to realize the lateral movement of the robot;

Step 2: When turning is required during the moving process, the hydraulic cylinder is driven to shrink, driving the lateral moving mechanism to move up a certain distance, so that the mobile chassis is in a state where both the front and rear moving mechanisms and the lateral moving mechanism can touch the ground, and then synchronously drives the front and rear moving mechanisms and the lateral movement mechanism. The first servo motor and the second servo motor in the moving mechanism are running, and at the same time, the two groups of the first servo motor and the two groups of the second servo motor are reversely driven, so that the mobile chassis quickly rotates in one direction to adjust the moving direction;

Step 3: After reaching the working position, continue to drive the hydraulic cylinder so that the mobile chassis is in a state where both the forward and backward movement mechanism and the lateral movement mechanism can touch the ground, and use two sets of support mechanisms to ensure the stability of the robot’s operation. The first stepping motor is running, and the driving gear and the driven gear at the output end of the first stepping motor are used to drive the robot base towards the direction of the workbench;

Step 4: Drive the second stepping motor to run, so that the base of the robot and the robot above it move to the outside and stick to the workbench to facilitate subsequent operations.

Compared with prior art, the beneficial effect of the present invention is:

1. The present invention divides the mobile chassis of the robot into two parts, the forward and backward movement mechanism and the lateral movement mechanism. When it needs to move forward and backward, the front and rear movement mechanism touches the ground, and drives the two groups of first servo motors on the front and rear movement mechanism to drive in the same direction. Drive the first track drive through the active track wheel to realize the forward and backward movement of the robot. When it needs to move left and right, it can drive the two sets of hydraulic cylinders in the transmission room to drive the lateral movement mechanism down to make it touch the ground and support the front and rear movement mechanism. The two sets of second servo motors on the lateral movement mechanism are driven in the same direction, and the second crawler is driven by the active track wheel to realize the lateral movement of the robot. Compared with the traditional one-way track base, the movement is not easily restricted, which significantly improves In order to improve the flexibility when moving, when turning is required during the moving process, the hydraulic cylinder can be driven to shrink, and the lateral moving mechanism can be driven to move up a certain distance, so that the mobile chassis can be in a state where both the front and rear moving mechanisms and the lateral moving mechanism can touch the ground, and then drive synchronously The first servo motor and the second servo motor in the forward and backward moving mechanism and the lateral moving mechanism are running, and at the same time, the two groups of the first servo motor and the two groups of the second servo motor are reversely driven, and the two groups of crawler mechanisms work together to make the mobile chassis quickly move toward the Rotating in one direction solves the problem that the conventional crawler mechanism is used for moving the mobile base of the existing robot. When the steering needs to be adjusted, the movement is slow and the flexibility is low.

2. By setting electric belt guide rails on both sides of the bottom of the robot base, when the robot reaches the workbench, the moving chassis at the bottom is likely to be limited by the edge of the workbench, resulting in a certain distance between the robot arm and the processing area. At this time, the drive The second stepper motor is running, and the electric belt guide rail can be used to move the robot base and the robot above it to the outside, so that it can be further approached to the processing area and close to the workbench to facilitate subsequent operations.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic structural view of the translational state of the robot base of the present invention;

Fig. 3 is a structural schematic diagram of the forward and backward moving mechanism of the present invention;

Fig. 4 is a structural schematic diagram of the lateral movement mechanism of the present invention;

Fig. 5 is a schematic diagram of the internal structure of the mobile chassis of the present invention;

Fig. 6 is a schematic diagram of the internal structure of the first crawler frame of the present invention;

Fig. 7 is a schematic diagram of the internal structure of the turntable of the present invention;

Fig. 8 is the enlarged schematic diagram of the structure at A place of the present invention;

In the figure: 1, mobile chassis; 2, forward and backward moving mechanism; 201, first crawler installation platform; 202, first crawler support; 203, first crawler; 204, first servo motor; 205, bearing; 3, lateral movement Mechanism; 301, the second track installation platform; 302, the second track support; 303, the second track; 304, the second servo motor; 305, the guide post; 306, the limit block; 4, the ultrasonic obstacle avoidance sensor; 5, Transmission chamber; 6. Triangular reinforcement plate; 7. Rotary table; 8. The first stepping motor; 9. Electric belt guide rail; 10. The second stepping motor; 11. Support table; 111. Ball groove; 112. Ball; 12. Robot base; 13. Support arm; 14. The first transmission arm; 15. The second transmission arm; 16. The third transmission arm; 17. Operating head; 18. The third stepping motor; 19. The fourth step Into the motor; 20, the fifth stepping motor; 21, the sixth stepping motor; 22, synchronous rod; 23, hydraulic cylinder; 24, driving track wheel; 25, driven track wheel; 26, upper supporting wheel; 27, Lower supporting wheel; 28, cross reinforcement bar; 29, driven gear; 30, driving gear.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them.

