CN111941409A

CN111941409A - Multifunctional manipulator

Info

Publication number: CN111941409A
Application number: CN202010834565.5A
Authority: CN
Inventors: 王晓友
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2020-11-17

Abstract

The invention relates to the technical field of manipulators, in particular to a multifunctional manipulator which comprises a rotary supporting base, a lifting connecting table, a bending adjusting section, a large-angle rotary adjusting mechanism, a telescopic rotary supporting rod and a clamping mechanism. The rotation support base including the supporting baseplate, a supporting bench, the motor is rotated to the level, a rotating gear, driven ring gear, support go-between and axial locking ring, a supporting bench fixed connection is in the upper end of supporting baseplate, motor fixed connection is rotated on a supporting bench to the level, rotating gear fixed connection is on the output shaft of motor is rotated to the level, driven ring gear and rotating gear meshing transmission, driven ring gear fixed connection is on supporting the go-between, axial locking ring fixed connection is on supporting the go-between, driven ring gear, support go-between and axial locking ring and all rotate to be connected on a supporting bench.

Description

Multifunctional manipulator

Technical Field

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

Background

The invention discloses a multifunctional manipulator which comprises a fixed base, wherein the upper end face of the fixed base is rotatably connected with a connecting arm device, the rear end face of the connecting arm device is rotatably connected with a damper, the side end face of the damper is fixedly connected with a protection plate, the manipulator device is fixedly connected inside the protection plate, the manipulator device comprises a first air cylinder, a sliding plate, a second air cylinder, a rotating clamp, a lifting plate, a connecting barrel, a motor, an appliance connecting shell and a threaded groove, the sliding plate is slidably connected to the side end face of the connecting barrel, the rotating clamp is rotatably connected to the lower end face of the sliding plate, the second air cylinder is fixedly connected to the side end face of the sliding plate, and the lifting plate is fixedly connected to the lower end face of the rotating clamp. But cannot be moved by gripping with a large difference in height.

Disclosure of Invention

The invention aims to provide a multifunctional manipulator which has the advantage of being capable of clamping and moving with large height difference.

The purpose of the invention is realized by the following technical scheme:

a multifunctional manipulator comprises a rotating support base, a lifting connection platform, a bending adjustment section, a large-angle rotating adjustment mechanism, a telescopic rotating support rod and a clamping mechanism, wherein the lifting connection platform is fixedly connected to the upper end of the rotating support base;

the rotary support base comprises a support bottom plate, a support table, a horizontal rotary motor, a rotary gear, a driven gear ring, a support connecting ring and an axial locking ring, the support table is fixedly connected to the upper end of the support bottom plate, the horizontal rotary motor is fixedly connected to the support table, the rotary gear is fixedly connected to an output shaft of the horizontal rotary motor, the driven gear ring is in meshing transmission with the rotary gear, the driven gear ring is fixedly connected to the support connecting ring, the axial locking ring is fixedly connected to the support connecting ring, and the driven gear ring, the support connecting ring and the axial locking ring are all rotatably connected to the support table;

the lifting connection platform comprises a lifting support cylinder, a motor support box, heat dissipation air holes, a lifting motor, a threaded rod, a lifting inner threaded rod, a telescopic limiting rod and a locking plate, wherein the motor support box is fixedly connected inside the lifting support cylinder;

the bending adjusting section comprises a lower supporting block, a universal connector, a switching seat, an upper connecting block, a lower rotating expansion plate, an upper rotating expansion plate, supporting plates, a telescopic control hydraulic rod and a hydraulic station connecting pipe I, wherein the lower supporting block is fixedly connected to the upper end of the lifting inner threaded rod, the universal connector is fixedly connected to the lower supporting block, the switching seat is rotatably connected to the universal connector, the upper connecting block is fixedly connected to the upper end of the switching seat, the lower rotating expansion plate and the upper rotating expansion plate are respectively fixedly connected to the lower supporting block and the upper connecting block, the lower rotating expansion plate and the upper rotating expansion plate are rotatably connected, the two supporting plates are both fixedly connected to the lower rotating expansion plate, two ends of the telescopic control hydraulic rod are respectively fixedly connected to the two supporting plates, and the hydraulic station connecting pipe I is fixedly connected to the telescopic control hydraulic rod;

