CN112372653A - Multifunctional manipulator and use method thereof - Google Patents
Multifunctional manipulator and use method thereof Download PDFInfo
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- CN112372653A CN112372653A CN202011190496.5A CN202011190496A CN112372653A CN 112372653 A CN112372653 A CN 112372653A CN 202011190496 A CN202011190496 A CN 202011190496A CN 112372653 A CN112372653 A CN 112372653A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims abstract description 124
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 238000001179 sorption measurement Methods 0.000 claims abstract description 49
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims 1
- 210000003437 trachea Anatomy 0.000 description 5
- 238000000605 extraction Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional manipulator and a use method thereof, and the multifunctional manipulator comprises a manipulator driving arm and a conversion device, wherein the top end of the manipulator driving arm is provided with the conversion device, the conversion device comprises a conversion cylinder, an L-shaped positioning block, a conversion motor, a conversion gear, a driving motor, a first driving bevel gear, a second driving bevel gear and a driving rod, and the outer end surface of the conversion cylinder is in transmission connection with an object clamping device, an object adsorption device and a cleaning brush; according to the invention, the conversion motor and the conversion gear in the conversion device drive the conversion cylinder to rotate, so that the object clamping device, the object adsorption device and the cleaning brush can be respectively arranged above the manipulator driving arm, and the manipulator driving arm realizes three operations of clamping, adsorbing and deashing the object through the object clamping device, the object adsorption device and the cleaning brush, thereby increasing the practicability.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multifunctional manipulator and a using method thereof.
Background
The manipulator is a mechanical device which imitates the human arm and realizes partial functions through control, and in some workplaces, manual operation is already banned to be the manipulator for operation, so that the demands on the multifunctional manipulator and the use method thereof are increasing.
The traditional manipulator can only carry out clamping operation, the function is single, part of objects need to be fallen to remove ash before clamping, and part of objects surface is too smooth, and easy to slide when clamping the objects, so that the multifunctional manipulator and the using method thereof are provided aiming at the problems.
Disclosure of Invention
The present invention is directed to solve at least some of the above problems in the prior art, and provides a multi-functional manipulator and a method for using the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a multifunctional manipulator, includes manipulator actuating arm and conversion equipment, mounting groove has been seted up to the tip of manipulator actuating arm, conversion equipment sets up in the mounting groove, conversion equipment includes conversion drum, conversion motor and conversion gear, the conversion drum rotates to be connected in the mounting groove, fixedly connected with conversion motor in the lateral wall of mounting groove one side, conversion gear is located in the conversion drum, and with conversion motor's main shaft fixed connection, the inner wall of conversion drum has seted up round tooth's socket, conversion gear pass through the tooth's socket with conversion drum transmission is connected, the lateral surface of conversion drum is equiangular connection with article clamping device, article adsorption equipment and cleaning brush.
Furthermore, the conversion device also comprises a driving motor, a first driving bevel gear, a second driving bevel gear and a driving rod; the driving motors are fixedly arranged in the side wall on the other side of the mounting groove, the first driving bevel gear is fixedly connected with a main shaft of each driving motor, the number of the driving rods is three, the three driving rods are uniformly distributed on the inner side of the conversion cylinder and penetrate through the inner wall of the conversion cylinder, and the three driving rods are respectively in transmission connection with the object clamping device, the object adsorption device and the cleaning brush; and one ends of the three driving rods, which are positioned in the conversion cylinder, are fixedly connected with second driving bevel gears, and the first driving bevel gears are meshed with the second driving bevel gears.
Furthermore, the object clamping device comprises a clamping seat, a clamping claw, a rotating shaft, a worm wheel, a worm, an electric telescopic rod, a first transmission gear, a transmission gear ring and a second transmission gear; the two clamping claws are symmetrically arranged at the front end and the rear end of the surface of the clamping seat, the two rotating shafts are respectively arranged at the end parts of the clamping seat and correspond to the clamping claws one by one, the end parts of the rotating shafts are fixedly connected with the corresponding clamping claws, the outer side surface of each rotating shaft is fixedly sleeved with a worm wheel, a worm is meshed and driven between the two worm wheels, and the worm is rotationally connected with the inner cavity of the clamping seat; the worm bottom fixedly connected with electric telescopic handle, electric telescopic handle's first transmission gear of bottom fixedly connected with and transmission ring gear, first transmission gear sets up the below of transmission ring gear, one side meshing of first transmission gear has second drive gear, second drive gear fixed connection be in on the actuating lever.
