CN214110432U

CN214110432U - Multifunctional manipulator

Info

Publication number: CN214110432U
Application number: CN202022471401.9U
Authority: CN
Inventors: 尚家璇; 张雪薇; 孟笑天; 尚家希; 尹星晗; 孟兵川
Original assignee: Hebei Honglong Environmental Protection Technology Co ltd
Current assignee: Hebei Honglong Environmental Protection Technology Co ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-09-03
Anticipated expiration: 2030-10-30

Abstract

The utility model discloses a multifunctional manipulator, including manipulator actuating arm and conversion equipment, the top of manipulator actuating arm is provided with conversion equipment, conversion equipment is including conversion drum, L type locating piece, conversion motor, conversion gear, driving motor, first drive bevel gear, second drive bevel gear and actuating lever, the outer terminal surface transmission of conversion drum is connected with article clamping device, article adsorption equipment and cleaning brush; the utility model discloses a conversion motor among the conversion equipment drives the conversion drum with the conversion gear and rotates, makes article clamping device, article adsorption equipment and cleaning brush can set up respectively in the top of manipulator actuating arm to make the manipulator actuating arm pass through article clamping device, article adsorption equipment and cleaning brush and realize the centre gripping of article, adsorb and three kinds of operations of deashing, increase the practicality.

Description

Multifunctional manipulator

Technical Field

The utility model relates to a manipulator technical field, more specifically the utility model relates to a multifunctional manipulator.

Background

The manipulator is a mechanical device which imitates the human arm and realizes partial functions through control, and in some workplaces, manual operation is already banned to be the manipulator for operation, so that the demands on the multifunctional manipulator and the use method thereof are increasing.

Traditional manipulator can only press from both sides and get the operation, and the function is comparatively single, and some articles need fall the ash and get rid of before the centre gripping, and some article surfaces are too smooth, produce easily when carrying out the centre gripping to it and slide, consequently, provide a multi-functional manipulator to above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the above-mentioned technical problem among the prior art to a certain extent at least, provide a multifunctional manipulator.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a multifunctional manipulator, includes manipulator actuating arm and conversion equipment, mounting groove has been seted up to the tip of manipulator actuating arm, conversion equipment sets up in the mounting groove, conversion equipment includes conversion drum, conversion motor and conversion gear, the conversion drum rotates to be connected in the mounting groove, fixedly connected with conversion motor in the lateral wall of mounting groove one side, conversion gear is located in the conversion drum, and with conversion motor's main shaft fixed connection, the inner wall of conversion drum has seted up round tooth's socket, conversion gear pass through the tooth's socket with conversion drum transmission is connected, the lateral surface of conversion drum is equiangular connection with article clamping device, article adsorption equipment and cleaning brush.

Furthermore, the conversion device also comprises a driving motor, a first driving bevel gear, a second driving bevel gear and a driving rod; the driving motors are fixedly arranged in the side wall on the other side of the mounting groove, the first driving bevel gear is fixedly connected with a main shaft of each driving motor, the number of the driving rods is three, the three driving rods are uniformly distributed on the inner side of the conversion cylinder and penetrate through the inner wall of the conversion cylinder, and the three driving rods are respectively in transmission connection with the object clamping device, the object adsorption device and the cleaning brush; and one ends of the three driving rods, which are positioned in the conversion cylinder, are fixedly connected with second driving bevel gears, and the first driving bevel gears are meshed with the second driving bevel gears.

Furthermore, the object clamping device comprises a clamping seat, a clamping claw, a rotating shaft, a worm wheel, a worm, an electric telescopic rod, a first transmission gear, a transmission gear ring and a second transmission gear; the two clamping claws are symmetrically arranged at the front end and the rear end of the surface of the clamping seat, the two rotating shafts are respectively arranged at the end parts of the clamping seat and correspond to the clamping claws one by one, the end parts of the rotating shafts are fixedly connected with the corresponding clamping claws, the outer side surface of each rotating shaft is fixedly sleeved with a worm wheel, a worm is meshed and driven between the two worm wheels, and the worm is rotationally connected with the inner cavity of the clamping seat; the worm bottom fixedly connected with electric telescopic handle, electric telescopic handle's first transmission gear of bottom fixedly connected with and transmission ring gear, first transmission gear sets up the below of transmission ring gear, one side meshing of first transmission gear has second drive gear, second drive gear fixed connection be in on the actuating lever.

