A kind of operation manipulator and working method

Abstract

The present invention belongs to the field of manipulator technology, and relates to an operating manipulator and a working method, including a manipulator body, a power assembly, a pick-and-place control assembly connected to the power assembly, an opening adjustment assembly installed at the front end of the pick-and-place control assembly, and a plurality of claw-drill assemblies, wherein the claw-drill assemblies are used for clamping, picking, placing, and drilling operations, each group of claw-drill assemblies is hingedly connected to the pick-and-place control assembly, and each group of claw-drill assemblies is fixedly connected to the opening adjustment assembly. The operating manipulator of the present invention uses the same set of power assemblies to independently control and adjust the rotation posture of the drilling operation and the clamping, picking, and placing operation; through the mutual cooperation of the power assembly, the pick-and-place control assembly, the opening adjustment assembly, and the claw-drill assembly, the clamping, picking, and placing angle and the drilling diameter of the manipulator under different opening states are adjustable, which not only improves the manipulator's operating flexibility and operating efficiency, but also improves the manipulator's adaptability to complex operating objects and operating environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to a multifunctional operating manipulator and a working method used in scenarios such as comprehensive mining, bomb disposal, and disposal. Background Art

[0002] At present, in scenarios such as comprehensive mining, emergency response and transportation in mines, the target volume and tolerance of explosives, minerals and fruits waiting for operation are uncertain, and the operation objects are open, changing and unknown, which poses a great challenge to the opening size and structure of the manipulator; in addition, in some scenarios that require drilling and sampling, the efficiency of using an independent manipulator and drilling equipment to work in turn is greatly reduced, and the drilling size and the opening size of the manipulator need to be used in conjunction, which greatly reduces the operating efficiency.

[0003] At present, the manipulator mainly adopts an opening and closing mechanism composed of specific gears, push rods, cylinders or rocker arms to realize the clamping and releasing function of a specific opening size. For example, the invention patent with publication number CN118493442A discloses an opening and closing claw manipulator for cascade target loading and unloading, and the invention patent with publication number CN118636112A discloses a logistics sorting robot with an embedded mechanical claw. Of course, in order to improve the adaptability of the mechanical claw, some technologies have been improved to adapt to more complex working conditions. For example, the invention patent with publication number CN118252024A discloses an apple picking robot claw that is easy to adjust, such as the invention patent with publication number CN118578420A discloses a clamping structure of a loading and unloading manipulator, and the invention patent with publication number CN118418178A discloses a mechanical arm clamping device and a mechanical arm.

[0004] Existing manipulators mainly use gear drives to achieve opening and closing movements. The flexibility of rotary operations is poor and full rotation cannot be achieved, such as rotary drilling or fruit picking operations. Once the size of the opening and closing mechanical structure is determined, its opening degree and the size of the object to be picked and placed are fixed, and it cannot adapt to complex working environments. Summary of the invention

[0005] One object of the present invention is to provide an operating manipulator that can realize the manipulator's precise posture-changing picking and placing, adjustable clamping angle, posture adjustment and variable diameter drilling functions.

[0006] The technical solution adopted by the present invention to solve the technical problem is: an operating manipulator, comprising:

[0007] The main body of the manipulator is installed on the moving carrier;

[0008] The power assembly is installed on the main body of the manipulator to provide power for the manipulator and is used to control the manipulator's gripping, picking, placing and drilling operations;

[0009] The pick-and-place control component is connected to the power component, and the power component controls the pick-and-place control component to realize the pick-and-place operation of the manipulator;

[0010] The opening adjustment component is installed at the front end of the pick-and-place control component and is used to adjust the opening size of the manipulator;

[0011] There are multiple groups of claw-drill assemblies, which are evenly distributed on the periphery of the pick-and-place control assembly in a circular shape along the axis of the manipulator. The claw-drill assemblies are used for clamping, picking, placing and drilling operations. Each group of claw-drill assemblies is hingedly connected to the pick-and-place control assembly, and each group of claw-drill assemblies is fixedly connected to the opening adjustment assembly. The connection between the pick-and-place control assembly and the claw-drill assembly is located behind the opening adjustment assembly. The opening adjustment assembly is used to adjust the opening size between the multiple groups of claw-drill assemblies, and the pick-and-place control assembly is used to adjust the clamping and picking angles between the multiple groups of claw-drill assemblies.