the large-angle rotation adjusting mechanism comprises a height adjusting hydraulic rod, a hydraulic station connecting pipe II, a large-angle adapter, a connecting rotating block and an angle adjusting motor, wherein the hydraulic station connecting pipe II is fixedly connected to the height adjusting hydraulic rod;

the telescopic rotating support rod comprises a long-stroke hydraulic rod, a hydraulic station connecting pipe III, a connecting straight arm, a tail end adjusting motor and a clamping mechanism motor, the long-stroke hydraulic rod is fixedly connected to the right end of the connecting rotating block, the hydraulic station connecting pipe III is fixedly connected to the long-stroke hydraulic rod, the connecting straight arm is rotatably connected to the long-stroke hydraulic rod, the tail end adjusting motor is fixedly connected to the connecting straight arm, an output shaft of the tail end adjusting motor is rotatably connected to the connecting straight arm, an output shaft of the tail end adjusting motor is fixedly connected to the long-stroke hydraulic rod, and the clamping mechanism motor is fixedly connected to the connecting straight arm;

the clamping mechanism comprises a clamp connecting plate, a motor supporting shell, a clamping motor, half-tooth gears, a long arm clamping plate and a short arm clamping plate, the clamp connecting plate is fixedly connected to an output shaft of the clamping mechanism motor, the motor supporting shell is fixedly connected to the clamp connecting plate, the clamping motor is fixedly connected to the inside of the motor supporting shell, the two half-tooth gears are rotatably connected to the motor supporting shell, the two half-tooth gears are in meshing transmission, the half-tooth gear positioned at the upper part is fixedly connected to the output shaft of the clamping motor, and the long arm clamping plate and the short arm clamping plate are respectively and fixedly connected to the two half-tooth gears;

the multifunctional manipulator has the beneficial effects that: the invention relates to a multifunctional manipulator, which is characterized in that a lifting inner threaded rod is stretched to the shortest length, an included angle between a lower supporting block and an axis of an upper connecting block is adjusted to form a right angle, a height adjusting hydraulic rod is stretched to the shortest length, an angle adjusting motor is started to enable a long stroke hydraulic rod to be downward, the long stroke hydraulic rod is adjusted to the longest length, the angle of a connecting straight arm is adjusted by starting a tail end adjusting motor to enable a clamping mechanism to reach the lowest position, the lifting inner threaded rod and the height adjusting hydraulic rod are adjusted to the longest length, the axes of the lower supporting block and the upper connecting block are adjusted to be in the same straight line, the angle adjusting motor and the tail end adjusting motor are started, the orientation of the long stroke hydraulic rod and the orientation of the connecting straight arm are respectively adjusted to enable the clamping mechanism to be adjusted to the highest.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", 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 referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.

Fig. 1 is a schematic view of the overall structure of a multifunctional manipulator of the present invention;

FIG. 2 is a structural cross-sectional view of the rotary support base of the present invention;

FIG. 3 is a structural sectional view of the lifting connection table of the present invention;

FIG. 4 is a schematic view of the bend adjustment segment of the present invention;

FIG. 5 is a schematic view of the adjusting mechanism for large angle rotation according to the present invention;

FIG. 6 is a schematic view of the construction of a telescoping swivel strut of the present invention;

fig. 7 is a structural sectional view of the gripping mechanism of the present invention.

