CN117718946B

CN117718946B - Multifunctional manipulator

Info

Publication number: CN117718946B
Application number: CN202410172210.2A
Authority: CN
Inventors: 周肖阳
Original assignee: Harbin University
Current assignee: Harbin University
Priority date: 2024-02-07
Filing date: 2024-02-07
Publication date: 2024-04-16
Anticipated expiration: 2044-02-07
Also published as: CN117718946A

Abstract

The invention provides a multifunctional manipulator, which relates to the technical field of manipulators and comprises a base, wherein the upper end of the base is rotationally connected with a rotating disc through a threaded component, the rotating disc is connected with a driving mechanism, a supporting block is fixedly arranged at the upper end of the rotating disc, the front end of the supporting block is fixedly connected with the left rear end of a mounting block, the right end of the mounting block is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected with a first gear, a lifting groove at the right end of the supporting block is slidably connected with the left end of the lifting block, the upper side of the lifting block is connected with a grabbing mechanism through a mechanical arm mechanism, a first rack at the right end of the lifting block is meshed with a first gear, the first gear is meshed with a second rack at the left end of the control block, a cavity is formed in the base, a second C-shaped ring hole is formed in the upper end of the base and is communicated with the cavity, the control block penetrates through a movable hole on the rotating disc and the second C-shaped ring hole into the cavity, a stabilizing mechanism is arranged between the control block and the threaded component, and the stabilizing mechanism ensures stable connection between the rotating disc and the base.

Description

Multifunctional manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a multifunctional manipulator.

Background

The multifunctional manipulator pick-up device is characterized in that a turnover structure, a rotating structure, a clamping structure and a suction structure are utilized to realize the pick-up function of products, different pick-up modes and placement positions of the products can be realized, diversified turnover selection of the products is provided, the universality and diversity of the pick-up of the manipulator can be realized, the device is convenient to operate, the functions are diversified, and different requirements in the production process are greatly met;

The manipulator is fixed with the mode of screw connection usually adopted between the base, but the during operation of manipulator can take place the focus skew because of the arm goes up and down, has the trend of toppling, if the base counter weight is enough, influences the screw connection effect between manipulator and the base easily.

Disclosure of Invention

The invention provides a multifunctional manipulator which is used for solving the technical problem that when the manipulator works, the gravity center of the manipulator is deviated due to the lifting of the manipulator, the manipulator has a overturning trend, and if the counterweight of a base is enough, the threaded connection effect between the manipulator and the base is easily affected.

In order to solve the technical problems, the invention discloses a multifunctional manipulator which comprises a base, wherein the upper end of the base is connected with a rotating disc through a thread component, the rotating disc is connected with a driving mechanism, a supporting block is fixedly arranged at the upper end of the rotating disc, the front end of the supporting block is fixedly connected with the rear end of the left side of a mounting block, the right end of the mounting block is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected with a first gear, a lifting groove at the right end of the supporting block is in sliding connection with the left end of the lifting block, the upper side of the lifting block is connected with a grabbing mechanism through a mechanical arm mechanism, a first rack at the right end of the lifting block is meshed with the first gear, the first gear is meshed with a second rack at the left end of a control block, the lifting block is distributed on the left side of the first gear, the control block is distributed on the right side of the first gear, a cavity is arranged in the base, a C-shaped ring hole II is arranged at the upper end of the base and is communicated with the cavity, the control block passes through a movable hole on the rotating disc and the second C-shaped ring hole into the cavity, and a stabilizing mechanism is arranged between the control block and the thread component;

The screw thread assembly comprises a stabilizing shaft, the stabilizing shaft is fixedly arranged in the cavity, the upper end of the stabilizing shaft is rotationally connected with the lower end of the stabilizing block, the upper end of the stabilizing block is rotationally connected with the upper end of the cavity, fixing rods are symmetrically arranged on the left side and the right side of the upper end of the stabilizing block, a C-shaped annular hole I is arranged at the upper end of the base, and the fixing rods are correspondingly arranged in the C-shaped annular hole I;

The screw thread component further comprises a bolt, the fixed rod penetrates through a first C-shaped annular hole at the upper end of the base and a fixed hole on the rotating disc to be in threaded connection with the bolt, a gasket is arranged between the bolt and the rotating disc, the first C-shaped annular hole and the second C-shaped annular hole are both communicated with the cavity, the diameter of the first C-shaped annular hole is smaller than that of the second C-shaped annular hole, and the central angles of the first C-shaped annular hole and the second C-shaped annular hole are the same;

The stabilizing mean includes the clamp plate, the right-hand member of clamp plate and guide way sliding connection of control block left end, the middle part and the supporting shoe sliding connection of clamp plate, and fixedly be equipped with the spring III between control block and the guide way, the lower extreme left and right sides symmetry of clamp plate is equipped with presses the cover, presses the cover to keep contacting with the upper end of bolt.