[0012] Furthermore, the power assembly includes a drive motor and a power transmission conversion mechanism, the power transmission conversion mechanism includes a power input shaft, an electromagnetic clutch, a power output disc, a power output shaft and a power output base plate, the drive motor is connected to the power input shaft, the power input shaft is respectively connected to the power output disc and the power output shaft through an electromagnetic clutch, the drive motor controls the rotation of the power output disc or the power output shaft through the electromagnetic clutch, the power output disc is fixedly connected to the power output base plate, the power output base plate is fixedly connected to the pick-and-place control assembly, the power output disc rotates, driving the pick-and-place control assembly, the opening adjustment assembly and the claw-drill assembly to rotate as a whole for drilling operations.

[0013] Furthermore, the pick-and-place control assembly includes a push plate, a sliding mechanism, a driving mechanism and a plurality of first swing arm mechanisms, the rear end of the driving mechanism is fixedly connected to the power output shaft, the front end of the driving mechanism is rotatably connected to the opening adjustment assembly, the rear end of the sliding mechanism is fixedly mounted on the power output bottom plate, the front end of the sliding mechanism is fixedly mounted on the opening adjustment assembly, the center thread of the push plate is sleeved on the driving mechanism, and the push plate is slidably sleeved on the sliding mechanism, the number and position of the first swing arm mechanisms correspond to the number and position of the claw-drill assemblies, the push plate is respectively hingedly connected to one end of each first swing arm mechanism, and the other end of each first swing arm mechanism is hingedly connected to the rear end of the corresponding claw-drill assembly, the rotation of the power output shaft drives the driving mechanism to rotate, and then drives the push plate to slide linearly along the sliding mechanism, and the claw-drill assembly is driven to rotate through the connection action of the first swing arm mechanism, thereby realizing the clamping and placing operation of the front end of the claw-drill assembly.

[0014] Furthermore, the opening adjustment assembly includes a linear drive mechanism, an opening adjustment mechanism, a substrate, a radial adjustment mechanism and a second swinging mechanism. The substrate is fixedly connected to the front end of the sliding mechanism, and the substrate is rotatably connected to the front end of the drive mechanism. The output end of the linear drive mechanism is connected to the opening adjustment mechanism. The opening adjustment mechanism is connected to multiple radial adjustment mechanisms. Each radial adjustment mechanism is connected to the outer periphery of the substrate along the radial sliding of the substrate. Each radial adjustment mechanism is respectively hingedly connected to a second swinging mechanism. Each second swinging mechanism is respectively fixedly connected to a group of claw-drill assemblies. The number and position of the radial adjustment mechanism and the second swinging mechanism correspond to the number and position of the claw-drill assemblies. The output end of the linear drive mechanism telescopes and drives the radial adjustment mechanism to move linearly along the radial direction of the substrate through the opening adjustment mechanism, and then drives the claw-drill assembly to move linearly in a direction close to or away from the center of the substrate through the second swinging mechanism, thereby realizing the adjustment of the opening size of the claw-drill assembly.

[0015] Furthermore, each group of the claw-drill assembly includes a main body bracket, a parallel drill bit, an oblique drill bit and a claw body, the rear end of the main body bracket is hingedly connected to the first swing arm mechanism, the front end of the main body bracket is connected to a claw body for clamping and placing objects, the second swing mechanism is fixedly connected to the main body bracket between the first swing arm mechanism and the claw body, the front end outer side of the claw body is inclined, the oblique drill bit is fixedly installed on the inclined surface of the claw body, parallel drill bits are installed on the outer sides of the claw body and the main body bracket, the front end of the parallel drill bit is connected to the rear end of the oblique drill bit, and the oblique drill bit and the parallel drill bit are used for drilling operations of the claw-drill assembly.