Please refer to Figs. 1-8, an embodiment provided by the present invention: a multi-directional flexible mobile device for a robot, including a mobile chassis 1, the mobile chassis 1 includes a forward and backward movement mechanism 2 and a lateral movement mechanism 3, and the lateral movement mechanism 3. It is arranged under the front and rear moving mechanism 2. A transmission chamber 5 is installed on the upper end of the mobile chassis 1. Triangular reinforcement plates 6 are welded on both sides of the transmission chamber 5, and there are four triangle reinforcement plates 6;

Also includes:

Turntable 7, which is installed above the transmission chamber 5;

Electric belt guide rail 9, it is installed on the both sides above turntable 7;

Robot base 12, it is installed on the top of electric belt guide rail 9, and the top of robot base 12 is equipped with support arm 13, and the upper end of support arm 13 is equipped with first transmission arm 14, and one end of first transmission arm 14 is installed with the first Two transmission arms 15, a third transmission arm 16 is installed on one end of the second transmission arm 15, and an operating head 17 is installed on one end of the third transmission arm 16;

The robot moves through the mobile chassis 1 at the bottom. When moving back and forth, two sets of first servo motors 204 on the front and rear moving mechanism 2 are driven in the same direction, and the first crawler belt 203 is driven by the active track wheel 24 to realize the forward and backward movement of the robot. When moving left and right, the two groups of hydraulic cylinders 23 in the transmission chamber 5 are driven to drive the lateral movement mechanism 3 to move down, making it touch the ground and supporting the front and rear movement mechanism 2. At this time, the two groups of second servo motors on the lateral movement mechanism 3 304 is driven in the same direction, and the second crawler belt 303 is driven by the active crawler wheel 24 to realize the lateral movement of the robot. The synergistic effect of the two moving modes significantly improves the mobility flexibility.

Referring to Fig. 3, Fig. 4 and Fig. 5, the front and rear moving mechanism 2 includes a first crawler mounting platform 201 and a first crawler frame 202, the first crawler frame 202 is arranged in two, and the two first crawler frames 202 are installed respectively On both sides below the first crawler mounting platform 201, a first crawler 203 is arranged on the outer wall of the first crawler frame 202, a first servo motor 204 is installed on the outer wall of one end of the first crawler frame 202, and the lateral movement mechanism 3 includes The second crawler mounting platform 301 and the second crawler bracket 303, the second crawler bracket 303 is provided with two, and the two second crawler brackets 303 are respectively installed on the front end and the rear end of the second crawler installation platform 301 lower surface, the second A second crawler belt 302 is arranged on the outer wall of the crawler bracket 303, a second servo motor 304 is installed on the outer wall of one end of the second crawler bracket 303, a hydraulic cylinder 23 is installed inside the transmission chamber 5, and the hydraulic cylinder 23 runs through the first crawler belt installation platform 201, and is fixedly connected with the second crawler installation platform 301, and the front and rear moving mechanism 2 can drive the robot to move in the front and rear direction. When it is necessary to control the lateral movement of the robot, the lateral movement mechanism 3 can be put down through the hydraulic cylinder 23 to make it support the robot. The left and right direction movement of the robot is realized by the lateral movement mechanism 3 .

Please refer to Fig. 5, guide post 305 is installed around the upper end of the second crawler installation platform 301, the upper end of the guide post 305 runs through the first crawler installation platform 201 and extends to the inside of the transmission chamber 5, and one end of the guide post 305 is installed with a limit Block 306, a bearing 205 is installed at the connection between the transmission chamber 5 and the guide post 305. When the lateral movement mechanism 3 lifts up and down under the action of the hydraulic cylinder 23, the guide post 305 can play the role of auxiliary guidance and improve the lifting stability.