Furthermore, the object adsorption device comprises an adsorption seat, a sliding block, a limiting block, a screw rod, a fixing block and a sucker, wherein a cavity is defined inside the adsorption seat, the sliding block is connected in the cavity inside the adsorption seat in a sliding manner, the limiting block is fixedly connected to the outer end face of the sliding block, the limiting block is connected with the inner wall of the cavity of the adsorption seat in a sliding manner, a threaded hole is formed in the sliding block along the axial direction, the screw rod is in threaded connection with the sliding block, and one end of the screw rod penetrates through the adsorption seat and is fixedly connected with the driving rod; the sliding block is kept away from the one end fixedly connected with fixed block of actuating lever, the other end fixedly connected with sucking disc of fixed block.

Furthermore, a sealing air pipe is arranged inside the fixed block, one end of the sealing air pipe is communicated with an internal threaded hole of the sliding block, and the other end of the sealing air pipe is communicated with the sucker through an electromagnetic valve;

one side of the sealing air pipe is communicated with the outer end face of the fixed block through the other electromagnetic valve.

Furthermore, a plurality of L-shaped positioning blocks are fixedly connected to the inner wall of the mounting groove, are uniformly distributed on the inner wall surface of the conversion cylinder, and are rotatably connected with the inner wall of the conversion cylinder.

The use method of the multifunctional manipulator comprises the following steps:

the method comprises the following steps: firstly, a conversion motor is started to drive a conversion gear to rotate, the conversion gear can be meshed with a conversion cylinder after rotating, the conversion cylinder rotates under the limit of an L-shaped locating block, the positions of an object clamping device, an object adsorption device and a cleaning brush can be changed after the conversion cylinder rotates, and a driving motor is started to drive a first driving bevel gear to rotate;

step two: adjusting the object clamping device to be above a manipulator driving arm, enabling a second driving bevel gear below the object clamping device to be meshed with the first driving bevel gear, enabling the first driving bevel gear to rotate to drive the second driving bevel gear to rotate, enabling the second driving bevel gear to drive a second transmission gear to rotate through a driving rod after rotating, starting an electric telescopic rod, enabling the electric telescopic rod to stretch out and shorten, enabling the electric telescopic rod to drive a first transmission gear and a transmission gear ring to be meshed with a second transmission gear respectively, enabling the second transmission gear to drive the electric telescopic rod to rotate clockwise or anticlockwise through meshing with the first transmission gear or the transmission gear ring, and accordingly achieving forward rotation and reverse rotation of a worm, enabling the worm to drive a rotating shaft to rotate through meshing with a worm wheel after rotating, and enabling the rotating shaft to drive a clamping claw to clamp and place the object;

step three: adjusting the object adsorption device to be above a manipulator driving arm, enabling a second driving bevel gear positioned below the object adsorption device to be meshed with a first driving bevel gear at the moment, enabling the first driving bevel gear to rotate to drive the second driving bevel gear to rotate, enabling the second driving bevel gear to drive a screw rod to rotate through a driving rod after the second driving bevel gear rotates, enabling the screw rod to drive the sliding block to extend out of the inner side of the adsorption seat through meshing with the sliding block after the screw rod rotates, starting an electromagnetic valve communicated with a sucker at the moment and closing the electromagnetic valve communicated with the outer end face of the fixed block, enabling air in the sucker to enter the inner side of the sliding block from the electromagnetic valve and a sealing air pipe in the process of extending out of the sliding block, achieving air extraction of the inner side of the sucker, and facilitating the sucker to adsorb the object;

step four: the cleaning brush is adjusted to be above the mechanical arm driving arm, so that the second driving bevel gear positioned below the cleaning brush can be meshed with the first driving bevel gear, the second driving bevel gear can be driven to rotate by the rotation of the first driving bevel gear, and the cleaning brush can be driven to rotate by the driving rod after the second driving bevel gear rotates, so that the cleaning brush can conveniently clean ash on the surface of an object.