Preferably, the driving mechanism comprises a second motor, the second motor is fixedly arranged in the cavity, an output shaft of the second motor is fixedly connected with a motor shaft, the motor shaft penetrates through the upper end of the cavity and is fixedly connected with a second gear, and the second gear is meshed with a gear ring outside the rotating disc.

Preferably, the mechanical arm mechanism comprises a first rotating rod and a second rotating rod, the first rotating rod and the second rotating rod are both rotationally connected with the front end of the lifting block, a driving shaft is rotationally arranged between the second rotating rod and the lifting block, the driving shaft is fixedly connected with an output shaft of the driving motor, the driving motor is fixedly arranged at the rear end of the lifting block, one side of the first rotating rod, which is far away from the lifting block, is rotationally connected with the upper side of the rear end of the L-shaped mounting plate, one side of the second rotating rod, which is far away from the lifting block, is rotationally connected with the lower side of the rear end of the L-shaped mounting plate, a first rotating shaft and a second rotating shaft are rotationally arranged between the lower side of the rear end of the L-shaped mounting plate and the front end of the first mounting plate, the first rotating shaft is rotationally connected with the second rotating rod, the middle part of the second rotating shaft is fixedly connected with the third rotating rod, the rear part of the second rotating shaft penetrates through the mounting plate and is fixedly connected with an output shaft of the third motor, the third rotating rod is arranged between the lower side of the rear end of the L-shaped mounting plate and the front end of the first mounting plate, the third motor is fixedly arranged at the rear end of the first mounting plate, one side of the rotating rod is far away from the first mounting plate is rotationally connected with the front end of the second mounting plate, the fourth rotating shaft is rotationally arranged between the front end of the fourth rotating rod and the fourth rotating shaft is arranged between the front end of the fourth rotating shaft and the front end of the fourth rotating shaft is fixedly arranged.

Preferably, snatch mechanism includes the installation shell, the installation shell sets up in the front side of dwang four, and installation shell and the three fixed connection of axis of rotation, the three output shaft fixed connection with motor four of axis of rotation, the four fixed rear ends that set up at mounting panel two of motor, the lower extreme of installation shell is equipped with the working chamber, fixedly in the working chamber be equipped with electric telescopic handle, the fixed connecting plate that is equipped with of lower extreme of installation shell, electric telescopic handle and connecting block one fixed connection, connecting block one runs through connecting plate and toper piece fixed connection, a plurality of gripper fingers have evenly been laid to toper piece circumference, the tilting end of gripper finger and the tilting end sliding connection of toper piece, the upside horizontal end of gripper finger and the lower extreme sliding connection of connecting plate.

Preferably, the vertical end of the clamping claw, which is close to one side of the clamping claw, is provided with a groove, and a first spring is fixedly arranged in the groove and fixedly connected with the clamping plate.

Preferably, still include adsorption equipment, adsorption equipment includes the sucking disc of the fixed setting of toper piece lower extreme, a plurality of sealed holes one intercommunication that set up on sucking disc and the toper piece, a plurality of sealed holes one communicate with a plurality of connecting pipes one-to-one, a plurality of connecting pipes and a plurality of sealed holes two one-to-one intercommunication that set up on the connecting plate, a plurality of sealed holes two communicate with sealed chamber, sealed chamber sets up the lower extreme at sealed shell, sealed shell is fixed to be set up the upper end at the connecting plate, be equipped with the through-hole that supplies connecting block one to pass on the sealed shell, it is equipped with the closing plate to slide in the sealed chamber, the upper end left and right sides symmetry of closing plate is equipped with connecting block two, connecting block two runs through sealed chamber's upper end and slider fixed connection.

Preferably, the lower extreme of connecting block one is equipped with promotes the chamber, and both ends symmetry intercommunication has the slide hole about the upside in promotion chamber, and it is equipped with the promotion piece to promote the chamber to slide, and promotes and fixedly between piece and the promotion chamber to be equipped with spring two, and both ends symmetry is equipped with the slider about the upper portion of promotion piece, and the slider passes slide hole and the side sliding connection of working chamber, and the trompil of middle part and sucking disc of taper block is run through to the lower part of promotion piece and contact block fixed connection.

