CN112372653B - Multifunctional manipulator and use method thereof - Google Patents
Multifunctional manipulator and use method thereof Download PDFInfo
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- CN112372653B CN112372653B CN202011190496.5A CN202011190496A CN112372653B CN 112372653 B CN112372653 B CN 112372653B CN 202011190496 A CN202011190496 A CN 202011190496A CN 112372653 B CN112372653 B CN 112372653B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims abstract description 115
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 238000004140 cleaning Methods 0.000 claims abstract description 36
- 238000001179 sorption measurement Methods 0.000 claims description 27
- 210000000078 claw Anatomy 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 210000003437 trachea Anatomy 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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
-
- 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, the multifunctional manipulator comprises a manipulator driving arm and a conversion device, 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 face of the conversion cylinder is in transmission connection with an object clamping device, an object adsorbing 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 adsorbing device and the cleaning brush can be respectively arranged above the mechanical arm driving arm, and therefore, the mechanical arm driving arm can realize three operations of clamping, adsorbing and cleaning the object through the object clamping device, the object adsorbing device and the cleaning brush, and the practicability is increased.
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 an arm imitating human beings, and by controlling a mechanical device realizing part of functions, some workplaces have been banned manual operation into operation of the manipulator, so that the demand for a multifunctional manipulator and a use method thereof is growing.
The traditional manipulator can only carry out clamping operation, has single function, part of objects need to be subjected to ash falling removal before clamping, and part of objects are too smooth in surface and easy to slide when being clamped, so that the multifunctional manipulator and the application method thereof are provided for the problems.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art to a certain extent, and provides a multifunctional manipulator and a use method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a multifunctional manipulator, includes manipulator actuating arm and conversion equipment, the 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, converting motor and conversion gear, the conversion drum rotates to be connected in the mounting groove, fixedly connected with converting motor in the lateral wall of mounting groove one side, conversion gear is located in the conversion drum, and with converting motor's main shaft fixed connection, the round tooth's socket has been seted up to the inner wall of conversion drum, conversion gear pass through the tooth's socket with conversion drum transmission is connected, the equiangular connection has article clamping device, article adsorption equipment and cleaning brush in the lateral surface of conversion drum.
Further, the conversion device further comprises a driving motor, a first driving bevel gear, a second driving bevel gear and a driving rod; the driving motor is fixedly arranged in the side wall at the other side of the mounting groove, the first driving bevel gear is fixedly connected with the main shaft of the driving motor, three driving rods are arranged, are uniformly distributed on the inner side of the conversion cylinder and penetrate through the inner wall of the conversion cylinder, and are respectively in transmission connection with the object clamping device, the object adsorbing device and the cleaning brush; and one ends of the three driving rods, which are positioned in the conversion cylinder, are fixedly connected with a second driving bevel gear, and the first driving bevel gear is meshed with the second driving bevel gear.
Further, the object clamping device comprises a clamping seat, clamping claws, a rotating shaft, a worm wheel, a worm, an electric telescopic rod, a first transmission gear, a transmission toothed 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 bottom fixedly connected with first drive gear and transmission ring gear, first drive gear sets up the below of transmission ring gear, one side meshing of first drive gear has second drive gear, second drive gear fixed connection is in on the actuating lever.
Further, the article adsorption device comprises an adsorption seat, a sliding block, a limiting block, a screw rod, a fixed block and a sucking disc, wherein a cavity is defined in the adsorption seat, the sliding block is in sliding connection with the inside cavity of the adsorption seat, the limiting block is fixedly connected with the outer end face of the sliding block, the limiting block is in sliding connection with the inner wall of the cavity of the adsorption seat, 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 far away from one end fixedly connected with fixed block of actuating lever, the other end fixedly connected with sucking disc of fixed block.
Further, a sealing air pipe is arranged in 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.
Further, the inner wall of the mounting groove is fixedly connected with a plurality of L-shaped positioning blocks, and the L-shaped positioning blocks are uniformly distributed on the inner wall surface of the conversion cylinder and are rotationally connected with the inner wall of the conversion cylinder.