Known via foretell technical scheme, compare with prior art, the beneficial effect of the utility model is that:

1. in the utility model, the conversion cylinder is driven to rotate by the conversion motor and the conversion gear in the conversion device, so that the article clamping device, the article adsorption device and the cleaning brush can be respectively arranged above the manipulator driving arm, and the manipulator driving arm realizes three operations of clamping, adsorbing and deashing the article through the article clamping device, the article adsorption device and the cleaning brush, thereby increasing the practicability;

2. in the utility model, through the arranged conversion device and the article clamping device, the driving motor drives the driving rod to rotate through the first driving half gear and the second driving bevel gear, so that the driving rod drives the second transmission gear to rotate, and the second transmission gear is meshed with the first transmission gear or the transmission gear ring through the motion of the electric telescopic rod, thereby realizing the forward rotation and the reverse rotation of the worm;

3. the utility model discloses in, through conversion equipment and the article adsorption equipment who sets up, driving motor drives the actuating lever through first drive semi-gear and second drive bevel gear and rotates, makes the actuating lever drive the screw rod and rotates, and the screw rod can drive the sliding block and stretch out from the inboard that adsorbs the seat after rotating through the meshing with the sliding block, can adjust the position of sucking disc, makes things convenient for the sucking disc to adsorb on the surface of article, realizes the absorption transport of article.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a mounting groove of a manipulator driving arm of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

fig. 3 is a schematic view of the installation structure of the conversion device of the present invention;

fig. 4 is a schematic structural view of the conversion cylinder of the present invention;

FIG. 5 is a schematic view of the structure at A of FIG. 3 according to the present invention;

FIG. 6 is a schematic view of the installation structure of the object holding device of the present invention;

fig. 7 is a schematic view of the installation structure of the article adsorption device of the present invention.

In the figure:

1-a mechanical arm driving arm, 2-a conversion device, 3-an object clamping device, 4-an object adsorption device, 5-a cleaning brush and 101-an installation groove; 201-conversion cylinder, 202-L-shaped positioning block, 203-conversion motor, 204-conversion gear, 205-driving motor, 206-first driving bevel gear, 207-second driving bevel gear, 208-driving rod, 301-clamping seat, 302-clamping claw, 303-rotating shaft, 304-worm gear, 305-worm, 306-electric telescopic rod, 307-first transmission gear, 308-transmission gear ring, 309-second transmission gear, 401-adsorption seat, 402-sliding block, 403-limiting block, 404-screw rod, 405-fixing block, 406-suction cup, 407-sealing air pipe and 408-electromagnetic valve.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example 1:

please refer to FIG. 1-7The utility model provides a multifunctional manipulator, including manipulator actuating arm 1 and conversion equipment 2, mounting groove 101 has been seted up to manipulator actuating arm 1's tip, conversion equipment 2 sets up in mounting groove 101, including conversion drum 201, L type locating piece 202, conversion motor 203, change-over gear 204, driving motor 205, first drive bevel gear 206, second drive bevel gear 207 and actuating lever 208, conversion drum 201 rotates to be connected in mounting groove 101, its lateral surface equidistance is connected with article clamping device 3, article adsorption equipment 4 and cleaning brush 5, this kind of setting is through the rotation of conversion drum 201, make article clamping device 3, article adsorption equipment 4 and cleaning brush 5's position can adjust, article clamping device 3 includes grip slipper 301, gripper jaw 302, pivot 303, worm wheel 304, worm 305, electric telescopic handle 306, first drive gear 307, The article adsorption device 4 comprises an adsorption seat 401, a sliding block 402, a limiting block 403, a screw 404, a fixed block 405, a suction cup 406, a sealing air pipe 407 and an electromagnetic valve 408, a cleaning brush 5 is arranged on the outer side of the conversion cylinder 201, and the cleaning brush 5 rotates to clean the surface of an article.

The L-shaped positioning blocks 202 are uniformly distributed around the conversion cylinder 201, the vertical section of each L-shaped positioning block 202 is fixedly connected with the inner wall of the installation groove 101 of the manipulator driving arm 1, and the horizontal section of each L-shaped positioning block 202 is in contact with the inner wall surface of the conversion cylinder 201, so that the positioning effect is improved through friction.