[0016] Further preferably, the driving mechanism includes a screw, the rear end of which is fixedly connected to the power output shaft, the front end of which is sleeved with a propulsion bearing, the base plate is provided with a base plate bearing seat, the propulsion bearing cooperates with the base plate bearing seat. The propulsion plate includes a propulsion plate body, the center of which is provided with a threaded hole matching the screw, and the rotation of the screw drives the propulsion plate body to move linearly along the screw.

[0017] Further preferably, the linear drive mechanism comprises a linear drive motor, an output end of the linear drive motor is connected to a push rod, and an end of the push rod is connected to a drive flange;

[0018] The opening adjustment mechanism includes a linkage push plate, a synchronous connecting rod, a synchronous slider and a fixed plate. The linkage push plate is sleeved and installed on the push rod. A guide seat is installed on the front side of the fixed plate. The push rod passes through the linkage push plate and is connected to the guide seat through a driving flange. The linkage push plate is hingedly connected to one end of multiple synchronous connecting rods respectively, and the other end of each synchronous connecting rod is hingedly connected to a synchronous slider respectively. A synchronous slide is installed on each synchronous slider. Multiple synchronous guide rails are radially distributed on the upper surface of the fixed plate. The synchronous slide is slidably connected with the corresponding synchronous guide rails. The synchronous slider is fixedly installed on the corresponding radial adjustment mechanism. The linear drive motor is activated to drive the linkage push plate to move linearly in the direction of the push rod. The synchronous slider is driven to slide radially along the synchronous guide rail through the hinged connection of the synchronous connecting rod, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to move radially.

[0019] Further preferably, the substrate comprises a substrate body, the substrate body is fixedly connected to the front end of the sliding mechanism, a plurality of guide grooves are arranged on the outer periphery of the substrate body, and a guide optical axis is arranged in a radial direction in each guide groove;

[0020] The radial adjustment mechanism includes a radial adjustment body and a supporting flange. The radial adjustment body is fixedly connected to the corresponding synchronous slider. A guide hole is provided on the radial adjustment body for the guide light axis to pass through. The radial adjustment body is sleeved on the guide light axis and clamped in the guide groove. The radial adjustment body can slide radially in the guide groove along the guide light axis. The supporting flange is fixedly connected to the radial adjustment body. The supporting flange is hingedly connected to the second swinging mechanism. The linear drive motor is actuated to drive the radial adjustment body fixedly connected to the synchronous slider to slide radially along the guide light axis, and then the main bracket of the claw-drill assembly is driven to make radial linear motion in the direction close to or away from the center of the substrate body through the supporting flange and the second swinging mechanism, so as to realize the adjustment of the opening size of the claw-drill assembly.

[0021] Further preferably, the power input shaft, electromagnetic clutch, power output shaft and lead screw are located on the same axis and have a hollow shaft structure for the cables required for the opening adjustment component to pass through.

[0022] Another object of the present invention is to provide a working method of an operating manipulator, comprising the following steps:

[0023] (1) Steps for adjusting the manipulator opening:

[0024] 1) When the distance between the linkage push plate and the fixed plate is the farthest, each radial adjustment mechanism is located at the bottom of the corresponding guide optical axis and guide groove. At this time, the radial adjustment mechanism drives each claw-drill assembly to be located at the position closest to the center of the base plate through the second swing mechanism, and the multiple claw-drill assemblies are at the minimum diameter opening;

[0025] 2) The linear drive motor is actuated to drive the linkage push plate to move linearly along the push rod toward the fixed plate, and the synchronous slider is driven to slide radially along the synchronous guide rail toward the outer circumference of the fixed plate through the hinged connection of the synchronous link, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to slide along the guide light axis toward the outer circumference of the substrate, thereby driving each claw-drill assembly to move away from the center of the substrate through the second swing mechanism, and the diameter opening between the multiple claw-drill assemblies is increased;

[0026] 3) The linear drive motor continues to move, driving the linkage push plate to move linearly along the push rod direction until the distance between the linkage push plate and the fixed plate is the shortest. At this time, the radial adjustment mechanism drives each claw-drill assembly to the position farthest from the center of the base plate through the second swing mechanism, and the multiple claw-drill assemblies are at the maximum diameter opening;