The application method of the multifunctional manipulator adopts the multifunctional manipulator and comprises the following steps:
step one: firstly, starting a conversion motor to drive a conversion gear to rotate, enabling the conversion gear to rotate under the limit of an L-shaped positioning block through meshing with a conversion cylinder after rotating, changing the positions of an object clamping device, an object adsorbing device and a cleaning brush after rotating, and starting a driving motor to drive a first driving bevel gear to rotate;
step two: the object clamping device is adjusted to the upper part of the manipulator driving arm, a second driving bevel gear below the object clamping device is meshed with the first driving bevel gear, at the moment, the first driving bevel gear rotates to drive the second driving bevel gear to rotate, the second driving bevel gear drives the second driving gear to rotate through a driving rod after rotating, an electric telescopic rod is started, the electric telescopic rod can extend and shorten, the electric telescopic rod drives the first driving gear to be meshed with a driving toothed ring respectively with the second driving gear, the second driving gear drives the electric telescopic rod to rotate clockwise or anticlockwise through meshing with the first driving gear or the driving toothed ring, so that forward rotation and reverse rotation of a worm are realized, the worm drives a rotating shaft to rotate through meshing with a worm wheel after rotating, and the rotating shaft drives a clamping claw to clamp and place an object;
step three: the object adsorption device is adjusted to the upper part of the manipulator driving arm, so that a second driving bevel gear positioned below the object adsorption device is meshed with a first driving bevel gear at the moment, the rotation of the first driving bevel gear drives the second driving bevel gear to rotate, the second driving bevel gear can drive a screw rod to rotate through a driving rod after rotating, the screw rod can drive the sliding block to extend out of the inner side of the adsorption seat through meshing with the sliding block after rotating, at the moment, an electromagnetic valve communicated with the sucking disc is started, the electromagnetic valve communicated with the outer end face of the fixed block is closed, air in the sucking disc enters into the inner side of the sliding block from the electromagnetic valve and a sealing air pipe in the extending process of the sliding block, the suction of the inner side of the sucking disc is realized, and the sucking disc is convenient for adsorbing the object;
step four: the cleaning brush is adjusted to the upper part of the manipulator 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 second driving bevel gear after the second driving bevel gear rotates, so that the cleaning brush can conveniently clean the dust falling on the surface of an object.
Compared with the prior art, the invention has the beneficial effects that:
1. 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 adsorbing device and the cleaning brush can be respectively arranged above the mechanical arm driving arm, and therefore, the mechanical arm driving arm can realize three operations of clamping, adsorbing and cleaning the object through the object clamping device, the object adsorbing device and the cleaning brush, and the practicability is increased;
2. according to the invention, through the conversion device and the object 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, the second transmission gear is meshed with the first transmission gear or the transmission toothed ring through the movement of the electric telescopic rod, 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, the clamping claw is used for grabbing and placing an object, and the object is clamped more conveniently;
3. according to the invention, through the conversion device and the object 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 drives the sliding block to extend out of the inner side of the adsorption seat through meshing with the sliding block after rotating, the position of the sucking disc can be adjusted, the sucking disc is conveniently adsorbed on the surface of an object, and the object is adsorbed and carried.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the structure of a manipulator arm mounting groove of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic diagram of the installation structure of the conversion device of the present invention;
FIG. 4 is a schematic view of the conversion cylinder of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 3A according to the present invention;
FIG. 6 is a schematic view of the mounting structure of the object clamping device of the present invention;
FIG. 7 is a schematic view of the mounting structure of the object adsorbing device.