Furthermore, the object adsorption device comprises an adsorption seat, a sliding block, a limiting block, a screw rod, a fixing block and a sucker, wherein a cavity is defined inside the adsorption seat, the sliding block is connected in the cavity inside the adsorption seat in a sliding manner, the limiting block is fixedly connected to the outer end face of the sliding block, the limiting block is connected with the inner wall of the cavity of the adsorption seat in a sliding manner, a threaded hole is formed in the sliding block along the axial direction, the screw rod is in threaded connection with the sliding block, and one end of the screw rod penetrates through the adsorption seat and is fixedly connected with the driving rod; the sliding block is kept away from the one end fixedly connected with fixed block of actuating lever, the other end fixedly connected with sucking disc of fixed block.
Furthermore, a sealing air pipe is arranged inside the fixed block, one end of the sealing air pipe is communicated with an internal threaded hole of the sliding block, and the other end of the sealing air pipe is communicated with the sucker through an electromagnetic valve;
one side of the sealing air pipe is communicated with the outer end face of the fixed block through the other electromagnetic valve.
Furthermore, a plurality of L-shaped positioning blocks are fixedly connected to the inner wall of the mounting groove, are uniformly distributed on the inner wall surface of the conversion cylinder, and are rotatably connected with the inner wall of the conversion cylinder.
The use method of the multifunctional manipulator comprises the following steps:
the method comprises the following steps: firstly, a conversion motor is started to drive a conversion gear to rotate, the conversion gear can be meshed with a conversion cylinder after rotating, the conversion cylinder rotates under the limit of an L-shaped locating block, the positions of an object clamping device, an object adsorption device and a cleaning brush can be changed after the conversion cylinder rotates, and a driving motor is started to drive a first driving bevel gear to rotate;
step two: adjusting the object clamping device to be above a manipulator driving arm, enabling a second driving bevel gear below the object clamping device to be meshed with the first driving bevel gear, enabling the first driving bevel gear to rotate to drive the second driving bevel gear to rotate, enabling the second driving bevel gear to drive a second transmission gear to rotate through a driving rod after rotating, starting an electric telescopic rod, enabling the electric telescopic rod to stretch out and shorten, enabling the electric telescopic rod to drive a first transmission gear and a transmission gear ring to be meshed with a second transmission gear respectively, enabling the second transmission gear to drive the electric telescopic rod to rotate clockwise or anticlockwise through meshing with the first transmission gear or the transmission gear ring, and accordingly achieving forward rotation and reverse rotation of a worm, enabling the worm to drive a rotating shaft to rotate through meshing with a worm wheel after rotating, and enabling the rotating shaft to drive a clamping claw to clamp and place the object;
step three: adjusting the object adsorption device to be above a manipulator driving arm, enabling a second driving bevel gear positioned below the object adsorption device to be meshed with a first driving bevel gear at the moment, enabling the first driving bevel gear to rotate to drive the second driving bevel gear to rotate, enabling the second driving bevel gear to drive a screw rod to rotate through a driving rod after the second driving bevel gear rotates, enabling the screw rod to drive the sliding block to extend out of the inner side of the adsorption seat through meshing with the sliding block after the screw rod rotates, starting an electromagnetic valve communicated with a sucker at the moment and closing the electromagnetic valve communicated with the outer end face of the fixed block, enabling air in the sucker to enter the inner side of the sliding block from the electromagnetic valve and a sealing air pipe in the process of extending out of the sliding block, achieving air extraction of the inner;
step four: the cleaning brush is adjusted to be above the mechanical arm driving arm, so that the second driving bevel gear positioned below the cleaning brush can be meshed with the first driving bevel gear, the second driving bevel gear can be driven to rotate by the rotation of the first driving bevel gear, and the cleaning brush can be driven to rotate by the driving rod after the second driving bevel gear rotates, so that the cleaning brush can conveniently clean ash on the surface of an object.
