CN221291362U - Mobile operation robot with suspension wire type telescopic mechanism - Google Patents

Abstract

The utility model relates to a mobile operation robot with a suspended wire type telescopic mechanism, which comprises a base, a mast, a telescopic arm and an end effector, wherein the telescopic arm comprises two wires, a first fixed pulley, two active rotating parts, a proximal sleeve and at least one distal sleeve which is in sliding joint in the proximal sleeve, one end of the first wire is fixed on one side of the axis of the proximal sleeve, the first fixed pulley is fixed on the other side of the axis of the proximal sleeve, the other end of the first wire passes through the bottom of the distal sleeve and winds around the first fixed pulley to the first active rotating part, and the position of the first fixed pulley is set to tighten the first wire by the first active rotating part so as to push the distal sleeve through the first wire; the sleeve at the most distal end is a terminal sleeve, one end of the second wire is fixed with the terminal sleeve, the other end extends towards the proximal direction and is further wound on a second active rotating component, and the position of the second active rotating component is set to be capable of pulling back the terminal sleeve when the second wire is tightened; each active rotating component is matched with a third actuator.

Description

Mobile operation robot with suspension wire type telescopic mechanism

Technical Field

The utility model relates to the field of service robots, in particular to a mobile operation robot with a lifting wire type telescopic mechanism.

Background

A home service robot is a robot device capable of performing various service tasks in a home environment or the like, and has been currently listed as one of the important development fields, and at the same time, the application market of robots is becoming more and more widespread, and home service robots are becoming popular.

At present, most research and development teams develop home service robots in a anthropomorphic direction, the robots adopt a rotary driving mode to form human body-like joint movement tracks, and the human-like robots are limited by complex joint designs, volumes, cost and the like and still far away from the daily household life of users.

US20210170583A1 proposes a mobile operation robot for executing objective tasks in human environment, which is intended to construct an XZ axis linear motion system in a linear driving mode, and complement Y axis movement capacity by matching with a bottom mobile base, so that the purposes of simplification and portability are achieved, and the robot is expected to enter daily home life quickly in advance.

The robot of US20210170583A1, in its telescopic arm implementation, employs a plurality of segments that telescope relative to each other and in which a drive chain is conveyed, the drive chain being made up of a plurality of interconnected links, satisfying the rigidity of extension and retraction that can be wound together, one end of the drive chain being connected to the distal segment of the plurality of segments, the distal segment being located at the end of the telescopic structure, so that a linear translation force is applied to the plurality of segments for the purpose of telescoping. The telescopic mechanism is limited by a multi-link interconnecting structure, has larger weight and complex structure, and has no advantage in light weight.

CN 208595128U describes a special auxiliary telescopic mechanism for a wound multi-section electric picking device, the winding of which adopts a closed mode, i.e. both ends of the winding are connected with a hollow rod, meanwhile, the patent uses only 1 reel, the technical realization lacks feasibility, and in addition, the wire extends from the inside of the hollow rod to the outside to form a closed state, and the use safety and durability of the winding module are affected in the telescopic process.

Disclosure of utility model

The utility model aims to provide a service robot which is light and beneficial to service in narrow environments of houses by utilizing a linear driving system, is lighter and is capable of improving the use safety and durability of a winding module.