In the figure:
1-a manipulator driving arm, a 2-conversion device, a 3-object clamping device, a 4-object adsorption device, a 5-cleaning brush and a 101-mounting groove; 201-converting cylinder, 202-L-shaped positioning block, 203-converting motor, 204-converting 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 wheel, 305-worm, 306-electric telescopic rod, 307-first transmission gear, 308-transmission toothed ring, 309-second transmission gear, 401-adsorption seat, 402-sliding block, 403-limiting block, 404-screw rod, 405-fixed block, 406-sucking disc, 407-sealing air pipe and 408-electromagnetic valve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should 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 the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level 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 an installation groove 101 is formed at the end part of the manipulator driving arm 1, and the conversion device 2 is arranged in the installation groove 101The device 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, wherein the conversion cylinder 201 is rotatably connected in an installation groove 101, an object clamping device 3, an object adsorbing device 4 and a cleaning brush 5 are connected on the outer side of the conversion cylinder 201 at equal angles, the positions of the object clamping device 3, the object adsorbing device 4 and the cleaning brush 5 can be adjusted through the rotation of the conversion cylinder 201, 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, a first driving gear 307, a driving toothed ring 308 and a second driving gear 309, the object adsorbing device 4 comprises an adsorbing seat 401, a sliding block 402, a limiting block 403, a screw 404, a fixed block 405, a sucking disc 406, a sealing air pipe 407 and an electromagnetic valve, and the cleaning brush 5 is arranged on the outer side of the conversion cylinder 201, and the cleaning brush 5 can be used for cleaning the surface of an object through the rotation of the cleaning brush 5.
The L-shaped positioning blocks 202 are uniformly distributed around the conversion cylinder 201, the vertical section of the L-shaped positioning blocks 202 is fixedly connected with the inner wall of the installation groove 101 of the manipulator driving arm 1, and the horizontal section of the L-shaped positioning blocks 202 is contacted with the inner wall surface of the conversion cylinder 201, so that the positioning effect is improved through friction.
A conversion motor 203 is fixedly connected in the side wall of one side of the mounting groove 101, a 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 motor 203 drives the conversion gear 204 to rotate, so that the conversion gear 204 drives the conversion cylinder 201 to rotate;
the driving motor 205 is fixedly arranged in the side wall at the other side of the mounting groove 101, a main shaft of the driving motor 205 is fixedly connected with a first driving bevel gear 206, 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 adsorbing device 4 and the cleaning brush 5, one end of the driving rod 208 positioned in the conversion cylinder 201 is fixedly connected with a second driving bevel gear 207, the first driving bevel gear 206 is meshed with the second driving bevel gear 207, and the arrangement ensures that the second driving bevel gears 207 at different positions can be driven to mesh with the first driving bevel gear 206 after the conversion cylinder 201 rotates;
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 so as to drive the clamping claws 302 to rotate, worm wheels 304 are fixedly sleeved on the outer side surfaces of the rotating shafts 303, worm rods 305 are meshed and driven between the two worm wheels 304, and the worm rods 305 are rotationally connected to the inner cavity of the clamping seat 301;
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, the second transmission gear 309 is fixedly connected with the driving rod 208, the electric telescopic rod 306 stretches out and shortens to drive the first transmission gear 307 and the transmission toothed ring 308 to be respectively meshed with the second transmission gear 309, and the second transmission gear 309 can realize forward rotation and reverse rotation of the worm 305 through the meshing with the first transmission gear 307 or the transmission toothed ring 308;
the inside of the adsorption seat 401 defines a cavity, the sliding block 402 is in sliding connection with the cavity of the adsorption seat 401, the outer end surface of the sliding block 402 is fixedly connected with a limiting block 403, the limiting block 403 is in sliding connection with the inner wall of the cavity of the adsorption seat 401, a threaded hole is formed in the inside of the sliding block 402 along the axial direction, the screw 404 is in threaded connection with the sliding block 402, and one end of the screw 404 is fixedly connected with the driving rod 208 penetrating through the adsorption seat 401; one end of the sliding block 402, which is far away from the driving rod 208, is fixedly connected with a fixed block 405, and the other end of the fixed block 405 is fixedly connected with a sucker 406, and the arrangement ensures that the screw 404 drives the sliding block 402 to extend out of the suction seat 401 through meshing with the sliding block 402 after rotating, so that the sucker 406 is convenient to contact with the surface of an object;
the inside of fixed block 405 is provided with sealed trachea 407, sealed trachea 407's one end and the inside screw hole intercommunication of sliding block 402, sealed trachea 407's the other end passes through solenoid valve 408 and sucking disc intercommunication, and solenoid valve 408 quantity is two, and sealed trachea 407's one side passes through another solenoid valve 408 and the outer terminal surface intercommunication of fixed block 405, and this kind of setting makes the air in sucking disc 406 get into sliding block 402 from solenoid valve 408 and sealed trachea 407 in the in-process that sliding block 402 stretches out, realizes the evacuation to sucking disc 406 inside, makes things convenient for sucking disc 406 to the absorption of article.