According to the technical scheme, compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the conversion cylinder is driven to rotate by the conversion motor and the conversion gear in the conversion device, so that the article clamping device, the article adsorption device and the cleaning brush can be respectively arranged above the manipulator driving arm, and the manipulator driving arm realizes three operations of clamping, adsorbing and deashing an article through the article clamping device, the article adsorption device and the cleaning brush, thereby increasing the practicability;
2. according to the invention, through the arrangement of the conversion device and the article clamping device, the driving motor drives the driving rod to rotate through the first driving half gear and the second driving bevel gear, so that the driving rod drives the second transmission gear to rotate, and the second transmission gear is meshed with the first transmission gear or the transmission gear ring through the movement of the electric telescopic rod, so that the forward rotation and the reverse rotation of the worm are realized, the rotation of the worm drives the rotating shaft to rotate through the worm wheel, so that the clamping claw can grab and place the article, and the article can be clamped more conveniently;
3. according to the invention, through the arrangement of the conversion device and the article adsorption device, the driving motor drives the driving rod to rotate through the first driving half gear and the second driving bevel gear, so that the driving rod drives the screw rod to rotate, the screw rod can drive the sliding block to extend out of the inner side of the adsorption seat through the meshing with the sliding block after rotating, the position of the sucking disc can be adjusted, the sucking disc is convenient to adsorb on the surface of the article, and the adsorption and transportation of the article are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of a mounting groove of a robot driving arm according to the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the mounting structure of the conversion device of the present invention;
FIG. 4 is a schematic structural view of a transition cylinder according to the present invention;
FIG. 5 is a schematic view of the structure of FIG. 3 at A according to the present invention;
FIG. 6 is a schematic view of an installation structure of the object holding device of the present invention;
FIG. 7 is a schematic view of an installation structure of the object adsorbing device of the present invention.
In the figure:
1-a mechanical arm driving arm, 2-a conversion device, 3-an object clamping device, 4-an object adsorption device, 5-a cleaning brush and 101-an installation groove; 201-conversion cylinder, 202-L-shaped positioning block, 203-conversion motor, 204-conversion gear, 205-driving motor, 206-first driving bevel gear, 207-second driving bevel gear, 208-driving rod, 301-clamping seat, 302-clamping claw, 303-rotating shaft, 304-worm gear, 305-worm, 306-electric telescopic rod, 307-first transmission gear, 308-transmission gear ring, 309-second transmission gear, 401-adsorption seat, 402-sliding block, 403-limiting block, 404-screw rod, 405-fixing block, 406-suction cup, 407-sealing air pipe and 408-electromagnetic valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1:
please refer to FIG. 1-7The invention provides a multifunctional manipulator, which comprises a manipulator driving arm 1 and a conversion device 2, wherein the end part of the manipulator driving arm 1 is provided with a mounting groove 101, the conversion device 2 is arranged in the mounting groove 101 and comprises a conversion cylinder 201, an L-shaped positioning block 202, a conversion motor 203, a conversion gear 204, a driving motor 205, a first driving bevel gear 206, a second driving bevel gear 207 and a driving rod 208, the conversion cylinder 201 is rotatably connected in the mounting groove 101, the outer side surface of the conversion cylinder is equiangularly connected with an object clamping device 3, an object adsorption device 4 and a cleaning brush 5, the arrangement enables the positions of the object clamping device 3, the object adsorption device 4 and the cleaning brush 5 to be adjusted through the rotation of the conversion cylinder 201, and the object clamping device 3 comprises a clamping seat 301, a clamping claw 302, a rotating shaft 303, a worm wheel 304, a worm 305, an electric telescopic rod 306 and a first transmission gear 307, The article adsorption device 4 comprises an adsorption seat 401, a sliding block 402, a limiting block 403, a screw 404, a fixed block 405, a suction cup 406, a sealing air pipe 407 and an electromagnetic valve 408, a cleaning brush 5 is arranged on the outer side of the conversion cylinder 201, and the cleaning brush 5 rotates to clean the surface of an article.
The L-shaped positioning blocks 202 are uniformly distributed around the conversion cylinder 201, the vertical section of each L-shaped positioning block 202 is fixedly connected with the inner wall of the installation groove 101 of the manipulator driving arm 1, and the horizontal section of each L-shaped positioning block 202 is in contact with the inner wall surface of the conversion cylinder 201, so that the positioning effect is improved through friction.