The technical scheme of the invention is further described in detail through the drawings and the embodiments.

Compared with the prior art, the invention has the following beneficial effects:

the lifting block can drive the mechanical arm mechanism to slide up and down along the lifting groove when sliding up and down, the control block moves downwards when the lifting block moves upwards, the stabilizing mechanism applies downward acting force to the threaded component when the control block moves downwards, the rotating disc is ensured to be stably arranged on the base, and even if the lifting block drives the grabbing mechanism to move upwards to cause the gravity center to deviate upwards, the connection stability of the threaded component between the rotating disc and the base can be ensured.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of a connection structure between a base and a rotating disc according to the present invention;

FIG. 3 is an enlarged schematic view of the area A in FIG. 2;

FIG. 4 is a schematic top view of the base of the present invention;

Fig. 5 is a schematic structural view of a grabbing mechanism of the present invention.

In the figure: 1. a base; 2. a rotating disc; 3. a second gear; 4. a lifting groove; 5. a mounting block; 6. a support block; 7. a first motor; 8. a first gear; 9. a control block; 10. a lifting block; 11. rotating the first rod; 12. a second rotating rod; 13. an L-shaped mounting plate; 14. pressing the sleeve; 15. a bolt; 16. a first mounting plate; 17. rotating a rod III; 18. a second rotating shaft; 19. a rotating rod IV; 20. a second mounting plate; 21. a connecting plate; 22. a mounting shell; 23. clamping claws; 24. a cavity; 25. a second motor; 26. c-shaped ring hole II; 27. a guide groove; 28. a fixed rod; 29. a third spring; 30. a stabilizing shaft; 31. a pressing plate; 32. a stabilizing block; 33. a movable hole; 34. a groove; 35. a first spring; 36. a clamping plate; 37. a conical block; 38. a suction cup; 39. a contact block; 40. sealing the first hole; 41. a connecting pipe; 42. sealing the second hole; 43. a working chamber; 44. a slide block; 45. a sealed housing; 46. sealing the cavity; 47. a second connecting block; 48. a sealing plate; 49. a pushing block; 50. a pushing cavity; 51. a first connecting block; 52. a slide hole; 53. an electric telescopic rod; 54. and a second spring.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between the embodiments may be combined with each other, but it is necessary to base that a person skilled in the art can implement the combination of technical solutions, when the combination of technical solutions contradicts or cannot be implemented, should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present invention.

The invention provides the following examples

Example 1

The embodiment of the invention provides a multifunctional manipulator, as shown in fig. 1-2, the multifunctional manipulator comprises a base 1, the upper end of the base 1 is connected with a rotating disc 2 through a thread component, the rotating disc 2 is connected with a driving mechanism, a supporting block 6 is fixedly arranged at the upper end of the rotating disc 2, the front end of the supporting block 6 is fixedly connected with the rear end of the left side of a mounting block 5, the right end of the mounting block 5 is fixedly connected with a motor I7, an output shaft of the motor I7 is fixedly connected with a gear I8, a lifting groove 4 at the right end of the supporting block 6 is in sliding connection with the left end of a lifting block 10, the upper side of the lifting block 10 is connected with a grabbing mechanism through a mechanical arm mechanism, a rack I at the right end of the lifting block 10 is meshed with a gear I8, the gear I8 is meshed with a rack II at the left end of a control block 9, the lifting block 10 is distributed at the left side of the gear I8, the control block 9 is distributed at the right side of the gear I8, a cavity 24 is arranged in the base 1, the upper end of the base 1 is provided with a C-shaped annular hole II 26, the C-shaped annular hole II 26 is communicated with the cavity 24, the control block 9 passes through a movable hole on the rotating disc 2 and a C-shaped annular hole 26 and enters between the control block 9 and the thread component 24;

the screw thread assembly comprises a stabilizing shaft 30, the stabilizing shaft 30 is fixedly arranged in the cavity 24, the upper end of the stabilizing shaft 30 is rotationally connected with the lower end of a stabilizing block 32, the upper end of the stabilizing block 32 is rotationally connected with the upper end of the cavity 24, fixing rods 28 are symmetrically arranged on the left side and the right side of the upper end of the stabilizing block 32, a C-shaped annular hole I is arranged on the upper end of the base 1, and the fixing rods 28 are correspondingly arranged in the C-shaped annular hole I;