The conversion motor 203 is fixedly connected in the side wall of one side of the installation groove 101, the conversion gear 204 is positioned in the conversion cylinder 201 and is fixedly connected with a main shaft of the conversion motor 203, a circle of tooth grooves are formed in the inner wall of the conversion cylinder 201, the conversion gear 204 is in transmission connection with the conversion cylinder 201 through the tooth grooves, and the conversion gear 204 is driven to rotate by the conversion motor 203, so that the conversion gear 204 drives the conversion cylinder 201 to rotate;

the driving motor 205 is fixedly installed in the side wall on the other side of the installation groove 101, the main shaft of the driving motor 205 is fixedly connected with a first driving bevel gear 206, the driving rods 208 are rotatably connected to the inner side of the conversion cylinder 201, the number of the driving rods 208 is three, the driving rods 208 are uniformly distributed on the inner side of the conversion cylinder 201 and penetrate through the inner wall of the conversion cylinder 201, and are respectively in transmission connection with the object clamping device 3, the object adsorption device 4 and the cleaning brush 5, one end of the driving rod 208, which is positioned in the conversion cylinder 201, is fixedly connected with a second driving bevel gear 207, and the first driving bevel gear 206 is meshed with the second driving bevel gear 207, so that the conversion cylinder 201 can drive the second driving bevel gears 207 at different positions to be meshed with the first driving bevel gear 206 after rotating;

the two clamping claws 302 are symmetrically arranged at the front end and the rear end of the surface of the clamping seat 301, the two rotating shafts 303 are respectively arranged at the end parts of the clamping seat 301 and correspond to the clamping claws 302 one by one, the end parts of the rotating shafts 303 are fixedly connected with the corresponding clamping claws 302 to drive the clamping claws 302 to rotate, the outer side surfaces of the rotating shafts 303 are fixedly sleeved with worm wheels 304, worm gears 305 are meshed between the two worm wheels 304 for transmission, the worm gears 305 are rotationally connected with the inner cavity of the clamping seat 301, and after the worm gears 305 rotate, the rotating shafts 303 are driven to rotate through meshing with the worm wheels 304, so that the rotating shafts 303 drive the clamping claws 302 to clamp and place an object;

the bottom end of the worm 305 is fixedly connected with an electric telescopic rod 306, the bottom end of the electric telescopic rod 306 is fixedly connected with a first transmission gear 307 and a transmission toothed ring 308, the first transmission gear 307 is arranged below the transmission toothed ring 308, one side of the first transmission gear 307 is meshed with a second transmission gear 309, and the second transmission gear 309 is fixedly connected to the driving rod 208;

a cavity is defined inside the adsorption seat 401, a sliding block 402 is connected in the cavity of the adsorption seat 401 in a sliding manner, a limiting block 403 is fixedly connected to the outer end face of the sliding block 402, the limiting block 403 is connected in the inner wall of the cavity of the adsorption seat 401 in a sliding manner, a threaded hole is formed in the sliding block 402 along the axial direction, a screw rod 404 is in threaded connection with the sliding block 402, and one end of the screw rod 404 is fixedly connected with a driving rod 208 which penetrates through the adsorption seat 401; the end, far away from the driving rod 208, of the sliding block 402 is fixedly connected with a fixed block 405, the other end of the fixed block 405 is fixedly connected with a suction cup 406, and the arrangement enables the screw rod 404 to be meshed with the sliding block 402 after rotating, so that the sliding block 402 is driven to extend out of the suction seat 401, and the suction cup 406 is convenient to contact with the surface of an object;

the inside of fixed block 405 is provided with sealed trachea 407, the inside screw hole intercommunication of sealed trachea 407 and sliding block 402, the other end of sealed trachea 407 passes through solenoid valve 408 and sucking disc intercommunication, the quantity of solenoid valve 408 is two, one side of sealed trachea 407 passes through another solenoid valve 408 and the outer terminal surface intercommunication of fixed block 405, this kind of setting makes the air in the sucking disc 406 enter into sliding block 402 from solenoid valve 408 and sealed trachea 407 in the process that sliding block 402 stretches out, realize the inside air extraction to sucking disc 406, make things convenient for the absorption of sucking disc 406 to the article.