To this end, there is provided a mobile robot with a suspended wire type telescopic mechanism, comprising: a base having a roller and configured with a first actuator for driving the roller to roll so as to advance the base; at least one mast vertically fixed on the base, wherein the mast is provided with a connecting block capable of moving along the mast, and the mast is matched with a second actuator to drive the connecting block to lift along the mast; the telescopic arm is fixed on the connecting block and comprises a first silk thread, a second silk thread, a first fixed pulley, a first active rotating component, a second active rotating component, a proximal sleeve and at least one far-end sleeve which is slidably connected in the proximal sleeve in a sleeved mode, wherein the tensile force born by the silk thread is configured to be at least more than 10N, the end, facing the far-end direction, of the far-end sleeve is the top, the end, facing the near-end direction, is the bottom, the top of each far-end sleeve is provided with a first limiting component used for limiting the distance of the far-end sleeve extending into the adjacent outer sleeve in the near-end direction, and the bottom of each far-end sleeve is provided with a second limiting component used for limiting the distance of the far-end sleeve extending out of the adjacent outer sleeve in the far-end direction; one end of the first wire is fixed on one side of the axis of the proximal sleeve, the first fixed pulley is fixed on the other side of the axis of the proximal sleeve, the other end of the first wire passes through the bottom of the distal sleeve in the tube and winds around the first fixed pulley to the first active rotating component, and the position of the first fixed pulley is configured to push the distal sleeve towards the distal direction through the first wire under the condition that the first active rotating component tightens the first wire; taking the sleeve extending to the furthest end as a terminal sleeve, wherein one end of a second wire is fixed to the terminal sleeve, the other end extends in the proximal direction in the tube and is further wound on a second active rotating part, and the position of the second active rotating part is configured to be capable of pulling back the terminal sleeve in the proximal direction under the condition of tightening the second wire; each driving rotating component is matched with a third actuator for driving the driving rotating component to rotate so as to extend or retract the telescopic arm along the direction perpendicular to the lifting direction of the guide rail and the translation direction of the sliding block; an end effector is attached to the extendable or retractable end of the telescoping arm.

The robot structure disclosed by the utility model has the characteristics of portability and contribution to service in narrow environments of home based on a linear driving system, meanwhile, the telescopic driving is formed by adopting the winding module, the weight is lighter, the portability is further improved, the winding module adopts an open mode, namely, the extension and the contraction are respectively realized by adopting 2 windings, the whole winding module is positioned in the hollow sleeve, the external space is not occupied, the volume is compact, and the use safety and the durability of the winding module are improved.

In the utility model, the first silk thread and/or the second silk thread can be configured as a steel wire rope, so that the wire is not easy to break. One end of the first wire is fixed on the top inner side wall of one side of the proximal sleeve shaft, and the first fixed pulley is fixed on the top inner side wall of the other side of the proximal sleeve shaft.

In the above, the base can adopt a four-wheel drive mode to realize front-rear lateral displacement, such as a four-wheel trolley mode, or a two-wheel drive mode, and three wheels (two driving wheels and one driven wheel) are utilized to realize front-rear and rotation, such as a sweeping robot mode.