the screw thread assembly further comprises a bolt 15, a fixing rod 28 penetrates through a first C-shaped annular hole at the upper end of the base 1 and a fixing hole on the rotating disc 2 to be in threaded connection with the bolt 15, a gasket is arranged between the bolt 15 and the rotating disc 2, the first C-shaped annular hole and a second C-shaped annular hole 26 are communicated with the cavity 24, the diameter of the first C-shaped annular hole is smaller than that of the second C-shaped annular hole 26, and the central angles of the first C-shaped annular hole and the second C-shaped annular hole 26 are the same;

the stabilizing mean includes the clamp plate 31, the right-hand member of clamp plate 31 and guide slot 27 sliding connection of the left end of control block 9, the middle part and support block 6 sliding connection of clamp plate 31, and fixedly be equipped with the spring III 29 between control block 9 and the guide slot 27, the lower extreme left and right sides symmetry of clamp plate 31 is equipped with presses the cover 14, presses the cover 14 to keep contact with the upper end of bolt 15.

The beneficial effects of the technical scheme are as follows:

The driving mechanism is used for driving the rotating disc 2 to rotate, the rotating disc 2 drives the supporting block 6 to rotate, the supporting block 6 drives the mechanical arm mechanism to rotate, the mechanical arm mechanism drives the grabbing mechanism to rotate, the purpose of controlling the grabbing mechanism and the mechanical arm mechanism to rotate in the horizontal plane is achieved, the mechanical arm mechanism can extend along the horizontal direction so as to drive the grabbing mechanism to move along the horizontal direction, the motor I7 can drive the gear I8 to rotate when working, the gear I8 can drive the rack I and the rack II to move in opposite directions when rotating, thereby enabling the lifting block 10 and the control block 9 to move in opposite directions, the lifting block 10 can drive the mechanical arm mechanism and the grabbing mechanism to slide up and down when sliding up and down along the lifting groove 4, the purpose that the grabbing mechanism is controlled to rotate along a plane, move up and down and move along a horizontal plane is achieved, the grabbing mechanism is convenient to grab materials, the control block 9 moves downwards when the lifting block 10 moves upwards, the stabilizing mechanism applies downward acting force to the threaded component when the control block 9 moves downwards, the rotating disc 2 is guaranteed to be stably arranged on the base 1, even if the lifting block 10 drives the grabbing mechanism to move upwards to cause the gravity center to shift upwards, the threaded component between the rotating disc 2 and the base 1 can be guaranteed to be stably connected, the technical problem that the gravity center shift occurs due to the lifting of the mechanical arm when the mechanical arm works, the overturning trend exists, and the threaded connection effect between the mechanical arm and the base is easily affected if the base counterweight is enough is solved;

Specifically, the guide groove 27 is positioned at the lower side of the control block 9, the rack is positioned at the upper side of the control block 9, the spring III 29 is in a compression state in the initial state, the pressing sleeve 14 is in a contact state with the bolt 15, the control block 9 synchronously slides downwards when the lifting block 10 drives the grabbing mechanism to move upwards to cause the center of gravity to deviate upwards, the pressing plate 31 is kept still, the spring III 29 is gradually compressed, the spring III 29 applies downward acting force to the pressing plate 31, the downward acting force of the pressing sleeve 14 on the bolt 15 is increased, the connecting effect between the bolt 15 and the fixing rod 28 is further improved, the acting force between the bolt 15 and the fixing rod 28 is prevented from being increased after the center of gravity deviates, the connecting effect between the bolt 15 and the fixing rod 28 is influenced, the connecting stability of the rotating disc 2 and the base 1 is improved, the central angles of the C-shaped ring hole I and the C-shaped ring hole II 26 are identical with the rotating angle of the rotating disc 2, under the condition of ensuring that the base 1 is sufficiently loaded, the central angles of the first C-shaped annular hole and the second C-shaped annular hole 26 are as large as possible, so that the rotation angle of the rotating disc 2 is increased, the screw thread assembly is arranged, when the rotating disc 2 is installed with the base 1, the fixing rod 28 penetrates through the fixing hole, the control block 9 penetrates through the second C-shaped annular hole 26 to extend into the cavity 24, the bolt 15 is screwed down, the rotating disc 2 is installed on the base 1, then the pressing plate 31 is loosened, the pressing plate 31 moves downwards under the elastic action of the third spring 29, so that the pressing sleeve 14 is in extrusion contact with the bolt 15, when the rotating disc 2 is disassembled, the pressing plate 31 is pulled upwards, so that the pressing sleeve 14 is separated from the bolt 15, then the bolt 15 is unscrewed, the maintenance and the replacement of the gear ring outside the rotating disc 2 are convenient, and the installation and the disassembly between the rotating disc 2 and the base 1 are convenient and quick, the multifunctional manipulator can be conveniently transported to different places for use.