The working flow is as follows: the invention is powered by an external power supply and controlled by a manipulator control assembly, the conversion motor 203 is started firstly, the conversion motor 203 drives the conversion gear 204 to rotate, the conversion gear 204 rotates after being meshed with the conversion cylinder 201, the conversion cylinder 201 rotates under the limit of the L-shaped positioning block 202, the conversion cylinder 201 can change the positions of the object clamping device 3, the object adsorbing device 4 and the cleaning brush 5 after rotating, the driving motor 205 is started to drive the first driving bevel gear 206 to rotate, the object clamping device 3 is regulated to the upper side of the manipulator driving arm 1, the 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 drives the second driving bevel gear 207 to rotate, the second driving bevel gear 207 drives the second driving bevel gear 309 to rotate through the driving rod 208 after rotating, the electric telescopic rod 306 can extend and shorten, the electric telescopic rod 306 drives the first driving gear 307 to be meshed with the second driving bevel gear 309 respectively, the second driving bevel gear 309 drives the second driving bevel gear 307 to rotate clockwise or the first driving bevel gear 307 to rotate clockwise, and the second driving bevel gear 306 is meshed with the rotating shaft 303 to rotate clockwise, and the object 303 is placed clockwise, and the object is clamped 303 is driven to rotate clockwise by the driving bevel gear 307 to rotate clockwise or the rotating shaft 305.
Example 2:
the present invention provides a multifunctional manipulator, which has the same structural parts as those of embodiment 1, except for the working procedure.
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 rotate under the limit of an L-shaped positioning block 202 through the engagement with the conversion cylinder 201 after rotating, the conversion cylinder 201 can change the positions of an object clamping device 3, an object adsorbing device 4 and a cleaning brush 5 after rotating, a driving motor 205 is started to drive a first driving bevel gear 206 to rotate, the object adsorbing device 4 is regulated to the upper side of a manipulator driving arm 1, a second driving bevel gear 207 positioned below the object adsorbing device 4 is engaged 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, the screw 404 can drive the sliding block 402 to extend out of the inner side of an adsorbing seat 401 through the engagement with a sliding block 402, at the moment, an electromagnetic valve 408 communicated with a sucking disc 406 is opened, the electromagnetic valve 408 communicated with the outer end face of the fixed block 405 is closed, and the air in the sliding block 402 extends out of the sliding block 406 to enable the electromagnetic valve 408 to enter the electromagnetic valve 406 to be sealed inside the sucking disc 406, and the electromagnetic valve 406 is convenient to suck the object 406 from the inner side 406.
Example 3:
the present invention provides a method for using a multifunctional manipulator, and the same structural parts as those of embodiment 1 are not described again, except for the differences in the workflow.