As an improvement scheme, the mast comprises a first mast and a second mast which are vertically arranged, and a horizontal guide rail which is bridged between the first mast and the second mast and can move along the masts is arranged in the space above the base and is used as a connecting block; at least two horizontal sliding blocks in sliding fit with the guide rail are arranged on the guide rail, and each horizontal sliding block is matched with a fourth actuator for driving the horizontal sliding block to translate on the guide rail; the telescopic arms are provided with a plurality of telescopic arms and are respectively fixed on the sliding blocks, and the telescopic directions of the telescopic arms are configured to be perpendicular to the translation directions of the sliding blocks. The horizontal guide rail can be arranged between the two masts, and can also be properly extended out of the two masts to extend in the Y direction. The double mast is adopted, a horizontal guide rail is arranged between the double mast and the double mast, at least two telescopic arms are respectively connected to the guide rail in a sliding way through a sliding block, stronger stability is achieved through the cooperation of the double mast and the guide rail with multiple arms in a space above a base, and meanwhile, the multiple arms can expand more types of service functions compared with the single arms; And the Y-direction movement capability is additionally enhanced through the sliding block, so that the Y-direction movement precision can be higher by being matched with the turntable. Further, the first mast and the second mast are each provided with a linear drive, and the linear drive is arranged in a conveying direction along the mast so as to serve as a second actuator. The linear drive may be, among other things, a chain structure such as a screw, a ram or even US20210170583 A1. Preferably, the linear driver is a linear driving type synchronous belt module, each synchronous belt module adopts synchronous belts with the same modulus, the synchronous belts are fixed with synchronous belt connecting plates, and the synchronous belt connecting plates of the first mast and the second mast are oppositely arranged and are respectively connected with two ends of the guide rail, so that synchronous ascending and descending of the telescopic arm are realized. Further, the driving motor of the synchronous belt module is configured as a motor with an encoder, in the scheme, the driving motor adopts the motor with the encoder, the rotation angle and the speed of 2 motors can be known, the motor control board and the driving board control the rotation angle and the speed of the two motors through the data fed back by the encoder, so that the rotation angle and the speed of the two motors are kept consistent, and the lifting synchronous motion can be realized more accurately. Further, the first mast and the second mast are arranged in a hollow mode and are provided with opposite strip windows; the hold-in range module is hidden inside corresponding mast and expose the hold-in range through the window, and the hold-in range connecting plate is located the mast outside and meets with the hold-in range through the window, and the cover is equipped with the perpendicular slider of semi-surrounding mast on the mast, and perpendicular slider is fixed on the hold-in range connecting plate and both form the encirclement to the mast, and perpendicular slider and connecting plate are encirclement the structure cover that forms at this moment establishes at the mast, utilizes the non-window outer wall of mast to form the support, further improves stability. Further, a screw rod is bridged between the synchronous belt connecting plates of the first mast and the second mast, the screw rod and the guide rail are arranged in parallel, and the horizontal sliding block is provided with a screw rod motor as a third actuator to move along the screw rod, so that the simple and convenient implementation of a sliding block driving structure is achieved, and the cost and volume control is facilitated. Wherein preferably, the guide rail has two at least and each other parallels, and the lead screw is located between two guide rails, and the horizontal slider cover is established and is realized sliding on two guide rails, and two guide rails provide the support this moment, and the lead screw is only used for providing displacement driving force. Further, unlike synchronous lifting schemes, at least two guide rails can be provided, each guide rail is arranged up and down, and at least one sliding block is arranged on each guide rail; At least one guide rail is driven by a linear driver on the first mast, the other guide rails are driven by a linear driver on the second mast, and the linear driver on the first mast and the linear driver on the second mast independently operate respectively, so that lifting of the two masts is independent, and the telescopic arms on one guide rail are respectively driven to lift.

As another improvement, the top of the base is provided with a rotatable turntable, and the turntable is matched with a fifth actuator for driving the fifth actuator to horizontally rotate relative to the base, and at least one mast is vertically fixed on the top surface of the turntable. Through the carousel of installing on the base, the carousel is relative base horizontal rotation, effectively improves the displacement precision on the Y axle direction, more easily realizes moving in place the function. For the scheme with a turntable, the scheme is combined with a sliding block on a horizontal guide rail, and the matching sliding block achieves higher Y-direction moving precision. Further, the fifth actuator is configured as a direct current motor or a stepping motor to achieve higher rotational accuracy.

In the utility model, the telescopic mechanism can adopt two sections, namely a proximal sleeve and a distal sleeve, and the scheme has the advantage of gaining the simple structure by sacrificing the extension distance. For the telescopic arm applied to the linear drive system service robot, as an improvement scheme, three-segment or even more segments are more suitable, and the telescopic capacity and the space above the base when retracted reach the problem of the center of gravity of the robot. A three-segment or even more segment implementation is configured with at least two distal cannulas, wherein the other cannulas than the terminal cannulas are intermediate cannulas; two sides of the axis of the middle sleeve are respectively provided with a movable pulley fixed on the inner side wall of the top of the middle sleeve; the other end of the first silk thread sequentially bypasses the bottom of each middle sleeve and the movable pulley on one side of the axis of the middle sleeve in the pipe, passes through the bottom of the terminal sleeve and enters the other side of the axis of the middle sleeve in the pipe, sequentially bypasses the bottom of the other side of each middle sleeve and the movable pulley, and is wound to the first driving rotating part through the first fixed pulley. Further, on the basis of multiple sections, the bottom of each distal sleeve is provided with a movable pulley, and the movable pulleys are used for guiding the transmission track of the first silk thread on one hand and reducing sliding friction on the other hand, so that the purpose of achieving the telescopic section by using a smaller driving force is allowed, and the driving motor is selected to allow a small volume to be hidden in the hollow interior of the proximal sleeve. Furthermore, each sleeve is coaxially arranged, and the corresponding movable pulleys on the two axial sides of the sleeve at the far end are axially symmetrically arranged, so that the transmission of force is more efficient and smooth through the coaxial symmetry.