Example 2

On the basis of the embodiment 1, as shown in fig. 1-3, the driving mechanism comprises a second motor 25, the second motor 25 is fixedly arranged in the cavity 24, an output shaft of the second motor 25 is fixedly connected with a motor shaft, the motor shaft penetrates through the upper end of the cavity 24 and is fixedly connected with a second gear 3, and the second gear 3 is meshed with a gear ring outside the rotating disc 2;

The mechanical arm mechanism comprises a first rotating rod 11 and a second rotating rod 12, wherein the first rotating rod 11 and the second rotating rod 12 are both rotationally connected with the front end of the lifting block 10, a driving shaft is rotationally arranged between the second rotating rod 12 and the lifting block 10, the driving shaft is fixedly connected with an output shaft of a driving motor, the driving motor is fixedly arranged at the rear end of the lifting block 10, one side, far away from the lifting block 10, of the first rotating rod 11 is rotationally connected with the upper side of the rear end of the L-shaped mounting plate 13, one side, far away from the lifting block 10, of the second rotating rod 12 is rotationally connected with the lower side of the rear end of the L-shaped mounting plate 13, a first rotating shaft and a second rotating shaft 18 are rotationally connected with the second rotating rod 12, the middle part of the second rotating shaft 18 is fixedly connected with a third rotating rod 17, the rear part of the second rotating shaft 18 penetrates through the first mounting plate 16 and is fixedly connected with an output shaft of a third motor, the third rotating rod 17 is arranged between the lower side of the rear end of the L-shaped mounting plate 13 and the front end of the first mounting plate 16, the third motor is fixedly arranged at the rear end of the first mounting plate 16, one side, the third rotating rod 17 is far away from the third side of the third rotating rod 17 is rotationally connected with the front end of the second mounting plate 20, the fourth rotating rod is rotationally connected with the fourth rotating rod 20 is arranged between the front end of the fourth rotating rod 20 and the fourth rotating rod is fixedly connected with the front end of the fourth rotating rod 19 is arranged between the front end of the fourth rotating rod is arranged.

The beneficial effects of the technical scheme are as follows:

The motor II 25 during operation drives the gear II 3 to rotate, the gear II 3 during rotation drives the gear ring of the rotating disk 2 to rotate, the purpose of controlling the rotating disk 2 to rotate along the horizontal plane is achieved, the driving motor during operation drives the driving shaft to rotate, the driving shaft drives the rotating rod II 12 to rotate, the L-shaped mounting plate 13 is driven to rotate during rotation of the rotating rod II 12, in the process, the rotating rod I11 is arranged to play a guiding connection effect on the rotation of the L-shaped mounting plate 13, the L-shaped mounting plate 13 is guaranteed to always keep a horizontal state in the rotating process, the mounting plate I16 is enabled to always keep a horizontal state in the rotating process, the rotating rod II 12 and the rotating rod I11 can serve as large arms, when the rotating rod II 12 and the rotating rod I11 rotate to a horizontal state, the large arms are unfolded, the motor III during operation drives the rotating shaft II 18 to rotate, the rotating rod III 17 is driven to rotate, the mounting plate II 20 is driven to rotate during rotation of the rotating rod III 17, in the process, the setting of the rotating rod IV 19 plays a guiding connection effect on the rotation of the mounting plate II 20, the mounting plate 20 is guaranteed to always keep the horizontal state in the rotating process, the rotating rod II 20 and the rotating rod III and the rotating rod II is enabled to be unfolded to be the horizontal state, and the rotating rod III is enabled to be unfolded to realize the horizontal state through the rotating arm 19 and the small arms.