Please refer to Fig. 6, the first crawler frame 202 and one end of the second crawler frame 303 interiors are all equipped with driving track wheels 24, the first servo motor 204 and the second servo motor 304 are respectively connected with the first crawler frame 202 and the second crawler frame The driving track wheel 24 on the 303 is connected by transmission, the other end inside the first track frame 202 and the second track frame 303 is equipped with a driven track wheel 25, and the top between the driving track wheel 24 and the driven track wheel 25 is provided with an upper track wheel. There are six supporting rollers 26 and six upper supporting rollers 26, and the six upper supporting rollers 26 are equidistantly distributed, and a lower supporting roller 27 is provided below between the driving track wheel 24 and the driven track wheel 25, and the lower supporting roller 27 is arranged There are six, and they are distributed symmetrically with the upper support wheel 26. The output ends of the first servo motor 204 and the second servo motor 304 can drive the driving track wheel 24 to rotate, so that it can be driven by the track and the driven track wheel 25, and cooperate with the upper support wheel. Wheel 26 and lower supporting wheel 27 drive device to move.

Please refer to Fig. 6, every two upper support rollers 26 and lower support rollers 27 are connected by a cross reinforcement rod 28, the setting of the cross reinforcement rod 28 improves the structure of the upper support roller 26 and the lower support roller 27 supporting parts Strength, to ensure its service life.

Referring to Fig. 1, ultrasonic obstacle avoidance sensors 4 are installed around the first crawler track installation platform 201, and there are four ultrasonic obstacle avoidance sensors 4. When the device moves, the ultrasonic obstacle avoidance sensors 4 around can emit ultrasonic waves , when an obstacle is encountered, the ultrasonic wave can be reflected back to the ultrasonic obstacle avoidance sensor 4, thereby being detected by it, and fed back to the control terminal, and the driving device reverses and moves to achieve the effect of identifying and avoiding roadblocks.

Referring to Fig. 1 and Fig. 7, driven gear 29 is installed in the inside of turntable 7, and the bottom of robot base 12 is fixedly connected with the axle of driven gear 29, and the lower end of turntable 7 one side is installed with first step Motor 8, the output end of the first stepping motor 8 runs through and extends to the inside of the turntable 7, and a driving gear 30 is installed, the output end of the first stepping motor 8 is connected with the driven gear 29 through the driving gear 30, The first stepping motor 8 can drive the rotation of the driving gear 30, so that it is transmitted with the driven gear 29, and drives the robot above the turntable 7 to rotate to adjust the direction of the robot.

Please refer to Fig. 1 and Fig. 8, second stepper motor 10 is installed on the outer wall of one end of electric belt guide rail 9 on one side, the rear end of both sides electric belt guide rail 9 is connected by synchronous rod 22 drive connections, the two sides electric belt guide rail 9 There is a pallet 11 between them, the upper end of the pallet 11 is provided with a ball groove 111, and there are several ball grooves 111, balls 112 are installed inside the ball groove 111, when the robot reaches the workbench, it drives the second stepper The operation of the motor 10 can make the robot base 12 and the robot on the top move to the outside, and lean against the workbench to facilitate subsequent operations. After the robot base 12 moves, its bottom is supported by the pallet 11, and the balls 112 on the pallet 11 make The movement adjustment of the robot base 12 is smoother.

Referring to Fig. 1, the upper end of the support arm 13 is connected to the first transmission arm 14 through the third stepper motor 18, and one end of the first transmission arm 14 is connected to the second transmission arm 15 through the fourth stepper motor 19. One end of two transmission arms 15 is connected with the transmission of the third transmission arm 16 by the fifth stepper motor 20, and one end of the third transmission arm 16 is connected with the transmission of the operating head 17 by the sixth stepper motor 21, and the robot can pass through each transmission arm and The coordinated cooperation of the stepping motors can be adjusted in multiple stages, which is suitable for different processing requirements. The operation head 17 can be installed with corresponding processing mechanisms according to the processing requirements.