As another improvement, the first active rotating component and the second active rotating component can be respectively provided with an actuator (such as a driving motor) to implement independent actuation, at the moment, the extension and retraction driving is independent, and the manufacturing and assembling process requirements of the telescopic mechanism are low. The first driving rotary part and the second driving rotary part can be configured as reels, and are coaxially and uniformly actuated by the same actuator, and at the moment, the first silk thread and the second silk thread are respectively wound on the corresponding driving rotary parts in opposite directions, so that the weight is further reduced, and the structure is compact. In this solution, since the winding length is not identical to the moving length of the foremost hollow sleeve during the contraction and stretching, two reels are designed in equal proportions, such as 1/4 or 1/2, depending on the length of each sleeve. The first active rotating component and the second active rotating component are positioned below the distal sleeve in the tube on the basis of the common driving of the two reels; the telescopic mechanism is provided with a second fixed pulley positioned below the first fixed pulley, and the first silk thread winds around the first fixed pulley and the second fixed pulley in sequence and then winds around the first driving rotating component, wherein the second fixed pulley is used for guiding the first silk thread between the fixed pulley and the first driving rotating component to form avoidance to the bottom of the far-end sleeve, so that the length of the near-end sleeve is allowed to be reduced, and the compactness and the light weight of the telescopic mechanism are improved.

In the present utility model, the end effector may be a clamping jaw, a clamping hook, a suction cup, or the like, which will not be described herein.

Drawings

FIG. 1 shows a schematic view of an operating robot with a lifting wire type telescopic arm;

FIG. 2 shows a schematic view of a base structure;

FIG. 3 shows a schematic driving of a base turntable;

FIG. 4 shows a schematic diagram of the mast bottom composition;

FIG. 5 shows a schematic of the mast top and external connection;

FIG. 6 shows a schematic diagram of a horizontal rail module configuration;

FIG. 7 shows a schematic view of the internal structure of the slider;

FIG. 8 shows a schematic diagram of a suspension wire type telescopic mechanical arm;

FIG. 9 illustrates a motion schematic of the telescoping mechanism;

FIG. 10 shows a telescoping mechanism single motor drive schematic;

FIG. 11 illustrates a motion schematic of a telescoping mechanism single motor drive;

fig. 12 shows a schematic of the morphology of the end effector.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

As shown in fig. 1, the boom-operated robot mainly includes a movable chassis 100, a double mast 200, a horizontal rail module 300, a boom 400, and an end effector 500. The movable chassis has the capability of free movement and steering. The robot is driven to move freely as a whole. The double mast 200 is fixed on the chassis 100, the horizontal guide rail module 300 is fixed on the double mast, and the up-and-down motion is driven by a synchronous belt on the double mast 200. The suspension wire type telescopic mechanical arm 400 is fixed on the driving sliding block of the horizontal guide rail module, and the sliding block drives the suspension wire type telescopic mechanical arm 400 to move left and right on the horizontal guide rail module 300. The end actuating mechanism 500 is fixed at the end part of the suspension wire type telescopic mechanical arm 400, and the end actuating mechanism is driven by the telescopic motion of the suspension wire type telescopic mechanical arm 400 to realize the forward and backward motion.

As shown in fig. 2, the chassis 100 mainly comprises three wheels, which are a driving wheel 111, a driving wheel 113, a steering wheel 112, a structural outer shell 114, and batteries 115 and 116, respectively. The driving wheels 111 and 113 are responsible for driving the chassis back and forth movement and the steering wheel 112 is responsible for the chassis turning movement. Batteries 115 and 116 are responsible for providing the overall power source.