In the figure: the supporting base 1 is rotated; a support base plate 1-1; a support table 1-2; horizontally rotating a motor 1-3; rotating the gears 1-4; 1-5 parts of a driven gear ring; support connecting rings 1-6; axial locking rings 1-7; lifting the connecting platform 2; lifting the supporting cylinder 2-1; a motor support box 2-2; 2-3 of radiating air holes; 2-4 of a lifting motor; 2-5 parts of a threaded rod; lifting the inner threaded rod 2-6; 2-7 of a telescopic limiting rod; 2-8 parts of locking plates; a bending adjustment section 3; a lower support block 3-1; 3-2 of a universal connector; 3-3 of an adapter; 3-4 of an upper connecting block; 3-5 of lower rotating expansion plate; 3-6 of upper rotating expansion plate; support plates 3-7; 3-8 of a telescopic control hydraulic rod; a hydraulic station connecting pipe I3-9; a large-angle rotation adjusting mechanism 4; a height adjusting hydraulic rod 4-1; a hydraulic station connecting pipe II 4-2; 4-3 of a large-angle adapter; connecting a rotating block 4-4; an angle adjusting motor 4-5; a telescopic rotating support rod 5; 5-1 of a long-stroke hydraulic rod; a hydraulic station connecting pipe III 5-2; connecting the straight arm 5-3; a tail end adjusting motor 5-4; a clamping mechanism motor 5-5; a gripping mechanism 6; the clamp is connected with the plate 6-1; a motor support case 6-2; a clamping motor 6-3; 6-4 parts of a half-tooth gear; 6-5 of a long arm splint; short arm splint 6-6.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The first embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 7, and a multifunctional manipulator includes a rotary support base 1, a lifting connection table 2, a bending adjustment section 3, a large-angle rotary adjustment mechanism 4, a telescopic rotary support rod 5 and a clamping mechanism 6, wherein the lifting connection table 2 is fixedly connected to the upper end of the rotary support base 1, the bending adjustment section 3 is fixedly connected to the upper end of the lifting connection table 2, the large-angle rotary adjustment mechanism 4 is fixedly connected to the upper end of the bending adjustment section 3, the telescopic rotary support rod 5 is fixedly connected to the large-angle rotary adjustment mechanism 4, and the clamping mechanism 6 is fixedly connected to the right end of the telescopic rotary support rod 5;

the lifting inner threaded rod 2-6 is made to extend to the shortest, the included angle between the axis of the lower supporting block 3-1 and the axis of the upper connecting block 3-4 is adjusted to be a right angle, the height adjusting hydraulic rod 4-1 is made to retract to the shortest, the angle adjusting motor 4-5 is started, the long stroke hydraulic rod 5-1 is made to face downwards, the long stroke hydraulic rod 5-1 is adjusted to be the longest, the clamping mechanism can reach the lowest position by adjusting the angle of the connecting straight arm by starting the tail end adjusting motor 5-4, the lifting inner threaded rod 2-6 and the height adjusting hydraulic rod 4-1 are adjusted to be the longest, the axes of the lower supporting block and the upper connecting block 3-4 are adjusted to be in the same straight line, the angle adjusting motor 4-5 and the tail end adjusting motor 5-4 are started, the orientation of the long stroke hydraulic rod 5-1 and the orientation of the connecting straight arm are respectively adjusted to enable the clamping mechanism, starting a horizontal rotating motor 1-3, rotating a rotating gear 1-4 to drive a driven gear ring 1-5, a support connecting ring 1-6 and an axial locking ring 1-7 to rotate so as to control the lifting connecting platform 2, a bending adjusting section 3, a large-angle rotating adjusting mechanism 4, a telescopic rotating support rod 5 and a clamping mechanism 6 to rotate in the horizontal direction, starting a lifting motor 2-4 threaded rod 2-5 to rotate, lifting an inner threaded rod 2-6 under the pushing of threads to lift and push the bending adjusting section 3 to lift so as to realize fine adjustment of height, adjusting the length of a telescopic control hydraulic rod 3-8 when transporting objects with large height difference, driving a telescopic plate 3-5 to extend by the telescopic control hydraulic rod 3-8, and rotating a universal connector 3-2 in a switching seat 3-3, the large-angle rotating adjusting mechanism 4, the telescopic rotating supporting rod 5 and the clamping mechanism 6 are rotated, the angle adjusting motor 4-5 is started to drive the connecting rotating block 4-4 to rotate to adjust the inclination angle of the telescopic rotating supporting rod 5, the clamping mechanism motor 5-5 can be started to change the clamping direction, the clamping motor 6-3 is started when clamping is carried out, the half-tooth gears 6-4 connected with the clamping motor rotate to enable the two half-tooth gears 6-4 to start to rotate and the rotating directions are opposite, and clamping or releasing can be achieved.