Please refer to Fig. 1-8, a working method of a multi-directional flexible mobile device for a robot, comprising the following steps:

Step 1: When in use, the robot moves through the mobile chassis 1 at the bottom. When moving back and forth, the two groups of first servo motors 204 on the front and rear moving mechanism 2 drive in the same direction, and the first crawler belt 203 is driven by the active track wheel 24 to realize When moving back and forth of the robot, when moving left and right, two groups of hydraulic cylinders 23 in the transmission chamber 5 drive to drive the lateral movement mechanism 3 to move down, making it touch the ground and supporting the front and rear movement mechanism 2. The group of second servo motors 304 is driven in the same direction, and the second crawler belt 303 is driven by the active track wheel 24 to realize the lateral movement of the robot;

Step 2: When turning is required during the moving process, the driving hydraulic cylinder 23 shrinks, driving the lateral moving mechanism 3 to move up a certain distance, so that the mobile chassis 1 is in a state where both the forward and backward moving mechanism 2 and the lateral moving mechanism 3 can touch the ground, and then drive synchronously The first servo motor 204 and the second servo motor 304 in the forward and backward moving mechanism 2 and the lateral moving mechanism 3 are running, and at the same time, two groups of first servo motors 204 and two groups of second servo motors 304 are driven in the opposite direction, so that the mobile chassis 1 moves toward the Rotate in one direction to adjust the direction of movement;

Step 3: After reaching the working position, continue to drive the hydraulic cylinder 23 so that the mobile chassis 1 is in a state where both the forward and backward movement mechanism 2 and the lateral movement mechanism 3 can touch the ground, and use two sets of support mechanisms to ensure the stability of the robot operation. The position of the table drives the first stepping motor 8 to run, and utilizes the transmission effect of the driving gear 30 and the driven gear 29 at the output end of the first stepping motor 8 to drive the robot base 12 towards the workbench direction;

Step 4: Drive the second stepper motor 10 to run, so that the robot base 12 and the robot above it move outward, and lean against the workbench to facilitate subsequent operations.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. The utility model provides a diversified flexible movement device for robot, includes mobile chassis (1), mobile chassis (1) are including fore-and-aft movement mechanism (2) and transverse movement mechanism (3), and transverse movement mechanism (3) set up in the below of fore-and-aft movement mechanism (2), drive room (5) are installed to the upper end of mobile chassis (1), triangular reinforcing plate (6) have all been welded to the both sides of drive room (5), and triangular reinforcing plate (6) are provided with four;

the method is characterized in that: further comprises:

a rotating table (7) mounted above the transmission chamber (5);

an electric belt guide rail (9) mounted on both sides above the rotating table (7);

the robot base (12) is installed above the electric belt guide rail (9), a supporting arm (13) is installed above the robot base (12), a first transmission arm (14) is installed at the upper end of the supporting arm (13), a second transmission arm (15) is installed at one end of the first transmission arm (14), a third transmission arm (16) is installed at one end of the second transmission arm (15), and an operation head (17) is installed at one end of the third transmission arm (16).

2. The multi-azimuth flexible moving device for a robot according to claim 1, wherein: the front-back moving mechanism (2) comprises a first track mounting table (201) and a first track support (202), the first track support (202) is arranged on two sides below the first track mounting table (201), the two first track supports (202) are respectively arranged on two sides below the first track mounting table (201), a first track (203) is arranged on the outer wall of the first track support (202), a first servo motor (204) is arranged on the outer wall of one end of the first track support (202), the transverse moving mechanism (3) comprises a second track mounting table (301) and a second track support (303), the second track supports (303) are arranged on two sides, the two second track supports (303) are respectively arranged on the front end and the rear end of the lower surface of the second track mounting table (301), a second servo motor (304) is arranged on the outer wall of one end of the second track support (303), an internal part (5) of a transmission chamber (23) is provided with a hydraulic cylinder (301), and the hydraulic cylinder (23) is fixedly connected with the second track mounting table (301).

3. A multi-directional flexible movement device for a robot according to claim 2, wherein: guide posts (305) are all installed around the upper end of the second track installation table (301), the upper ends of the guide posts (305) penetrate through the first track installation table (201) and extend to the inside of the transmission chamber (5), limiting blocks (306) are installed at one ends of the guide posts (305), and bearings (205) are installed at the joints of the transmission chamber (5) and the guide posts (305).

4. A multi-directional flexible movement device for a robot according to claim 3, wherein: the novel crawler belt conveyor is characterized in that driving crawler wheels (24) are arranged at one ends of the inner portions of the first crawler belt support (202) and the second crawler belt support (303), the first servo motor (204) and the second servo motor (304) are respectively connected with the driving crawler wheels (24) on the first crawler belt support (202) and the second crawler belt support (303) in a transmission mode, driven crawler wheels (25) are arranged at the other ends of the inner portions of the first crawler belt support (202) and the second crawler belt support (303), upper supporting wheels (26) are arranged above the driving crawler wheels (24) and the driven crawler wheels (25), six upper supporting wheels (26) are arranged at equal intervals, lower supporting wheels (27) are arranged below the driving crawler wheels (24) and the driven crawler wheels (25), and the lower supporting wheels (27) are symmetrically distributed with the upper supporting wheels (26).