The conversion motor 203 is fixedly connected in the side wall of one side of the installation groove 101, the conversion gear 204 is positioned in the conversion cylinder 201 and is fixedly connected with a main shaft of the conversion motor 203, a circle of tooth grooves are formed in the inner wall of the conversion cylinder 201, the conversion gear 204 is in transmission connection with the conversion cylinder 201 through the tooth grooves, and the conversion gear 204 is driven to rotate by the conversion motor 203, so that the conversion gear 204 drives the conversion cylinder 201 to rotate;
the driving motor 205 is fixedly installed in the side wall on the other side of the installation groove 101, the main shaft of the driving motor 205 is fixedly connected with a first driving bevel gear 206, the driving rods 208 are rotatably connected to the inner side of the conversion cylinder 201, the number of the driving rods 208 is three, the driving rods 208 are uniformly distributed on the inner side of the conversion cylinder 201 and penetrate through the inner wall of the conversion cylinder 201, and are respectively in transmission connection with the object clamping device 3, the object adsorption device 4 and the cleaning brush 5, one end of the driving rod 208, which is positioned in the conversion cylinder 201, is fixedly connected with a second driving bevel gear 207, and the first driving bevel gear 206 is meshed with the second driving bevel gear 207, so that the conversion cylinder 201 can drive the second driving bevel gears 207 at different positions to be meshed with the first driving bevel gear;
the two clamping claws 302 are symmetrically arranged at the front end and the rear end of the surface of the clamping seat 301, the two rotating shafts 303 are respectively arranged at the end parts of the clamping seat 301 and correspond to the clamping claws 302 one by one, the end parts of the rotating shafts 303 are fixedly connected with the corresponding clamping claws 302 to drive the clamping claws 302 to rotate, the outer side surfaces of the rotating shafts 303 are fixedly sleeved with worm wheels 304, worm gears 305 are meshed between the two worm wheels 304 for transmission, the worm gears 305 are rotationally connected with the inner cavity of the clamping seat 301, and after the worm gears 305 rotate, the rotating shafts 303 are driven to rotate through meshing with the worm wheels 304, so that the rotating shafts 303 drive the clamping claws 302 to clamp and place an object;
the bottom end of the worm 305 is fixedly connected with an electric telescopic rod 306, the bottom end of the electric telescopic rod 306 is fixedly connected with a first transmission gear 307 and a transmission toothed ring 308, the first transmission gear 307 is arranged below the transmission toothed ring 308, one side of the first transmission gear 307 is meshed with a second transmission gear 309, and the second transmission gear 309 is fixedly connected to the driving rod 208;
a cavity is defined inside the adsorption seat 401, a sliding block 402 is connected in the cavity of the adsorption seat 401 in a sliding manner, a limiting block 403 is fixedly connected to the outer end face of the sliding block 402, the limiting block 403 is connected in the inner wall of the cavity of the adsorption seat 401 in a sliding manner, a threaded hole is formed in the sliding block 402 along the axial direction, a screw rod 404 is in threaded connection with the sliding block 402, and one end of the screw rod 404 is fixedly connected with a driving rod 208 which penetrates through the adsorption seat 401; the end, far away from the driving rod 208, of the sliding block 402 is fixedly connected with a fixed block 405, the other end of the fixed block 405 is fixedly connected with a suction cup 406, and the arrangement enables the screw rod 404 to be meshed with the sliding block 402 after rotating, so that the sliding block 402 is driven to extend out of the suction seat 401, and the suction cup 406 is convenient to contact with the surface of an object;
the inside of fixed block 405 is provided with sealed trachea 407, the inside screw hole intercommunication of sealed trachea 407 and sliding block 402, the other end of sealed trachea 407 passes through solenoid valve 408 and sucking disc intercommunication, the quantity of solenoid valve 408 is two, one side of sealed trachea 407 passes through another solenoid valve 408 and the outer terminal surface intercommunication of fixed block 405, this kind of setting makes the air in the sucking disc 406 enter into sliding block 402 from solenoid valve 408 and sealed trachea 407 in the process that sliding block 402 stretches out, realize the inside air extraction to sucking disc 406, make things convenient for the absorption of sucking disc 406 to the article.