The working process is as follows: the utility model supplies power through an external power supply, and is controlled through a manipulator control assembly, firstly, the conversion motor 203 is started, the conversion motor 203 drives the conversion gear 204 to rotate, the conversion gear 204 can be meshed with the conversion cylinder 201 after rotating, the conversion cylinder 201 can rotate under the limit of the L-shaped positioning block 202, the positions of the object clamping device 3, the object adsorption device 4 and the cleaning brush 5 can be changed after the conversion cylinder 201 rotates, the driving motor 205 is started to drive the first driving bevel gear 206 to rotate, the object clamping device 3 is adjusted to the upper part of the manipulator 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 can drive the second driving bevel gear 207 to rotate, the second driving bevel gear 207 can drive the second driving gear 309 to rotate through the driving rod 208 after rotating, starting the electric telescopic rod 306, making the electric telescopic rod 306 extend out and shorten, making the electric telescopic rod 306 drive the first transmission gear 307 and the transmission toothed ring 308 to mesh with the second transmission gear 309 respectively, the second transmission gear 309 can drive the electric telescopic rod 306 to rotate clockwise or anticlockwise through meshing with the first transmission gear 307 or the transmission toothed ring 308, thereby realizing the corotation and the reversal of the worm 305, the worm 305 can drive the rotating shaft 303 to rotate through meshing with the worm wheel 304 after rotating, and the rotating shaft 303 drives the gripper 302 to clamp and place the object.

Example 2:

the utility model provides a multifunctional manipulator, the constitutional part is the same with embodiment 1, and the difference is in the work flow.

The utility model supplies power through an external power supply, control is carried out through the manipulator control assembly, at first start the change-over motor 203, make the change-over motor 203 drive the change-over gear 204 and rotate, the change-over gear 204 can pass through the meshing with change-over cylinder 201 after rotating, make the change-over cylinder 201 rotate under the spacing of L type locating piece 202, can change the position of article clamping device 3, article adsorption equipment 4 and cleaning brush 5 after the change-over cylinder 201 rotates, start driving motor 205 and drive first drive bevel gear 206 and rotate, adjust article adsorption equipment 4 to the top of manipulator driving arm 1, make the second drive bevel gear 207 that is located the below article adsorption equipment 4 at this moment mesh with first drive bevel gear 206, the rotation of first drive bevel gear 206 can drive second drive bevel gear 207 and rotate, second drive bevel gear 207 can drive screw rod 404 through drive actuating lever 208 and rotate after rotating, after the screw rod 404 rotates, the sliding block 402 is driven to extend out from the inner side of the adsorption seat 401 through the meshing with the sliding block 402, at the moment, the electromagnetic valve 408 communicated with the suction cup 406 is opened, the electromagnetic valve 408 communicated with the outer end face of the fixed block 405 is closed, and in the process that the sliding block 402 extends out, air in the suction cup 406 enters the inner side of the sliding block 402 from the electromagnetic valve 408 and the sealing air pipe 407, so that the air suction on the inner side of the suction cup 406 is realized, and the suction cup 406 can conveniently adsorb an object.

Example 3:

the utility model provides a use method of multifunctional manipulator, the same constitutional part is no longer repeated with embodiment 1, and the difference is in the work flow.

The utility model supplies power through an external power supply, control is carried out through the manipulator control assembly, at first start the change-over motor 203, make the change-over motor 203 drive the change-over gear 204 and rotate, the change-over gear 204 can pass through the meshing with change-over cylinder 201 after rotating, make the change-over cylinder 201 rotate under the spacing of L type locating piece 202, can change the position of article clamping device 3, article adsorption equipment 4 and cleaning brush 5 after the change-over cylinder 201 rotates, start driving motor 205 and drive first drive bevel gear 206 and rotate, adjust cleaning brush 5 to the top of manipulator actuating arm 1, make the second drive bevel gear 207 that is located the cleaning brush 5 below at this moment can mesh with first drive bevel gear 206, the rotation of first drive bevel gear 206 can drive second drive bevel gear 207 and rotate, second drive bevel gear 207 can drive cleaning brush 5 through actuating lever 208 and rotate after rotating, thereby facilitating the cleaning brush 5 to clean the dust falling from the surface of the object.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multifunctional manipulator comprises a manipulator driving arm (1) and a conversion device (2), and is characterized in that an installation groove (101) is formed in the end portion of the manipulator driving arm (1), the conversion device (2) is arranged in the installation groove (101), the conversion device (2) comprises a conversion cylinder (201), a conversion motor (203) and a conversion gear (204), the conversion cylinder (201) is rotatably connected into the installation groove (101), the conversion motor (203) is fixedly connected into the side wall of one side of the installation groove (101), the conversion gear (204) is positioned in the conversion cylinder (201) and is fixedly connected with a main shaft of the conversion motor (203), a circle of tooth grooves are formed in the inner wall of the conversion cylinder (201), and the conversion gear (204) is in transmission connection with the conversion cylinder (201) through the tooth grooves, the outer side surface of the conversion cylinder (201) is connected with an object clamping device (3), an object adsorption device (4) and a cleaning brush (5) at equal angles.