Example 3

On the basis of embodiment 2, as shown in fig. 1-5, the grabbing mechanism comprises a mounting shell 22, the mounting shell 22 is arranged at the front side of a rotating rod IV 19, the rear end of the mounting shell 22 is fixedly connected with a rotating shaft III, the rotating shaft III is fixedly connected with an output shaft of a motor IV, the motor IV is fixedly arranged at the rear end of a mounting plate II 20, a working cavity 43 is arranged at the lower end of the mounting shell 22, an electric telescopic rod 53 is fixedly arranged in the working cavity 43, a connecting plate 21 is fixedly arranged at the lower end of the mounting shell 22, the electric telescopic rod 53 is fixedly connected with a connecting block I51, the connecting block I51 penetrates through the connecting plate 21 and is fixedly connected with a conical block 37, a plurality of clamping claws 23 are distributed at the periphery Xiang Junyun of the conical block 37, the inclined ends of the clamping claws 23 are in sliding connection with the inclined ends of the conical block 37, and the upper horizontal ends of the clamping claws 23 are in sliding connection with the lower ends of the connecting plate 21;

the vertical end of the clamping claw 23, which is close to one side, is provided with a groove 34, a first spring 35 is fixedly arranged in the groove 34, and the first spring 35 is fixedly connected with a clamping plate 36.

The beneficial effects of the technical scheme are as follows:

The electric telescopic rod 53 drives the first connecting block 51 to move downwards when being extended, the first connecting block 51 drives the conical block 37 to move downwards, the conical block 37 drives the clamping claw 23 to move towards the direction close to each other when moving downwards, the clamping claw 23 drives the clamping plate 36 to move, the clamping plate 36 clamps materials, the first spring 35 is arranged, the clamping plate 36 has a damping and stabilizing effect when clamping the materials, the clamping stability of the clamping plate 36 to the materials is improved, the mounting shell 22 can be driven to rotate along a vertical plane when the motor works, and accordingly the inclination angles of the mounting shell 22 and the clamping plate 36 can be adjusted according to different types of materials and different working environments, and the clamping plate 36 can conveniently clamp the materials.

Example 4

On the basis of embodiment 3, as shown in fig. 1-5, the adsorption mechanism further comprises an adsorption mechanism, wherein the adsorption mechanism comprises a sucker 38 fixedly arranged at the lower end of a conical block 37, an opening of the sucker 38 is communicated with a plurality of first sealing holes 40 arranged on the conical block 37, the plurality of first sealing holes 40 are communicated with a plurality of connecting pipes 41 in a one-to-one correspondence manner, the plurality of connecting pipes 41 are communicated with a plurality of second sealing holes 42 arranged on a connecting plate 21 in a one-to-one correspondence manner, the plurality of second sealing holes 42 are communicated with a sealing cavity 46, the sealing cavity 46 is arranged at the lower end of a sealing shell 45, the sealing shell 45 is fixedly arranged at the upper end of the connecting plate 21, a through hole for a connecting block 51 to pass through is arranged on the sealing shell 45, a sealing plate 48 is slidably arranged in the sealing cavity 46, a connecting block two 47 is symmetrically arranged at the left side and the right side of the upper end of the sealing plate 48, and the connecting block two 47 penetrates the upper end of the sealing cavity 46 and is fixedly connected with the sliding block 44;

The lower extreme of connecting block one 51 is equipped with promotes the chamber 50, and the upper side left and right sides both ends symmetry intercommunication in promote the chamber 50 has slide hole 52, and the slip is equipped with the impeller block 49 in promoting the chamber 50, and the fixed spring two 54 that is equipped with between impeller block 49 and the promotion chamber 50, and the upper portion left and right sides both ends symmetry of impeller block 49 is equipped with slider 44, and slider 44 passes slide hole 52 and the side sliding connection of working chamber 43, and the lower part of impeller block 49 runs through the trompil of conical block 37 middle part and sucking disc 38 and with contact block 39 fixed connection.

The beneficial effects of the technical scheme are as follows:

When the electric telescopic rod 53 stretches to drive the connecting block I51 to move downwards, the connecting block I51 drives the pushing block 49 to move downwards through the spring II 54, the pushing block 49 moves downwards along with the sucker 38, after the sucker 38 and the pushing block 49 are in contact with materials, the pushing block 49 moves upwards, the spring II 54 compresses, the pushing block 49 drives the sliding block 44 to move upwards at the moment, the sliding block 44 drives the sealing plate 48 to slide upwards along the sealing cavity 46 through the connecting block II 47, the space of the sealing cavity 46 communicated with the sealing hole II 42 is enlarged, at the moment, the space of the sealing cavity 46 communicated with the sealing hole II 42 is negative pressure, the air pressure in the opening of the sucker 38 is reduced through the connecting pipe 41 and the sealing hole I40, the sucker 38 adopts a rubber disc, the side end of the sucker 38 is corrugated, the sucker 38 deforms when the sucker 38 contacts with the materials, the sucker 38 can freely stretch out and draw back, the opening of the sucker 38 is kept sealed with the materials, thereby ensuring that the sucker 38 firmly adsorbs the materials, the adsorption fixing effect on the materials is improved, the material is not to be caused to drop when the clamping plate 36 is clamped, the material is even the material is not damaged, the automatic clamping mechanism is required to be arranged, the automatic clamping mechanism is arranged, and the material is not required to be damaged, and the automatic clamping mechanism is compared with the automatic mechanism, and the automatic clamping mechanism is arranged, and the automatic mechanism is required to be arranged.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A multifunctional manipulator is characterized in that: comprises a base (1), wherein the upper end of the base (1) is connected with a rotating disc (2) through a thread component, the rotating disc (2) is connected with a driving mechanism, the upper end of the rotating disc (2) is fixedly provided with a supporting block (6), the front end of the supporting block (6) is fixedly connected with the rear end of the left side of a mounting block (5), the right end of the mounting block (5) is fixedly connected with a motor I (7), the output shaft of the motor I (7) is fixedly connected with a gear I (8), a lifting groove (4) at the right end of the supporting block (6) is in sliding connection with the left end of a lifting block (10), the upper side of the lifting block (10) is connected with a grabbing mechanism through a mechanical arm mechanism, the first rack at the right end of the lifting block (10) is meshed with the first gear (8), the first gear (8) is meshed with the second rack at the left end of the control block (9), the lifting block (10) is distributed at the left side of the first gear (8), the control block (9) is distributed at the right side of the first gear (8), a cavity (24) is arranged in the base (1), a second C-shaped annular hole (26) is arranged at the upper end of the base (1), the second C-shaped annular hole (26) is communicated with the cavity (24), the control block (9) penetrates through a movable hole (33) on the rotating disc (2) and the second C-shaped annular hole (26) to enter the cavity (24), a stabilizing mechanism is arranged between the control block (9) and the thread component;

The screw thread assembly comprises a stabilizing shaft (30), the stabilizing shaft (30) is fixedly arranged in the cavity (24), the upper end of the stabilizing shaft (30) is rotationally connected with the lower end of the stabilizing block (32), the upper end of the stabilizing block (32) is rotationally connected with the upper end of the cavity (24), fixing rods (28) are symmetrically arranged on the left side and the right side of the upper end of the stabilizing block (32), a C-shaped annular hole I is arranged at the upper end of the base (1), and the fixing rods (28) are correspondingly arranged in the C-shaped annular hole I;

the screw thread assembly further comprises a bolt (15), a fixing rod (28) penetrates through a first C-shaped annular hole at the upper end of the base (1) and a fixing hole on the rotating disc (2) to be in threaded connection with the bolt (15), a gasket is arranged between the bolt (15) and the rotating disc (2), the first C-shaped annular hole and a second C-shaped annular hole (26) are both communicated with the cavity (24), the diameter of the first C-shaped annular hole is smaller than that of the second C-shaped annular hole (26), and the central angles of the first C-shaped annular hole and the second C-shaped annular hole (26) are the same;

The stabilizing mechanism comprises a pressing plate (31), the right end of the pressing plate (31) is slidably connected with a guide groove (27) at the left end of a control block (9), the middle part of the pressing plate (31) is slidably connected with a support block (6), a spring III (29) is fixedly arranged between the control block (9) and the guide groove (27), pressing sleeves (14) are symmetrically arranged on the left side and the right side of the lower end of the pressing plate (31), and the pressing sleeves (14) are kept in contact with the upper ends of bolts (15).

2. A multi-function manipulator according to claim 1, wherein: the driving mechanism comprises a motor II (25), the motor II (25) is fixedly arranged in the cavity (24), an output shaft of the motor II (25) is fixedly connected with a motor shaft, the motor shaft penetrates through the upper end of the cavity (24) and is fixedly connected with a gear II (3), and the gear II (3) is meshed with a gear ring outside the rotating disc (2).