The working process is as follows: the invention supplies power through an external power supply, and is controlled through a manipulator control assembly, firstly, a conversion motor 203 is started, the conversion motor 203 drives a conversion gear 204 to rotate, the conversion gear 204 can be meshed with a conversion cylinder 201 after rotating, the conversion cylinder 201 can rotate under the limit of an L-shaped positioning block 202, the positions of an object clamping device 3, an object adsorption device 4 and a cleaning brush 5 can be changed after the conversion cylinder 201 rotates, a driving motor 205 is started to drive a first driving bevel gear 206 to rotate, the object clamping device 3 is adjusted to the upper part of a manipulator driving arm 1, a second driving bevel gear 207 below the object clamping device 3 is meshed with the first driving bevel gear 206, at the moment, the rotation of the first driving bevel gear 206 can drive the second driving bevel gear 207 to rotate, the second driving bevel gear 207 can drive a second driving gear 309 to rotate through a driving rod 208 after rotating, starting the electric telescopic rod 306, making the electric telescopic rod 306 extend out and shorten, making the electric telescopic rod 306 drive the first transmission gear 307 and the transmission toothed ring 308 to mesh with the second transmission gear 309 respectively, the second transmission gear 309 can drive the electric telescopic rod 306 to rotate clockwise or anticlockwise through meshing with the first transmission gear 307 or the transmission toothed ring 308, thereby realizing the corotation and the reversal of the worm 305, the worm 305 can drive the rotating shaft 303 to rotate through meshing with the worm wheel 304 after rotating, and the rotating shaft 303 drives the gripper 302 to clamp and place the object.
Example 2:
the invention provides a multifunctional manipulator, which has the same structural parts as those of embodiment 1 and is different from the embodiment in the working process.
The invention supplies power through an external power supply, and is controlled through a manipulator control assembly, firstly, a conversion motor 203 is started, the conversion motor 203 drives a conversion gear 204 to rotate, the conversion gear 204 can be meshed with a conversion cylinder 201 after rotating, the conversion cylinder 201 can rotate under the limit of an L-shaped positioning block 202, the positions of an object clamping device 3, an object adsorption device 4 and a cleaning brush 5 can be changed after the conversion cylinder 201 rotates, a driving motor 205 is started to drive a first driving bevel gear 206 to rotate, the object adsorption device 4 is adjusted to the upper part of a manipulator driving arm 1, a second driving bevel gear 207 positioned below the object adsorption device 4 is meshed with the first driving bevel gear 206 at the moment, the rotation of the first driving bevel gear 206 can drive the second driving bevel gear 207 to rotate, the second driving bevel gear 207 can drive a screw 404 to rotate through a driving rod 208 after rotating, after the screw rod 404 rotates, the sliding block 402 is driven to extend out from the inner side of the adsorption seat 401 through the meshing with the sliding block 402, at the moment, the electromagnetic valve 408 communicated with the suction cup 406 is opened, the electromagnetic valve 408 communicated with the outer end face of the fixed block 405 is closed, and in the process that the sliding block 402 extends out, air in the suction cup 406 enters the inner side of the sliding block 402 from the electromagnetic valve 408 and the sealing air pipe 407, so that the air suction on the inner side of the suction cup 406 is realized, and the suction cup 406 can conveniently adsorb an object.
Example 3:
the invention provides a using method of a multifunctional manipulator, which has the same structural parts as those in embodiment 1 and is not repeated, and the difference is in the working process.