As shown in fig. 3, a turntable driving motor 117 is fixed on the chassis 100, a gear 118 is mounted on the top of the turntable driving motor 117, and a fixed gear 119 is mounted on the structural outer shell 114. When the turntable driving motor 117 rotates, the gear 118 starts to rotate, and because the fixed gear 119 is fixed on the structural outer shell 114, at this time, the turntable on the upper part of the chassis drives all the components above the chassis to rotate relative to the structural outer shell 114 of the chassis, so as to realize the in-situ rotation function of the mechanical arm.

As shown in fig. 4 and 5, the double mast mainly comprises a first mast 213, a first mast driver 211, a first mast fixing member 212, a second mast 216, a second mast driver 214, a second mast fixing member 215, and a synchronous pulley 219, a synchronous belt 218 and a synchronous belt connector 217 on each mast. The first mast driver 211 drives the synchronous belt 218 to perform a circular motion, and the synchronous belt 218 drives the synchronous belt connector 217 to perform an up-and-down motion, so as to drive the horizontal guide rail module 300, the telescopic mechanical arm 400, the end effector 500, and the like to perform an up-and-down motion integrally. The first mast driver 211 and the second mast driver 214 are provided with encoders, and the first mast driver 211 and the second mast driver 214 can be controlled by software to synchronously rotate, so that the 2 synchronous belt connectors 217 on the first mast 213 and the second mast 216 synchronously move.

As shown in fig. 6, the horizontal rail module 300 mainly includes an upper horizontal rail 311, a lower horizontal rail 312, a fixing screw 313, and a driving slider 314. The upper horizontal guide rail 311 and the lower horizontal guide rail 312 are responsible for bearing the main weight of the suspension wire type telescopic mechanical arm 400 and the end actuating mechanism 500, and the driving slider 314 is responsible for driving the suspension wire type telescopic mechanical arm 400 and the end actuating mechanism 500 to move left and right in the horizontal direction.

As shown in fig. 7, the driving slider 314 mainly includes a driving motor 3143 and linear bearings 3141 and 3142. The driving motor 3143 rotates to drive the active slider 314 to move the suspension wire type telescopic mechanical arm 400 and the end effector 500 left and right along the fixing screw 313.

As shown in fig. 8, the suspension wire type telescopic mechanical arm mainly comprises a distal sleeve 411, a middle sleeve 412 and a proximal sleeve 413. Distal sleeve 411 carries pulleys 4111 and 4112; the intermediate sleeve 412 is provided with pulleys 4121, 4122, 4123, 4124; the proximal sleeve 413 carries pulleys 4131 and 4132 and motors 4133, 4134; a wire rope 4135 is fixed to the motor 4133, and a wire rope 4136 is fixed to the motor 4134, wherein the wire rope 4135 is used for realizing the mechanism extending function, and the other wire rope 4136 is used for realizing the mechanism retracting function. One end of the wire 4135 is secured to the inner side of the front end of the proximal sleeve 300, and then sequentially passed over pulleys 4123, 4121, 4111, 4112, 4122, 4124, 4131, 4132 and finally secured to the turntable of motor 4133. The wire 4136 is secured at one end to the tail end of the distal sleeve 411 and at the other end to the turntable of the motor 4136. The telescoping function of the telescoping mechanism is achieved by the rotation of the motor 4133 and the motor 4134 in cooperation with each other.

As shown in fig. 9, the motor 4133 rotates clockwise to pull the wire rope 4135, the length of the wire rope 4135 outside the turntable is shortened, the distal sleeve 411 and the middle sleeve 412 are pushed away from the proximal sleeve 413, at this time, the length of the wire rope 4136 outside the turntable needs to be lengthened, if not lengthened, the wire rope 4136 is tensioned under the condition of being subjected to tension, and after the motor 4134 detects the stress, the motor rotates clockwise to lengthen the length of the wire rope 4136 outside the turntable, so that the distal sleeve 411 and the middle sleeve 412 are far away from the proximal sleeve 413, and the extending function is realized; similarly, the motor 4134 rotates counterclockwise, pulls the wire rope 4136, shortens the length of the wire rope 4136 outside the turntable, pulls the distal sleeve 411 to be close to the proximal sleeve, at this time, the length of the wire rope 4135 outside the turntable needs to be lengthened, if the length is not lengthened, the wire rope 4135 is tensioned under the condition of being subjected to tension, and after the motor 4133 detects the stress, the motor rotates counterclockwise, so that the length of the wire rope 4135 outside the turntable is lengthened, the distal sleeve 411 and the middle sleeve 412 are close to the proximal sleeve, and the contraction function is realized.