According to the invention, the external power supply is used for supplying power, the conversion motor 203 is started firstly, the conversion motor 203 drives the conversion gear 204 to rotate, the conversion gear 204 can rotate under the limit of the L-shaped positioning block 202 through the engagement with the conversion cylinder 201 after rotating, the conversion cylinder 201 can change the positions of the object clamping device 3, the object adsorbing device 4 and the cleaning brush 5 after rotating, the driving motor 205 is started to drive the first driving bevel gear 206 to rotate, the cleaning brush 5 is regulated to the upper part of the manipulator driving arm 1, the second driving bevel gear 207 below the cleaning brush 5 can be engaged 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, and the second driving bevel gear 207 can drive the cleaning brush 5 to rotate through the driving rod 208 after rotating, so that the dust on the surface of an object can be cleaned conveniently by the cleaning brush 5.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 (1)
1. The 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 part 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), 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 rotationally connected in the installation groove (101), 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), and the outer side surface of the conversion cylinder (201) is connected with an object clamping device (3), an adsorbing device (5) and a cleaning brush (4) in an equal angle mode; the driving motor (205) is fixedly arranged in the side wall at the other side of the mounting groove (101), the first driving bevel gear (206) is fixedly connected with the main shaft of the driving motor (205), three driving rods (208) are arranged, 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 are respectively in transmission connection with the object clamping device (3), the object adsorbing 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 gears (206) are meshed with the second driving bevel gears (207); 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), 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), worm wheels (304) are 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 to the inner cavity of the clamping seat (301); 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 gear ring (308), the first transmission gear (307) is arranged below the transmission gear 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); 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) and a sucker (406), wherein a cavity is defined in the adsorption seat (401), the sliding block (402) is in sliding connection with the cavity of the adsorption seat (401), the limiting block (403) is fixedly connected with the outer end face of the sliding block (402), the limiting block (403) is in sliding connection with the inner wall of the cavity of the adsorption seat (401), a threaded hole is formed in the sliding block (402) along the axial direction, the screw (404) is in threaded connection with the sliding block (402), and one end of the screw (404) is fixedly connected with the driving rod (208) penetrating through the adsorption seat (401); one end, far away from the driving rod (208), of the sliding block (402) is fixedly connected with a fixed block (405), and the other end of the fixed block (405) is fixedly connected with a sucker (406); a sealing air pipe (407) is arranged in the fixed block (405), one end of the sealing air pipe (407) is communicated with an internal threaded hole of the sliding block (402), and the other end of the sealing air pipe is communicated with the sucker (406) through an electromagnetic valve (408);
one side of the sealing air pipe (407) is communicated with the outer end surface of the fixed block (405) through the other electromagnetic valve (408); the inner wall of the mounting groove (101) is fixedly connected with a plurality of L-shaped positioning blocks (202), and the L-shaped positioning blocks (202) are uniformly distributed on the inner wall surface of the conversion cylinder (201) and are rotationally connected with the inner wall of the conversion cylinder (201); the using method of the multifunctional manipulator comprises the following steps:
step one: firstly, a conversion motor (203) is started, the conversion motor (203) drives a conversion gear (204) to rotate, the conversion gear (204) is meshed with a conversion cylinder (201) after rotating, the conversion cylinder (201) rotates under the limit of an L-shaped positioning block (202), the positions of an object clamping device (3), an object adsorbing 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 second driving bevel gear (207) to rotate through rotation of the first driving bevel gear (206), 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 extend and shorten, enabling the electric telescopic rod (306) to drive a first transmission gear (307) and a transmission toothed ring (308) to be meshed with 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 meshing with the first transmission gear (307) or the transmission toothed ring (308), enabling the worm (305) to rotate clockwise or anticlockwise through meshing with a worm wheel (303) after rotating, enabling the worm (305) to drive a worm wheel (303) to rotate, and enabling a rotating shaft (303) to drive a gripper (302) to clamp an object to be placed on the rotating shaft;
step three: the object adsorption device (4) is adjusted to the upper part of the manipulator driving arm (1), a second driving bevel gear (207) positioned below the object adsorption device (4) is meshed with a first driving bevel gear (206), the rotation of the first driving bevel gear (206) drives the second driving bevel gear (207) to rotate, the second driving bevel gear (207) can drive a screw rod (404) to rotate through a driving rod (208) after rotating, the screw rod (404) can drive the sliding block (402) to extend out of the inner side of the adsorption seat (401) through the meshing with the sliding block (402), at the moment, an electromagnetic valve (408) communicated with the sucking disc (406) is started, the electromagnetic valve (408) communicated with the outer end face of the fixed block (405) is closed, and air in the sucking disc (406) enters into 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), so that the sucking disc (406) can be pumped out of the inner side of the sucking disc (406) to adsorb objects conveniently;
step four: the cleaning brush (5) is adjusted to the upper part of 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) is driven to rotate by rotation of the first driving bevel gear (206), and the cleaning brush (5) can be driven to rotate by the second driving bevel gear (207) after rotation through a driving rod (208), so that dust falling on the surface of an object can be cleaned conveniently by the cleaning brush (5).
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