The invention supplies power through an external power supply, and is controlled through a manipulator control assembly, firstly, a conversion motor 203 is started, the conversion motor 203 drives a conversion gear 204 to rotate, the conversion gear 204 can be meshed with a conversion cylinder 201 after rotating, the conversion cylinder 201 can rotate under the limit of an L-shaped positioning block 202, the positions of an object clamping device 3, an object adsorption device 4 and a cleaning brush 5 can be changed after the conversion cylinder 201 rotates, a driving motor 205 is started to drive a first driving bevel gear 206 to rotate, a cleaning brush 5 is adjusted to be above a manipulator driving arm 1, a second driving bevel gear 207 positioned below the cleaning brush 5 can be meshed with the first driving bevel gear 206 at the moment, the rotation of the first driving bevel gear 206 can drive the second driving bevel gear 207 to rotate, the second driving bevel gear 207 can drive the cleaning brush 5 to rotate through a driving rod 208 after rotating, thereby facilitating the cleaning brush 5 to clean the dust falling from the surface of the object.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A multifunctional manipulator comprises a manipulator driving arm (1) and a conversion device (2), and is characterized in that an installation groove (101) is formed in the end portion of the manipulator driving arm (1), the conversion device (2) is arranged in the installation groove (101), the conversion device (2) comprises a conversion cylinder (201), a conversion motor (203) and a conversion gear (204), the conversion cylinder (201) is rotatably connected into the installation groove (101), the conversion motor (203) is fixedly connected into the side wall of one side of the installation groove (101), the conversion gear (204) is positioned in the conversion cylinder (201) and is fixedly connected with a main shaft of the conversion motor (203), a circle of tooth grooves are formed in the inner wall of the conversion cylinder (201), and the conversion gear (204) is in transmission connection with the conversion cylinder (201) through the tooth grooves, the outer side surface of the conversion cylinder (201) is connected with an object clamping device (3), an object adsorption device (4) and a cleaning brush (5) at equal angles.
2. The multifunctional manipulator according to claim 1, wherein the switching device (2) further comprises a driving motor (205), a first driving bevel gear (206), a second driving bevel gear (207), and a driving rod (208); the driving motors (205) are fixedly installed in the side wall of the other side of the installation groove (101), the first driving bevel gears (206) are fixedly connected with a main shaft of the driving motors (205), the number of the driving rods (208) is three, the three driving rods (208) are uniformly distributed on the inner side of the conversion cylinder (201) and penetrate through the inner wall of the conversion cylinder (201), and the three driving rods are respectively in transmission connection with the object clamping device (3), the object adsorption device (4) and the cleaning brush (5); one end of each of the three driving rods (208) positioned in the conversion cylinder (201) is fixedly connected with a second driving bevel gear (207), and the first driving bevel gear (206) is meshed with the second driving bevel gear (207).
3. The multifunctional manipulator according to claim 1, wherein the object holding device (3) comprises a holding base (301), a holding jaw (302), a rotating shaft (303), a worm wheel (304), a worm (305), an electric telescopic rod (306), a first transmission gear (307), a transmission toothed ring (308) and a second transmission gear (309); the two clamping claws (302) are symmetrically arranged at the front end and the rear end of the surface of the clamping seat (301), the two rotating shafts (303) are respectively arranged at the end parts of the clamping seat (301) and correspond to the clamping claws (302) one by one, the end parts of the rotating shafts (303) are fixedly connected with the corresponding clamping claws (302), a worm wheel (304) is fixedly sleeved on the outer side surface of each rotating shaft (303), a worm (305) is meshed and driven between the two worm wheels (304), and the worm (305) is rotatably connected with the inner cavity of the clamping seat (301); worm (305) bottom fixedly connected with electric telescopic handle (306), the bottom fixedly connected with first transmission gear (307) and transmission ring gear (308) of electric telescopic handle (306), first transmission gear (307) set up the below of transmission ring gear (308), one side meshing of first transmission gear (307) has second drive gear (309), second drive gear (309) fixed connection be in on actuating lever (208).
4. The multifunctional manipulator according to claim 1, wherein the object adsorption device (4) comprises an adsorption seat (401), a sliding block (402), a limit block (403), a screw rod (404), a fixed block (405) and a suction cup (406), the interior of the adsorption seat (401) defines a cavity, the sliding block (402) is slidably connected in the cavity of the adsorption seat (401), the outer end surface of the sliding block (402) is fixedly connected with the limit block (403), the limit block (403) is slidably connected with the inner wall of the cavity of the adsorption seat (401), the interior of the sliding block (402) is axially provided with a threaded hole, the screw rod (404) is in threaded connection with the sliding block (402), and one end of the screw rod (404) is fixedly connected with the driving rod (208) penetrating through the adsorption seat (401); one end of the sliding block (402) far away from the driving rod (208) is fixedly connected with a fixing block (405), and the other end of the fixing block (405) is fixedly connected with a sucker (406).