[0027] 4) The linear drive motor moves in the reverse direction, driving the linkage push plate to move linearly along the push rod in the direction away from the fixed plate, and drives the synchronous slider to slide radially along the synchronous guide rail toward the center direction of the fixed plate through the hinged connection of the synchronous connecting rod, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to slide along the guide light axis toward the center direction of the substrate, thereby driving each claw-drill assembly to move toward the center of the substrate through the second swing mechanism, and the diameter opening between multiple claw-drill assemblies is reduced.

[0028] (2) Steps for adjusting the gripping and placing angle of the robot front end:

[0029] 1) When the push plate is located behind the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism tilts backward, controlling the electromagnetic clutch to drive the power output shaft to rotate. At this time, the drive motor is controlled to rotate forward, driving the power output shaft to rotate forward, and then driving the lead screw to rotate forward. The push plate slides forward linearly along the sliding mechanism, and the claw-drill assembly is driven to rotate around the hinge connection between the radial adjustment mechanism and the second swing mechanism through the connection action of the first swing arm mechanism. At this time, the rear end of the claw-drill assembly rotates outward and the front end rotates inward, and the clamping and placing angle of the front end of the claw-drill assembly becomes smaller;

[0030] 2) The driving motor continues to rotate forward, driving the propulsion plate to continue to slide forward along the sliding mechanism. When the propulsion plate is located directly below the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism is in a vertical state. At this time, the rear end of the claw-drill assembly is farthest from the propulsion plate, and the gripping and placing angle of the front end of the claw-drill assembly is the smallest.

[0031] 3) The driving motor continues to rotate forward, driving the push plate to continue to slide forward along the sliding mechanism. When the push plate is located in front of the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism tilts forward, and the claw-drill assembly is driven to rotate around the hinge connection between the radial adjustment mechanism and the second swing mechanism through the connection action of the first swing arm mechanism. At this time, the rear end of the claw-drill assembly rotates inward and the front end rotates outward, and the gripping and placing angle of the front end of the claw-drill assembly becomes larger; limited by the length of the first swing arm mechanism, when the push plate moves to the front, the gripping and placing angle of the front end of the claw-drill assembly is the largest;

[0032] 4) When the drive motor rotates in reverse, the adjustment process is opposite to that when the drive motor rotates in forward direction.

[0033] (3) Robot drilling operation steps:

[0034] 1) According to the drilling diameter requirement, adjust the diameter opening between the claw-drill assembly according to step (1) manipulator opening adjustment step, and adjust the position of the push plate according to step (2) manipulator front end clamping and placing angle adjustment step, so that the main support and parallel drill pieces of the claw-drill assembly are parallel to the lead screw, and the parallel drill pieces are evenly distributed on the outer circumference of the manipulator in a circular shape;

[0035] 2) After multiple groups of claw-drill assemblies are adjusted into a drill bit structure, the electromagnetic clutch is controlled to drive the power output disc to rotate. At this time, the drive motor is controlled to rotate, which in turn drives the power output disc to rotate, and the power output base plate connected to the power output disc rotates, which in turn drives the pick-and-place control assembly, the opening adjustment assembly and the claw-drill assembly connected to the power output base plate to rotate as a whole, and the oblique drill bit and the parallel drill bit realize variable diameter drilling operations.

[0036] (4) Robotic gripping and placing operation steps:

[0037] 1) According to the shape and size of the object to be clamped, the diameter opening between the claw-drill assembly is adjusted according to step (1) the manipulator opening adjustment step, and the position of the push plate is adjusted according to step (2) the manipulator front end clamping and placement angle adjustment step, so that the claw body at the front end of the claw-drill assembly is adjusted to a suitable placement angle, the object to be clamped is accurately clamped, and the manipulator can accurately change its posture to pick and place and clamp the object.