The second embodiment is as follows:

the present embodiment is described below with reference to fig. 1 to 7, wherein the rotation support base 1 includes a support base plate 1-1, a support base 1-2, a horizontal rotation motor 1-3, a rotation gear 1-4, a driven gear ring 1-5, a support connection ring 1-6 and an axial locking ring 1-7, the support base 1-2 is fixedly connected to the upper end of the support base plate 1-1, the horizontal rotation motor 1-3 is fixedly connected to the support base 1-2, the rotation gear 1-4 is fixedly connected to the output shaft of the horizontal rotation motor 1-3, the driven gear ring 1-5 is in meshing transmission with the rotation gear 1-4, the driven gear ring 1-5 is fixedly connected to the support connection ring 1-6, the axial locking ring 1-7 is fixedly connected to the support connection ring 1-6, the driven gear ring 1-5, the support connecting ring 1-6 and the axial locking ring 1-7 are all rotationally connected to the support table 1-2;

the horizontal rotating motor 1-3 is started to rotate the rotating gear 1-4 to drive the driven gear ring 1-5, the support connecting ring 1-6 and the axial locking ring 1-7 to rotate.

The third concrete implementation mode:

the embodiment is described below with reference to fig. 1-7, the lifting connection platform 2 includes a lifting support cylinder 2-1, a motor support box 2-2, a heat dissipation air hole 2-3, a lifting motor 2-4, a threaded rod 2-5, a lifting internal threaded rod 2-6, a telescopic limit rod 2-7 and a locking plate 2-8, the motor support box 2-2 is fixedly connected inside the lifting support cylinder 2-1, a plurality of heat dissipation air holes 2-3 are arranged at the lower part of the lifting support cylinder 2-1, the lifting motor 2-4 is fixedly connected inside the motor support box 2-2, the threaded rod 2-5 is fixedly connected on the output shaft of the lifting motor 2-4, the lifting internal threaded rod 2-6 and the threaded rod 2-5 are in threaded transmission, the lifting internal threaded rod 2-6 is slidably connected inside the lifting support cylinder 2-1, the telescopic limiting rod 2-7 is connected in the lifting support cylinder 2-1 in a sliding manner, the locking plate 2-8 is fixedly connected to the lower end of the telescopic limiting rod 2-7, and the lifting support cylinder 2-1 is fixedly connected to the upper end of the support connecting ring 1-6;

the telescopic limiting rods 2-7 can play a role in radial limiting when moving along with the lifting inner threaded rods 2-6 to prevent the threaded rods 2-5 from driving the lifting inner threaded rods 2-6 to rotate, and after the lifting motor 2-4 is started, the threaded rods 2-5 rotate to enable the lifting inner threaded rods 2-6 to move up and down under the pushing of the threads.

The fourth concrete implementation mode:

the embodiment is described below with reference to fig. 1-7, the bending adjustment section 3 includes a lower support block 3-1, a universal connector 3-2, an adapter 3-3, an upper connection block 3-4, a lower rotation expansion plate 3-5, an upper rotation expansion plate 3-6, a support plate 3-7, a telescopic control hydraulic rod 3-8 and a hydraulic station connection pipe i 3-9, the lower support block 3-1 is fixedly connected to the upper end of the lifting internal threaded rod 2-6, the universal connector 3-2 is fixedly connected to the lower support block 3-1, the adapter 3-3 is rotatably connected to the universal connector 3-2, the upper connection block 3-4 is fixedly connected to the upper end of the adapter 3-3, the lower rotation expansion plate 3-5 and the upper rotation expansion plate 3-6 are fixedly connected to the lower support block 3-1 and the upper connection block 3-4 respectively, the lower rotating expansion plate 3-5 is rotatably connected with the upper rotating expansion plate 3-6, the two supporting plates 3-7 are fixedly connected to the lower rotating expansion plate 3-5, two ends of a telescopic control hydraulic rod 3-8 are respectively fixedly connected to the two supporting plates 3-7, and a hydraulic station connecting pipe I3-9 is fixedly connected to the telescopic control hydraulic rod 3-8;

the hydraulic station connecting pipe I3-9, the hydraulic station connecting pipe II 4-2 and the hydraulic station connecting pipe III 5-2 are externally connected to an external hydraulic station. The extension length of the telescopic control hydraulic rod 3-8 can be controlled by adjusting an external hydraulic station, when the telescopic control hydraulic rod 3-8 extends, the lower rotary expansion plate 3-5 and the upper rotary expansion plate 3-6 extend along with the extension of the lower rotary expansion plate 3-8, so that the upper rotary expansion plate 3-6 rotates, the upper connecting block 3-4 rotates, the included angle between the upper connecting block 3-4 and the axis of the lower supporting block 3-1 can be adjusted, and the included angle between the upper connecting block 3-4 and the axis of the lower supporting block 3-1 ranges from ninety degrees to one hundred eighty degrees.