5. The multi-directional flexible movement device for a robot according to claim 4, wherein: every two brackets of the upper riding wheels (26) and the lower riding wheels (27) are connected through a cross reinforcing rod (28).

6. The multi-directional flexible movement device for a robot according to claim 5, wherein: the ultrasonic obstacle avoidance sensors (4) are arranged on the periphery of the first crawler installation table (201), and the ultrasonic obstacle avoidance sensors (4) are arranged in four ways.

7. The multi-directional flexible movement device for a robot as claimed in claim 6, wherein: the inside of rotating table (7) is equipped with driven gear (29), and the bottom of robot base (12) and the shaft fixed connection of driven gear (29), first step motor (8) are installed to the lower extreme of rotating table (7) one side, the output of first step motor (8) runs through and extends to the inside of rotating table (7), and installs driving gear (30), the output of first step motor (8) is connected with driven gear (29) transmission through driving gear (30).

8. The multi-directional flexible movement device for a robot as claimed in claim 7, wherein: one side install second step motor (10) on the outer wall of electronic belt guide rail (9) one end, both sides the rear end of electronic belt guide rail (9) is connected through synchronizing bar (22) transmission, both sides be provided with saddle (11) between electronic belt guide rail (9), the upper end of saddle (11) is provided with ball groove (111), and ball groove (111) are provided with a plurality of, the internally mounted in ball groove (111) has ball (112).

9. The multi-directional flexible movement device for a robot of claim 8, wherein: the upper end of the supporting arm (13) is in transmission connection with the first transmission arm (14) through a third stepping motor (18), one end of the first transmission arm (14) is in transmission connection with the second transmission arm (15) through a fourth stepping motor (19), one end of the second transmission arm (15) is in transmission connection with the third transmission arm (16) through a fifth stepping motor (20), and one end of the third transmission arm (16) is in transmission connection with the operation head (17) through a sixth stepping motor (21).

10. A method of operating a multi-directional flexible movement device for a robot, based on the one of the claims 9, characterized by the steps of:

step one: when the robot is used, the robot moves through the bottom moving chassis (1), when the robot moves forwards and backwards, the two groups of first servo motors (204) on the front and rear moving mechanism (2) are driven in the same direction, the first crawler belt (203) is driven by the driving crawler wheel (24), so that the robot moves forwards and backwards, when the robot moves leftwards and rightwards, the two groups of hydraulic cylinders (23) in the driving chamber (5) are driven to drive the transverse moving mechanism (3) to move downwards, so that the transverse moving mechanism touches the ground and supports the front and rear moving mechanism (2), at the moment, the two groups of second servo motors (304) on the transverse moving mechanism (3) are driven in the same direction, and the second crawler belt (303) is driven by the driving crawler wheel (24), so that the transverse movement of the robot is realized;

step two: when steering is needed in the moving process, the hydraulic cylinder (23) is driven to shrink, the transverse moving mechanism (3) is driven to move upwards for a certain distance, the movable chassis (1) is in a state that both the front and back moving mechanism (2) and the transverse moving mechanism (3) can touch the ground, then the front and back moving mechanism (2) and the first servo motor (204) and the second servo motor (304) in the transverse moving mechanism (3) are synchronously driven to operate, and simultaneously, the two groups of the first servo motors (204) and the two groups of the second servo motors (304) are reversely driven, so that the movable chassis (1) is rapidly rotated towards one direction, and the moving direction is regulated;

step three: when the working position is reached, the hydraulic cylinder (23) is continuously driven to enable the movable chassis (1) to be in a state that both the front-back moving mechanism (2) and the transverse moving mechanism (3) can touch the ground, the running stability of the robot is ensured by utilizing the two groups of supporting mechanisms, then the first stepping motor (8) is driven to run according to the direction of the workbench, and the robot base (12) is driven to face the direction of the workbench by utilizing the transmission action of the driving gear (30) and the driven gear (29) at the output end of the first stepping motor (8);

step four: the second stepping motor (10) is driven to operate, so that the robot base (12) and the robot above the robot base move outwards and are abutted against the workbench to facilitate subsequent operation.

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