[0038] The present invention has the following beneficial effects:

[0039] 1. The operating manipulator of the present invention adjusts the opening of the manipulator through the opening adjustment component, adjusts the gripping and placing angle of the front end of the manipulator through the pick-and-place control component, and realizes the independent control and rotation posture adjustment of the drilling operation and the gripping and placing operation by the manipulator using the same set of power components through the electromagnetic clutch, thereby improving the operation flexibility and efficiency.

[0040] 2. The operating manipulator of the present invention cooperates with the power component, the pick-and-place control component, the opening adjustment component and the claw-drill component to make the gripping and placing angles and the drilling diameter of the manipulator adjustable under different opening states, thereby improving the adaptability of the manipulator to complex working objects and working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The three-dimensional structure diagram of the operating manipulator of the present invention is shown in FIG. Figure 1 .

[0042] Figure 2 The three-dimensional structure diagram of the operating manipulator of the present invention is shown in FIG. Figure 2 .

[0043] Figure 3 It is a top view of the operating manipulator of the present invention.

[0044] Figure 4 yes Figure 3 Enlarged view of the local structure at point B in the middle.

[0045] Figure 5 yes Figure 3 AA section view.

[0046] Figure 6 yes Figure 5 Enlarged view of the local structure at point C in the middle.

[0047] Figure 7 The three-dimensional structure diagram of the opening adjustment component of the operating manipulator of the present invention is shown in FIG. Figure 1 .

[0048] Figure 8 yes Figure 7 Enlarged view of the local structure at point D in the middle.

[0049] Fig. 9 yes Figure 7 Enlarged view of the local structure at point E in the middle.

[0050] Fig.10 It is a front view of the opening adjustment component of the operating manipulator of the present invention.

[0051] Fig.11 yes Fig.10 FF section view.

[0052] Fig.12 The three-dimensional structure diagram of the opening adjustment component of the operating manipulator of the present invention is shown in FIG. Figure 2 .

[0053] Fig.13 It is a three-dimensional structural schematic diagram of the claw-drill assembly of the operating manipulator of the present invention.

[0054] Fig.14It is a structural schematic diagram of the opening adjustment component of the present invention when the diameter opening is minimum.

[0055] Fig.15 It is a structural schematic diagram of the opening adjustment component of the present invention at the intermediate diameter opening.

[0056] Fig.16 It is a structural schematic diagram of the opening adjustment component of the present invention when the diameter opening is maximum.

[0057] Fig.17 It is a schematic diagram of the drilling state of the claw-drill assembly of the operating manipulator of the present invention when the opening adjustment assembly is at different diameter openings.

[0058] Fig.18 It is a schematic diagram of adjusting the pick-up and placement angle of the claw-drill assembly of the operating manipulator of the present invention when the opening adjustment assembly is in a small opening mode.

[0059] Fig.19 It is a schematic diagram of adjusting the pick-up and placement angle of the claw-drill assembly of the operating manipulator of the present invention when the opening adjustment assembly is in a large opening mode.

[0060] In the figure, 100, the manipulator body, 200, the power assembly, 300, the pick-and-place control assembly, 400, the opening adjustment assembly, 500, the claw-drill assembly;

[0061] 110. Connecting bracket;

[0062] 210, driving motor, 220, power transmission conversion mechanism;

[0063] 211, motor body, 212, main shaft;

[0064] 221, power input shaft, 222, electromagnetic clutch, 223, clutch input shaft, 224, power output disc, 225, power output shaft, 226, bracket, 227, first fixed seat, 228, second fixed seat, 229, power output flange, 2210, power conversion bearing, 2211, power output bottom plate, 2212, adjusting dynamic shaft bearing;

[0065] 310, a propulsion plate, 320, a sliding mechanism, 330, a driving mechanism, 340, a first swing arm mechanism;

[0066] 311, propulsion plate body, 312, hinge seat, 313, sliding sleeve seat;

[0067] 321, sliding sleeve, 322, supporting rod;

[0068] 331, lead screw, 332, thrust bearing;

[0069] 341, first double wishbone, 342, first swing shaft, 343, second swing shaft, 344, swing arm bearing;