The fifth concrete implementation mode:

in the following, referring to fig. 1-7, the large-angle rotation adjustment mechanism 4 includes a height adjustment hydraulic rod 4-1, a hydraulic station connecting pipe ii 4-2, the hydraulic station connecting pipe II 4-2 is fixedly connected to a height adjusting hydraulic rod 4-1, the height adjusting hydraulic rod 4-1 is fixedly connected to an upper connecting block 3-4, the large-angle connecting base 4-3 is fixedly connected to an output shaft of the angle adjusting motor 4-5, the large-angle connecting base 4-3 is rotatably connected to the connecting rotating block 4-4, the angle adjusting motor 4-5 is fixedly connected to the connecting rotating block 4-4, and the connecting rotating block 4-4 is rotatably connected to the connecting rotating block 4-4;

the length of the height adjusting hydraulic rod 4-1 can be adjusted by adjusting the external hydraulic station, the connecting rotating block 4-4 can be rotated by starting the angle adjusting motor 4-5, and the orientation of the long-stroke hydraulic rod 5-1 can be adjusted.

The sixth specific implementation mode:

the embodiment is described below with reference to fig. 1-7, the telescopic rotating support rod 5 includes a long stroke hydraulic rod 5-1, a hydraulic station connecting pipe iii 5-2, a connecting straight arm 5-3, a terminal adjusting motor 5-4, and a clamping mechanism motor 5-5, the long stroke hydraulic rod 5-1 is fixedly connected to the right end of the connecting rotary block 4-4, the hydraulic station connecting pipe iii 5-2 is fixedly connected to the long stroke hydraulic rod 5-1, the connecting straight arm 5-3 is rotatably connected to the long stroke hydraulic rod 5-1, the terminal adjusting motor 5-4 is fixedly connected to the connecting straight arm 5-3, the output shaft of the terminal adjusting motor 5-4 is rotatably connected to the connecting straight arm 5-3, the output shaft of the terminal adjusting motor 5-4 is fixedly connected to the long stroke hydraulic rod 5-1, a clamping mechanism motor 5-5 is fixedly connected to the connecting straight arm 5-3;

the length of a long-stroke hydraulic rod 5-1 can be adjusted by adjusting an external hydraulic station, a tail end adjusting motor 5-4 is started to be connected with a straight arm 5-3 to rotate, the angle of a clamping mechanism 6 is adjusted, the clamping mechanism motor 5-5 is started to enable the adjusting clamping mechanism 6 to rotate, and the adjusting clamping mechanism 6 is adjusted to be convenient to clamp.

The seventh embodiment:

the present embodiment is described below with reference to fig. 1 to 7, wherein the clamping mechanism 6 includes a clamp connecting plate 6-1, a motor supporting housing 6-2, a clamping motor 6-3, a half-tooth gear 6-4, a long arm clamping plate 6-5 and a short arm clamping plate 6-6, the clamp connecting plate 6-1 is fixedly connected to an output shaft of the clamping mechanism motor 5-5, the motor supporting housing 6-2 is fixedly connected to the clamp connecting plate 6-1, the clamping motor 6-3 is fixedly connected to the inside of the motor supporting housing 6-2, both half-tooth gears 6-4 are rotatably connected to the motor supporting housing 6-2, the two half-tooth gears 6-4 are in engagement transmission with each other, the half-tooth gear 6-4 located at the upper portion is fixedly connected to an output shaft of the clamping motor 6-3, the long arm splint 6-5 and the short arm splint 6-6 are respectively and fixedly connected to the two half-tooth gears 6-4;

the clamping motor 6-3 is started, the half-tooth gear 6-4 connected with the output shaft of the clamping motor 6-3 rotates, and the two half-tooth gears 6-4 start to rotate due to meshing, so that the long arm clamping plate 6-5 and the short arm clamping plate 6-6 are driven to rotate reversely, and clamping and releasing actions can be realized.