Furthermore, in order to simplify the mechanism, the driving mode can be optimized to be a mode of adopting a motor, and the telescoping function of the mechanical arm is realized through the positive and negative rotation of the electrode.

As shown in fig. 10, the driving motor is reduced to 1 motor 501, the motor 501 is provided with a large wire spool and a small wire spool which are 2 in size, the large wire spool 502 and the small wire spool 503 are provided with the wire rope 401 wound on the large wire spool 502, and the wire rope 402 is wound on the small wire spool 503 in the opposite direction, the diameter ratio of the large wire spool 502 to the small wire spool 503 is 4:1, at this time, since the pulleys 4111, 4112, 4123, 4124 constitute a 2-stage traveling pulley, the travel distance for pulling out and retracting is 4:1, the ratio of the diameter of the large spool 502 to the diameter of the small spool 503 is 4:1.

As shown in fig. 11, the motor 501 drives the large spool 502 and the small spool 503 to rotate clockwise, the length of the wire rope 401 outside the spool is shortened, the length of the wire rope 402 outside the spool is lengthened, the distal sleeve 10 and the middle sleeve 20 are ejected by the wire rope 401, and the whole mechanism realizes the extending movement; in contrast, when the motor 501 drives the large spool 502 and the small spool 503 to rotate counterclockwise, the length of the wire rope 401 outside the spool becomes longer, the length of the wire rope 402 outside the spool becomes shorter, the distal sleeve 10 and the intermediate sleeve 20 are pulled back by the wire rope 402, and the whole mechanism realizes the contraction movement.

As shown in fig. 12, the end straight mechanism 500 adopts a sucker 501 mode, and can also adopt other various modes to realize different functions.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.

Claims (10)

1. A mobile robot with a suspended wire type telescoping mechanism, comprising:

A base having a roller and configured with a first actuator for driving the roller to roll so as to travel the base;

The mast is vertically fixed on the base, a connecting block capable of moving along the mast is arranged on the mast, and a second actuator is matched with the mast to drive the connecting block to lift along the mast;

At least one telescopic arm fixed to the connecting block and comprising a first wire, a second wire, a first fixed pulley, a first active rotating component, a second active rotating component, a proximal sleeve and at least one distal sleeve slidably engaged in the proximal sleeve in a sleeve-by-sleeve manner, wherein the tensile force born by the wire is configured to be at least more than 10N, the end of the distal sleeve facing the distal direction is a top, the end facing the proximal direction is a bottom, the top of each distal sleeve is provided with a first limiting component for limiting the distance that the distal sleeve extends into an adjacent outer sleeve in the proximal direction, and the bottom of each distal sleeve is provided with a second limiting component for limiting the distance that the distal sleeve extends out of the adjacent outer sleeve in the distal direction; one end of the first wire is fixed on one side of the axis of the proximal sleeve, the first fixed pulley is fixed on the other side of the axis of the proximal sleeve, the other end of the first wire passes through the bottom of the distal sleeve in the tube and is wound around the first fixed pulley to the first active rotating component, and the position of the first fixed pulley is configured to push the distal sleeve towards the distal direction through the first wire under the condition that the first active rotating component tightens the first wire; taking the sleeve extending to the farthest end as a terminal sleeve, wherein one end of the second wire is fixed to the terminal sleeve, the other end of the second wire extends in the proximal direction in the tube and is further wound on a second active rotating component, and the position of the second active rotating component is configured to be capable of pulling back the terminal sleeve in the proximal direction under the condition of tightening the second wire; each driving rotating component is matched with a third actuator for driving the driving rotating component to rotate so as to extend or retract the telescopic arm along the direction perpendicular to the lifting direction of the guide rail and the translation direction of the sliding block;

An end effector is attached to the extendable or retractable end of the telescoping arm.