[0070] 410, linear drive mechanism, 420, opening adjustment mechanism, 430, base plate, 440, radial adjustment mechanism, 450, second swing mechanism;

[0071] 411, linear drive motor, 412, push rod, 413, drive flange;

[0072] 421, linkage push plate, 422, synchronous connecting rod, 423, synchronous slider, 424, guide flange, 425, guide shaft, 426, connecting shaft 1, 427, guide seat, 428, synchronous guide rail, 429, synchronous slide, 4210, sensor, 4211, fixing plate;

[0073] 431, substrate body, 432, substrate bearing seat, 433, guide optical axis, 434, guide groove;

[0074] 441, radial adjustment body, 442, guide hole, 443, support flange;

[0075] 451, second swing body, 452, second double fork arm, 453, second connecting shaft;

[0076] 510. Main frame, 520. Parallel drill bit, 530. Oblique drill bit, 540. Claw body, 550. Reinforcement mechanism. DETAILED DESCRIPTION

[0077] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention, but the protection scope of the present invention is not limited to these embodiments. Any changes or equivalent substitutions that do not deviate from the concept of the present invention are included in the protection scope of the present invention.

[0078] like Figure 1 As shown, a working manipulator comprises:

[0079] The robot body 100 is installed on a moving carrier;

[0080] The power assembly 200 is installed on the manipulator body 100 to provide power for the manipulator and is used to control the gripping, placing and drilling operations of the manipulator;

[0081] The pick-and-place control component 300 is connected to the power component 200, and the power component 200 controls the pick-and-place control component 300 to implement the pick-and-place operation of the manipulator;

[0082] The opening adjustment component 400 is installed at the front end of the pick-and-place control component 300 and is used to adjust the opening size of the manipulator;

[0083] There are multiple groups of claw-drill assemblies 500, which are evenly distributed on the periphery of the pick-and-place control assembly 300 in a circular shape along the axis of the manipulator body 100. The claw-drill assemblies 500 are used for clamping, picking, placing and drilling operations. Each group of claw-drill assemblies 500 is hingedly connected to the pick-and-place control assembly 300, and each group of claw-drill assemblies 500 is fixedly connected to the opening adjustment assembly 400. The connection between the pick-and-place control assembly 300 and the claw-drill assembly 500 is located behind the opening adjustment assembly 400. The opening adjustment assembly 400 is used to adjust the opening size between the multiple groups of claw-drill assemblies 500, and the pick-and-place control assembly 300 is used to adjust the clamping and placing angles between the multiple groups of claw-drill assemblies 500.

[0084] like Figure 2 As shown, the manipulator body 100 includes a connecting bracket 110. On the one hand, the connecting bracket 110 is used to install the power component 200 and the pick-and-place control component 300, and supports and fixes the various components of the manipulator; on the other hand, the connecting bracket 110 is used to be fixedly connected to the motion carrier, and the manipulator is fixedly installed on the motion carrier, preferably installed on the end joint of the robot arm of the motion carrier.

[0085] like Figure 3-6 As shown, the power assembly 200 includes a driving motor 210 and a power transmission conversion mechanism 220, the power transmission conversion mechanism 220 includes a power input shaft 221, an electromagnetic clutch 222, a power output disc 224, a power output shaft 225 and a power output base plate 2211, the driving motor 210 is connected to the power input shaft 221, the power input shaft 221 is respectively connected to the power output disc 224 and the power output shaft 225 through the electromagnetic clutch 222, the driving motor 210 controls the power output disc 224 or the power output shaft 225 to rotate through the electromagnetic clutch 222, the power output disc 224 is fixedly connected to the power output base plate 2211, the power output base plate 2211 is fixedly connected to the pick-and-place control assembly 300, the power output disc 224 rotates, driving the pick-and-place control assembly 300, the opening adjustment assembly 400 and the claw-drill assembly 500 to rotate as a whole for drilling operations.