The invention discloses a multifunctional manipulator, which has the use principle that: the lifting inner threaded rod 2-6 is stretched to be shortest, the included angle between the lower supporting block 3-1 and the axis of the upper connecting block 3-4 is adjusted to be a right angle, the height adjusting hydraulic rod 4-1 is contracted to be shortest, the angle adjusting motor 4-5 is started, the long stroke hydraulic rod 5-1 is downward, the long stroke hydraulic rod 5-1 is adjusted to be longest, the clamping mechanism can reach the lowest position by adjusting the angle of the connecting straight arm by starting the tail end adjusting motor 5-4, the lifting inner threaded rod 2-6 and the height adjusting hydraulic rod 4-1 are adjusted to be longest, the adjusting lower supporting block and the axis of the upper connecting block 3-4 are in the same straight line, the angle adjusting motor 4-5 and the tail end adjusting motor 5-4 are started, the orientation of the long stroke hydraulic rod 5-1 and the orientation of the connecting straight arm are respectively adjusted to enable the clamping mechanism 6 to be adjusted to be at the highest position, starting a horizontal rotating motor 1-3, rotating a rotating gear 1-4 to drive a driven gear ring 1-5, a support connecting ring 1-6 and an axial locking ring 1-7 to rotate so as to control the lifting connecting platform 2, a bending adjusting section 3, a large-angle rotating adjusting mechanism 4, a telescopic rotating support rod 5 and a clamping mechanism 6 to rotate in the horizontal direction, starting a lifting motor 2-4 threaded rod 2-5 to rotate, lifting an inner threaded rod 2-6 under the pushing of threads to lift and push the bending adjusting section 3 to lift so as to realize fine adjustment of height, adjusting the length of a telescopic control hydraulic rod 3-8 when transporting objects with large height difference, driving a telescopic plate 3-5 to extend by the telescopic control hydraulic rod 3-8, and rotating a universal connector 3-2 in a switching seat 3-3, the large-angle rotation adjusting mechanism 4, the telescopic rotating support rod 5 and the clamping mechanism 6 are rotated, the angle adjusting motor 4-5 is started to drive the connecting rotating block 4-4 to rotate to adjust the inclination angle of the telescopic rotating support rod 5, the clamping mechanism motor 5-5 can be adjusted to change the clamping direction, the clamping motor 6-3 is started when clamping is carried out, the half-tooth gears 6-4 connected with the clamping motor rotate to enable the two half-tooth gears 6-4 to start rotating, the clamping or releasing can be realized, the horizontal rotating motor 1-3 is started to rotate the gears 1-4 to drive the driven gear rings 1-5, the supporting connecting rings 1-6 and the axial locking rings 1-7 to rotate, the telescopic limiting rods 2-7 move along with the movement of the lifting inner threaded rods 2-6 to play a role of radial limiting and prevent the threaded rods 2-5 from driving the lifting inner threaded rods 2-6 to rotate to ensure that the lifting inner threaded rods 2 After the lifting motor 2-4 is started, the threaded rod 2-5 rotates to enable the lifting inner threaded rod 2-6 to move up and down under the pushing of threads, the hydraulic station connecting pipe I3-9, the hydraulic station connecting pipe II 4-2 and the hydraulic station connecting pipe III 5-2 are externally connected to an external hydraulic station, the extension length of the telescopic control hydraulic rod 3-8 can be controlled by adjusting the external hydraulic station, when the telescopic control hydraulic rod 3-8 extends, the lower rotary expansion plate 3-5 and the upper rotary expansion plate 3-6 extend along with the extension of the lower rotary expansion plate 3-6, the upper rotary expansion plate 3-6 rotates, the upper connecting block 3-4 rotates along with the rotation, the included angle between the upper connecting block 3-4 and the lower supporting block 3-1 can be adjusted, the included angle between the upper connecting block 3-4 and the lower supporting block 3-1 ranges from ninety degrees to one hundred eigh, the length of the height adjusting hydraulic rod 4-1 can be adjusted by adjusting an external hydraulic station, the connecting rotating block 4-4 can be rotated by starting the angle adjusting motor 4-5, the orientation of the long-stroke hydraulic rod 5-1 can be adjusted, the length of a long-stroke hydraulic rod 5-1 can be adjusted by adjusting an external hydraulic station, a tail end adjusting motor 5-4 is started to be connected with a straight arm 5-3 to rotate, the angle of a clamping mechanism 6 is adjusted, the clamping mechanism motor 5-5 is started to enable the adjusting clamping mechanism 6 to rotate, the adjusting clamping mechanism 6 is adjusted to facilitate clamping, a clamping motor 6-3 is started, the half-tooth gears 6-4 connected with the output shaft of the clamping motor 6-3 rotate, and the two half-tooth gears 6-4 start to rotate due to meshing, so that the long arm clamping plates 6-5 and the short arm clamping plates 6-6 are driven to rotate reversely, and clamping and releasing actions can be realized.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides a multifunctional manipulator, includes to rotate support base (1), lift connection platform (2), buckle adjustment section (3), wide-angle rotation guiding mechanism (4), flexible branch (5) of rotating and press from both sides and get mechanism (6), its characterized in that: lifting connection platform (2) fixed connection rotate the upper end that supports base (1), adjustment section (3) fixed connection of buckling is in the upper end of lifting connection platform (2), adjustment mechanism (4) fixed connection is rotated in the upper end of adjustment section (3) of buckling to the wide-angle, flexible rotation branch (5) fixed connection is on wide-angle rotation adjustment mechanism (4), press from both sides the right-hand member of getting mechanism (6) fixed connection at flexible rotation branch (5).