2. The mobile manipulator robot of claim 1, wherein:

The mast comprises a first mast and a second mast which are vertically arranged, and a horizontal guide rail which is bridged between the first mast and the second mast and can move along the mast is arranged in the space above the base and is used as the connecting block;

at least two horizontal sliding blocks in sliding fit with the guide rail are arranged on the guide rail, and each horizontal sliding block is matched with a fourth actuator for driving the horizontal sliding block to translate on the guide rail;

the telescopic arms are provided with a plurality of telescopic arms and are respectively fixed on the sliding blocks, and the telescopic directions of the telescopic arms are configured to be perpendicular to the translation directions of the sliding blocks.

3. The mobile manipulator robot of claim 2, wherein:

The first mast and the second mast are respectively provided with a linear driver, and the transmission direction of the linear drivers is arranged along the mast so as to be used as the second actuator.

4. A mobile manipulator robot as claimed in claim 3, wherein:

the linear driver is a linear driving synchronous belt module;

The synchronous belt of each synchronous belt module is fixedly provided with a synchronous belt connecting plate, and the synchronous belt connecting plates of the first mast and the second mast are oppositely arranged and are respectively connected with the two ends of the guide rail.

5. The mobile manipulator robot of claim 4, wherein:

the first mast and the second mast are arranged in a hollow mode and provided with opposite strip windows;

The synchronous belt module is hidden in the corresponding mast and exposes the synchronous belt through the window, the synchronous belt connecting plate is positioned outside the mast and connected with the synchronous belt through the window, the vertical sliding block which semi-surrounds the mast is sleeved on the mast, and the vertical sliding block is fixed on the synchronous belt connecting plate and forms the surrounding of the mast.

6. The mobile manipulator robot of claim 4, wherein:

And a screw rod is bridged between the synchronous belt connecting plates of the first mast and the second mast, the screw rod is arranged in parallel with the guide rail, and the horizontal sliding block is provided with a screw rod motor serving as a fourth actuator to move along the screw rod.

7. The mobile manipulator robot of claim 1, wherein:

The top of the base is provided with a rotatable turntable, and the turntable is matched with a fifth actuator for driving the fifth actuator to horizontally rotate relative to the base;

at least one mast is vertically fixed to the top surface of the turntable.

8. The mobile manipulator robot of claim 1, wherein:

the distal cannula has at least two, wherein the other cannula than the terminating cannula is an intermediate cannula;

two sides of the axis of the middle sleeve are respectively provided with a movable pulley fixed on the inner side wall of the top of the middle sleeve;

The other end of the first silk thread sequentially bypasses the bottom of each middle sleeve and the movable pulley on one side of the axis of the middle sleeve in the pipe, passes through the bottom of the terminal sleeve and enters the other side of the axis of the middle sleeve in the pipe, sequentially bypasses the bottom of the other side of each middle sleeve and the movable pulley, and is wound to the first driving rotating part through the first fixed pulley.

9. The mobile manipulator robot of claim 1, wherein:

the first active rotating component and the second active rotating component are configured as reels, are coaxial and are uniformly actuated by the same actuator;

The first wire and the second wire are respectively wound to the corresponding driving rotating parts in opposite directions.

10. The mobile manipulator robot of claim 9, wherein:

The first active rotating component and the second active rotating component are positioned below the distal sleeve in the tube;

The telescopic mechanism is provided with a second fixed pulley positioned below the first fixed pulley, and the first silk thread winds around the first fixed pulley and the second fixed pulley in sequence and then winds to the first driving rotating component, wherein the second fixed pulley is used for guiding the first silk thread from the fixed pulley to the first driving rotating component to form avoidance to the bottom of the distal sleeve.