3. A multi-function manipulator according to claim 2, wherein: the mechanical arm mechanism comprises a first rotating rod (11) and a second rotating rod (12), wherein the first rotating rod (11) and the second rotating rod (12) are both rotationally connected with the front end of a lifting block (10), a driving shaft is rotationally arranged between the second rotating rod (12) and the lifting block (10), the driving shaft is fixedly connected with an output shaft of a driving motor, the driving motor is fixedly arranged at the rear end of the lifting block (10), one side of the first rotating rod (11) far away from the lifting block (10) is rotationally connected with the upper side of the rear end of an L-shaped mounting plate (13), one side of the second rotating rod (12) far away from the lifting block (10) is rotationally connected with the lower side of the rear end of the L-shaped mounting plate (13), a rotating shaft I and a rotating shaft II (18) are rotationally arranged between the lower side of the rear end of the L-shaped mounting plate (13) and the front end of the first mounting plate (16), the rotating shaft I is rotationally connected with the second rotating rod (12), the middle part of the rotating shaft II (18) is fixedly connected with a third rotating rod (17), the rear part of the second rotating rod II (18) penetrates through the first mounting plate (16) and is fixedly connected with the output shaft of the third motor, one side of the third rotating rod (17) is rotationally connected with the rear end of the third motor, the third rotating rod (17) is arranged between the lower side of the rear end of the L-shaped mounting plate (16) and the third rotating rod (16) and the front end of the third rotating rod is fixedly connected with the front end of the third rotating rod (16), a rotating rod IV (19) is rotatably arranged between the front end of the first mounting plate (16) and the front end of the second mounting plate (20), and a rotating shaft III is rotatably arranged between the rotating rod IV (19) and the front end of the second mounting plate (20).

4. A multi-function manipulator according to claim 3, wherein: the grabbing mechanism comprises a mounting shell (22), the mounting shell (22) is arranged on the front side of a rotating rod IV (19), the mounting shell (22) is fixedly connected with a rotating shaft III, the rotating shaft III is fixedly connected with an output shaft of a motor IV, the motor IV is fixedly arranged at the rear end of a mounting plate II (20), a working cavity (43) is arranged at the lower end of the mounting shell (22), an electric telescopic rod (53) is fixedly arranged in the working cavity (43), a connecting plate (21) is fixedly arranged at the lower end of the mounting shell (22), the electric telescopic rod (53) is fixedly connected with a connecting block I (51), the connecting block I (51) penetrates through the connecting plate (21) and is fixedly connected with a conical block (37), a plurality of clamping claws (23) are uniformly distributed on the circumference of the conical block (37), and the inclined ends of the clamping claws (23) are slidably connected with the inclined ends of the conical block (37), and the upper side horizontal ends of the clamping claws (23) are slidably connected with the lower ends of the connecting plate (21).

5. The multi-purpose robot as defined by claim 4, wherein: the vertical end of the clamping claw (23) close to one side is provided with a groove (34), a first spring (35) is fixedly arranged in the groove (34), and the first spring (35) is fixedly connected with a clamping plate (36).

6. The multi-purpose robot as defined by claim 4, wherein: still include adsorption equipment, adsorption equipment includes sucking disc (38) of fixed setting in toper piece (37) lower extreme, sucking disc (38) and a plurality of sealed hole (40) intercommunication that set up on toper piece (37), a plurality of sealed hole (40) and a plurality of connecting pipes (41) one-to-one intercommunication, a plurality of connecting pipes (41) and a plurality of sealed hole second (42) one-to-one intercommunication that set up on connecting plate (21), a plurality of sealed hole second (42) and sealed chamber (46) intercommunication, sealed chamber (46) set up the lower extreme at sealed shell (45), sealed shell (45) are fixed to be set up in the upper end of connecting plate (21), be equipped with the through-hole that supplies connecting block first (51) to pass on sealed shell (45), slide in sealed chamber (46) and be equipped with closing plate (48), the upper end left and right sides symmetry of closing plate (48) is equipped with connecting block second (47), the upper end that sealed chamber (46) are run through sealed chamber (46) and slider (44) fixed connection.

7. The multi-purpose robot as defined by claim 6, wherein: the lower extreme of connecting block one (51) is equipped with promotes chamber (50), and both ends symmetry intercommunication has slide hole (52) about the upside of promoting chamber (50), and it is equipped with in pushing chamber (50) to slip and promotes piece (49), and promotes and to be equipped with spring two (54) between piece (49) and the pushing chamber (50), and both ends symmetry is equipped with slider (44) about the upper portion of promoting piece (49), and slider (44) pass slide hole (52) and the side sliding connection of working chamber (43), and the trompil and contact block (39) fixed connection of middle part and sucking disc (38) of conical block (37) are run through to the lower part of promoting piece (49).