2. The multi-functional manipulator of claim 1, characterized in that: the rotary supporting base (1) comprises a supporting bottom plate (1-1), a supporting table (1-2), a horizontal rotary motor (1-3), a rotary gear (1-4), a driven gear ring (1-5), a supporting connecting ring (1-6) and an axial locking ring (1-7), the supporting table (1-2) is fixedly connected to the upper end of the supporting bottom plate (1-1), the horizontal rotary motor (1-3) is fixedly connected to the supporting table (1-2), the rotary gear (1-4) is fixedly connected to an output shaft of the horizontal rotary motor (1-3), the driven gear ring (1-5) is in meshing transmission with the rotary gear (1-4), the driven gear ring (1-5) is fixedly connected to the supporting connecting ring (1-6), and the axial locking ring (1-7) is fixedly connected to the supporting connecting ring (1-6), the driven gear ring (1-5), the supporting connecting ring (1-6) and the axial locking ring (1-7) are all rotationally connected to the supporting platform (1-2).

3. The multi-functional manipulator of claim 2, characterized in that: the lifting connection platform (2) comprises a lifting support cylinder (2-1), a motor support box (2-2), heat dissipation air holes (2-3), a lifting motor (2-4), a threaded rod (2-5), a lifting internal threaded rod (2-6), a telescopic limiting rod (2-7) and a locking plate (2-8), wherein the motor support box (2-2) is fixedly connected inside the lifting support cylinder (2-1), a plurality of heat dissipation air holes (2-3) are arranged at the lower part of the lifting support cylinder (2-1), the lifting motor (2-4) is fixedly connected inside the motor support box (2-2), the threaded rod (2-5) is fixedly connected on an output shaft of the lifting motor (2-4), and the lifting internal threaded rod (2-6) and the threaded rod (2-5) are in threaded transmission, the lifting inner threaded rod (2-6) is connected in the lifting support cylinder (2-1) in a sliding mode, the telescopic limiting rod (2-7) is connected in the lifting support cylinder (2-1) in a sliding mode, the locking plate (2-8) is fixedly connected to the lower end of the telescopic limiting rod (2-7), and the lifting support cylinder (2-1) is fixedly connected to the upper end of the support connecting ring (1-6).