[0086] In a preferred embodiment of the present invention, the driving motor 210 includes a motor body 211 and a main shaft 212 installed at the output end of the motor body 211. The motor body 211 is fixedly installed on the connecting bracket 110 of the manipulator body 100. The main shaft 212 is a special-shaped shaft, and the main shaft 212 is connected to the power input shaft 221. The power transmission conversion mechanism 220 also includes a clutch input shaft 223, a bracket 226, a first fixed seat 227, a second fixed seat 228, a power output flange 229, a power conversion bearing 2210, and an adjusting shaft bearing 2212. The power input shaft 221 is connected to the electromagnetic clutch 222 through the clutch input shaft 223. The electromagnetic clutch 222 is installed on the bracket 226. The bracket 226 is fixedly installed on the first fixed seat 227. The first fixed seat 227 is fixedly installed on the connecting bracket 110 of the manipulator body 100. The first fixed seat 227 is fixedly installed on the connecting bracket 110 of the manipulator body 100. The front end of the fixed seat 227 is fixedly connected to the second fixed seat 228, the power output disc 224 is fixedly connected to the power output base plate 2211 through the power output flange 229, the outer side of the power output flange 229 is rotatably connected to the second fixed seat 228 through the power conversion bearing 2210, the rear end of the screw 331 passes through the power output base plate 2211 and is fixedly connected to the power output shaft 225, and an adjustable dynamic shaft bearing 2212 is installed between the screw 331 and the power output base plate 2211 to realize the rotation of the screw 331 relative to the power output base plate 2211.

[0087] When the electromagnetic clutch 222 drives the power output shaft 225 to rotate, the lead screw 331 fixedly connected to the power output shaft 225 rotates, thereby driving the propulsion plate body 311 to move linearly along the lead screw 331, thereby realizing the opening and closing, clamping and placing operations of the claw-drill assembly 500.

[0088] When the electromagnetic clutch 222 drives the power output disc 224 to rotate, the power output base plate 2211 fixedly connected to the power output disc 224 through the power output flange 229 rotates, thereby driving the pick-and-place control assembly 300, the opening adjustment assembly 400 and the claw-drill assembly 500 connected to the front end of the power output base plate 2211 to rotate as a whole, thereby realizing the drilling operation.

[0089] The main shaft 212 , the power input shaft 221 , the clutch input shaft 223 , the electromagnetic clutch 222 , the power output shaft 225 , and the lead screw 331 are located on the same axis and have a hollow shaft structure for the cables required for the opening adjustment assembly 400 to pass through.

[0090] like Figure 2-4As shown, the pick-and-place control assembly 300 includes a push plate 310, a sliding mechanism 320, a driving mechanism 330 and a plurality of first swing arm mechanisms 340. The rear end of the driving mechanism 330 is fixedly connected to the power output shaft 225, and the front end of the driving mechanism 330 is rotatably connected to the opening adjustment assembly 400. The rear end of the sliding mechanism 320 is fixedly mounted on the power output bottom plate 2211, and the front end of the sliding mechanism 320 is fixedly mounted on the opening adjustment assembly 400. The center thread of the push plate 310 is sleeved on the driving mechanism 330, and the push plate 310 is slidably sleeved on the sliding mechanism 320. The number of first swing arm mechanisms 340 is The number and position of the claw-drill assembly 500 correspond to each other, and the push plate 310 is hingedly connected to one end of each first swing arm mechanism 340, and the other end of each first swing arm mechanism 340 is hingedly connected to the rear end of the corresponding claw-drill assembly 500. The power output shaft 225 rotates to drive the driving mechanism 330 to rotate, thereby driving the push plate 310 to slide linearly along the sliding mechanism 320. The claw-drill assembly 500 is driven to rotate around the hinged connection between the radial adjustment mechanism 440 and the second swing mechanism 450 through the connection action of the first swing arm mechanism 340, thereby realizing the opening and closing, clamping and placing operations of the front end of the claw-drill assembly 500.