2. The multifunctional manipulator according to claim 1, wherein the switching device (2) further comprises a driving motor (205), a first driving bevel gear (206), a second driving bevel gear (207), and a driving rod (208); the driving motors (205) are fixedly installed in the side wall of the other side of the installation groove (101), the first driving bevel gears (206) are fixedly connected with a main shaft of the driving motors (205), the number of the driving rods (208) is three, the three driving rods (208) are uniformly distributed on the inner side of the conversion cylinder (201) and penetrate through the inner wall of the conversion cylinder (201), and the three driving rods are respectively in transmission connection with the object clamping device (3), the object adsorption device (4) and the cleaning brush (5); one end of each of the three driving rods (208) positioned in the conversion cylinder (201) is fixedly connected with a second driving bevel gear (207), and the first driving bevel gear (206) is meshed with the second driving bevel gear (207).

3. The multifunctional manipulator according to claim 2, wherein the object holding device (3) comprises a holding base (301), a holding jaw (302), a rotating shaft (303), a worm wheel (304), a worm (305), an electric telescopic rod (306), a first transmission gear (307), a transmission toothed ring (308) and a second transmission gear (309); the two clamping claws (302) are symmetrically arranged at the front end and the rear end of the surface of the clamping seat (301), the two rotating shafts (303) are respectively arranged at the end parts of the clamping seat (301) and correspond to the clamping claws (302) one by one, the end parts of the rotating shafts (303) are fixedly connected with the corresponding clamping claws (302), a worm wheel (304) is fixedly sleeved on the outer side surface of each rotating shaft (303), a worm (305) is meshed and driven between the two worm wheels (304), and the worm (305) is rotatably connected with the inner cavity of the clamping seat (301); worm (305) bottom fixedly connected with electric telescopic handle (306), the bottom fixedly connected with first transmission gear (307) and transmission ring gear (308) of electric telescopic handle (306), first transmission gear (307) set up the below of transmission ring gear (308), one side meshing of first transmission gear (307) has second drive gear (309), second drive gear (309) fixed connection be in on actuating lever (208).

4. The multifunctional manipulator according to claim 2, wherein the object adsorption device (4) comprises an adsorption seat (401), a sliding block (402), a limit block (403), a screw rod (404), a fixed block (405) and a suction cup (406), the interior of the adsorption seat (401) defines a cavity, the sliding block (402) is slidably connected in the cavity of the adsorption seat (401), the outer end surface of the sliding block (402) is fixedly connected with the limit block (403), the limit block (403) is slidably connected with the inner wall of the cavity of the adsorption seat (401), the interior of the sliding block (402) is axially provided with a threaded hole, the screw rod (404) is in threaded connection with the sliding block (402), and one end of the screw rod (404) is fixedly connected with the driving rod (208) penetrating through the adsorption seat (401); one end of the sliding block (402) far away from the driving rod (208) is fixedly connected with a fixing block (405), and the other end of the fixing block (405) is fixedly connected with a sucker (406).

5. The multifunctional manipulator as claimed in claim 4, wherein a sealed air pipe (407) is arranged inside the fixed block (405), one end of the sealed air pipe (407) is communicated with an internal threaded hole of the sliding block (402), and the other end of the sealed air pipe is communicated with the suction cup (406) through an electromagnetic valve (408);

one side of the sealed air pipe (407) is communicated with the outer end face of the fixed block (405) through another electromagnetic valve (408).

6. The multifunctional manipulator as claimed in claim 1, wherein a plurality of L-shaped positioning blocks (202) are fixedly connected to the inner wall of the mounting groove (101), and the L-shaped positioning blocks (202) are uniformly distributed on the inner wall surface of the conversion cylinder (201) and are rotatably connected with the inner wall of the conversion cylinder (201).