4. A multi-functional manipulator according to claim 3, characterized in that: the bending adjustment section (3) comprises a lower supporting block (3-1), universal connectors (3-2), adapter seats (3-3), an upper connecting block (3-4), a lower rotating expansion plate (3-5), an upper rotating expansion plate (3-6), supporting plates (3-7), a telescopic control hydraulic rod (3-8) and a hydraulic station connecting pipe I (3-9), wherein the lower supporting block (3-1) is fixedly connected to the upper end of a lifting inner threaded rod (2-6), the universal connectors (3-2) are fixedly connected to the lower supporting block (3-1), the adapter seats (3-3) are rotatably connected to the universal connectors (3-2), the upper connecting block (3-4) is fixedly connected to the upper end of the adapter seats (3-3), and the lower rotating expansion plate (3-5) and the upper rotating expansion plate (3-6) are respectively and fixedly connected to the lower supporting block (3-2) The block (3-1) is rotatably connected with the upper connecting block (3-4), the lower rotating expansion plate (3-5) is rotatably connected with the upper rotating expansion plate (3-6), the two supporting plates (3-7) are fixedly connected with the lower rotating expansion plate (3-5), two ends of a telescopic control hydraulic rod (3-8) are respectively and fixedly connected with the two supporting plates (3-7), and a hydraulic station connecting pipe I (3-9) is fixedly connected with the telescopic control hydraulic rod (3-8).

5. The multi-functional manipulator of claim 4, characterized in that: the large-angle rotation adjustment mechanism (4) comprises a height adjustment hydraulic rod (4-1), a hydraulic station connecting pipe II (4-2), a large-angle adapter (4-3), a connecting rotating block (4-4) and an angle adjustment motor (4-5), the hydraulic station connecting pipe II (4-2) is fixedly connected to the height adjustment hydraulic rod (4-1), the height adjustment hydraulic rod (4-1) is fixedly connected to the upper connecting block (3-4), the large-angle adapter (4-3) is fixedly connected to an output shaft of the angle adjustment motor (4-5), the large-angle adapter (4-3) is rotatably connected to the connecting rotating block (4-4), the angle adjustment motor (4-5) is fixedly connected to the connecting rotating block (4-4), and an output shaft of the angle adjustment motor (4-5) is rotatably connected to the connecting rotating block (4-4) .

6. The multi-functional manipulator of claim 5, characterized in that: the telescopic rotating support rod (5) comprises a long-stroke hydraulic rod (5-1), a hydraulic station connecting pipe III (5-2), a connecting straight arm (5-3), a tail end adjusting motor (5-4) and a clamping mechanism motor (5-5), the long-stroke hydraulic rod (5-1) is fixedly connected to the right end of the connecting rotating block (4-4), the hydraulic station connecting pipe III (5-2) is fixedly connected to the long-stroke hydraulic rod (5-1), the connecting straight arm (5-3) is rotatably connected to the long-stroke hydraulic rod (5-1), the tail end adjusting motor (5-4) is fixedly connected to the connecting straight arm (5-3), an output shaft of the tail end adjusting motor (5-4) is rotatably connected to the connecting straight arm (5-3), and an output shaft of the tail end adjusting motor (5-4) is fixedly connected to the long-stroke hydraulic rod (5-1), the clamping mechanism motor (5-5) is fixedly connected to the connecting straight arm (5-3).

7. The multi-functional manipulator of claim 6, characterized in that: the clamping mechanism (6) comprises a clamp connecting plate (6-1), a motor supporting shell (6-2), a clamping motor (6-3), a half-tooth gear (6-4), a long arm clamping plate (6-5) and a short arm clamping plate (6-6), the clamp connecting plate (6-1) is fixedly connected to an output shaft of the clamping mechanism motor (5-5), the motor supporting shell (6-2) is fixedly connected to the clamp connecting plate (6-1), the clamping motor (6-3) is fixedly connected to the inside of the motor supporting shell (6-2), the two half-tooth gears (6-4) are rotatably connected to the motor supporting shell (6-2), the two half-tooth gears (6-4) are in meshing transmission, and the half-tooth gear (6-4) positioned at the upper part is fixedly connected to the output shaft of the clamping motor (6-3), the long arm splint (6-5) and the short arm splint (6-6) are respectively and fixedly connected to the two half-tooth gears (6-4).