5. The multifunctional manipulator as claimed in claim 4, wherein a sealed air pipe (407) is arranged inside the fixed block (405), one end of the sealed air pipe (407) is communicated with an internal threaded hole of the sliding block (402), and the other end of the sealed air pipe is communicated with the suction cup (406) through an electromagnetic valve (408);
one side of the sealed air pipe (407) is communicated with the outer end face of the fixed block (405) through another electromagnetic valve (408).
6. The multifunctional manipulator as claimed in claim 1, wherein a plurality of L-shaped positioning blocks (202) are fixedly connected to the inner wall of the mounting groove (101), and the L-shaped positioning blocks (202) are uniformly distributed on the inner wall surface of the conversion cylinder (201) and are rotatably connected with the inner wall of the conversion cylinder (201).
7. A method of using a multifunction robot using the multifunction robot of any one of claims 1 to 6, comprising the steps of:
the method comprises the following steps: firstly, a conversion motor (203) is started, the conversion motor (203) drives a conversion gear (204) to rotate, the conversion gear (204) can be meshed with a conversion cylinder (201) after rotating, the conversion cylinder (201) rotates under the limit of an L-shaped locating block (202), the positions of an object clamping device (3), an object adsorption device (4) and a cleaning brush (5) can be changed after the conversion cylinder (201) rotates, and a driving motor (205) is started to drive a first driving bevel gear (206) to rotate;
step two: adjusting the object clamping device (3) to the upper part of the manipulator driving arm (1), enabling a second driving bevel gear (207) below the object clamping device (3) to be meshed with a first driving bevel gear (206), enabling the first driving bevel gear (206) to rotate at the moment, driving the second driving bevel gear (207) to rotate, enabling the second driving bevel gear (207) to drive a second transmission gear (309) to rotate through a driving rod (208) after rotating, starting an electric telescopic rod (306), enabling the electric telescopic rod (306) to stretch out and shorten, enabling the electric telescopic rod (306) to drive a first transmission gear (307) to be meshed with a transmission gear ring (308) and a second transmission gear (309) respectively, enabling the second transmission gear (309) to drive the electric telescopic rod (306) to rotate clockwise or anticlockwise through being meshed with the first transmission gear (307) or the transmission gear ring (308), therefore, the worm (305) can rotate forwards and backwards, the worm (305) can drive the rotating shaft (303) to rotate through meshing with the worm wheel (304) after rotating, and the rotating shaft (303) drives the clamping claws (302) to clamp and place the object;
step three: adjusting the object adsorption device (4) to be above the manipulator driving arm (1), enabling a second driving bevel gear (207) positioned below the object adsorption device (4) to be meshed with a first driving bevel gear (206), enabling the first driving bevel gear (206) to rotate to drive a second driving bevel gear (207) to rotate, enabling the second driving bevel gear (207) to drive a screw rod (404) to rotate through a driving rod (208) after rotating, enabling the screw rod (404) to drive a sliding block (402) to extend out of the inner side of an adsorption seat (401) through meshing with the sliding block (402) after rotating, starting an electromagnetic valve (408) communicated with a sucker (406) and closing the electromagnetic valve (408) communicated with the outer end face of the fixed block (405), and enabling air in the sucker (406) to enter the inner side of the sliding block (402) from the electromagnetic valve (408) and a sealing air pipe (407) in the extending process of the sliding block (402), the suction to the inner side of the sucking disc (406) is realized, and the sucking disc (406) is convenient to adsorb an object;
step four: the cleaning brush (5) is adjusted to be above the mechanical arm driving arm (1), so that a second driving bevel gear (207) positioned below the cleaning brush (5) can be meshed with a first driving bevel gear (206), the second driving bevel gear (207) can be driven to rotate by the rotation of the first driving bevel gear (206), and the cleaning brush (5) can be driven to rotate by a driving rod (208) after the second driving bevel gear (207) rotates, so that the cleaning brush (5) can conveniently clean the falling ash on the surface of an object.
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| CN116551340A (en) * | 2023-05-08 | 2023-08-08 | 昆山集晨智能装备有限公司 | Double-tray automatic correction graphite clamping point loading and unloading machine |
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