[0091] In a preferred embodiment of the present invention, the driving mechanism 330 includes a lead screw 331, the rear end of the lead screw 331 is fixedly connected to the power output shaft 225, the front end of the lead screw 331 is sleeved with a propulsion bearing 332, the base plate 430 is provided with a base plate bearing seat 432, and the propulsion bearing 332 cooperates with the base plate bearing seat 432. The propulsion plate 310 includes a propulsion plate body 311, the center of the propulsion plate body 311 is provided with a threaded hole matching the lead screw 331, and the rotation of the lead screw 331 drives the propulsion plate body 311 to move linearly along the lead screw 331. The propulsion plate body 311 is provided with a plurality of hinge seats 312, the number of the hinge seats 312 is consistent with the number of the claw-drill assembly 500, each hinge seat 312 is respectively hingedly connected to the corresponding claw-drill assembly 500 through a first swing arm mechanism 340, and the propulsion plate body 311 is also provided with a plurality of sliding sleeve seats 313. The sliding mechanism 320 includes a plurality of supporting rods 322, the number of which is the same as the number of the sliding sleeve seats 313. The propulsion plate body 311 is slidably mounted on the corresponding supporting rods 322 through the sliding sleeve seats 313. To improve the sliding effect of the propulsion plate body 311, a sliding sleeve 321 is provided between the sliding sleeve seat 313 and the supporting rods 322. The rear end of the supporting rod 322 is fixedly connected to the power output bottom plate 2211, and the front end of the supporting rod 322 is fixedly connected to the base plate 430.

[0092] The first swing arm mechanism 340 includes a first double fork arm 341, a first swing shaft 342 and a second swing shaft 343. One end of the first double fork arm 341 is hingedly connected to the hinge seat 312 through the first swing shaft 342, and the other end of the first double fork arm 341 is hingedly connected to the rear end of the main support 510 of the claw-drill assembly 500 through the second swing shaft 343. Swing arm bearings 344 are installed between the first double fork arm 341 and the first swing shaft 342 and the second swing shaft 343.

[0093] like Figure 7-12 As shown, the opening adjustment assembly 400 includes a linear drive mechanism 410, an opening adjustment mechanism 420, a base plate 430, a radial adjustment mechanism 440 and a second swing mechanism 450. The base plate 430 is fixedly connected to the front end of the sliding mechanism 320, and the base plate 430 is rotatably connected to the front end of the driving mechanism 330. The output end of the linear drive mechanism 410 is connected to the opening adjustment mechanism 420. The opening adjustment mechanism 420 is connected to a plurality of radial adjustment mechanisms 440. Each radial adjustment mechanism 440 is slidably connected to the outer periphery of the base plate 430 along the radial direction of the base plate 430. Each radial adjustment mechanism 440 is respectively connected to a first The two swing mechanisms 450 are hingedly connected, and each second swing mechanism 450 is fixedly connected to a group of claw-drill assemblies 500. The number and position of the radial adjustment mechanism 440 and the second swing mechanism 450 correspond to the number and position of the claw-drill assemblies 500. The output end of the linear drive mechanism 410 telescopes, and drives the radial adjustment mechanism 440 to move linearly along the radial direction of the substrate 430 through the opening adjustment mechanism 420, and then drives the claw-drill assembly 500 to move linearly in a direction close to or away from the center of the substrate 430 through the second swing mechanism 450, thereby realizing the adjustment of the opening size of the claw-drill assembly 500.

[0094] The linear drive mechanism 410 includes a linear drive motor 411 , an output end of the linear drive motor 411 is connected to a push rod 412 , an end of the push rod 412 is connected to a drive flange 413 , and the linear drive motor 411 drives the push rod 412 to move linearly.

[0095] The opening adjustment mechanism 420 includes a linkage push plate 421 , a synchronous connecting rod 422 , a synchronous slider 423 and a fixed plate 4211 . The linkage push plate 421 is sleeved and installed on the push rod 412 . The linear drive motor 411 drives the linkage push plate 421 to move linearly through the push rod 412 . A guide seat 427 is installed on the front side of the fixed plate 4211, and the push rod 412 is connected to the guide seat 427 through the driving flange 413 after passing through the linkage push plate 421. The outer periphery of the linkage push plate 421 is hingedly connected to one end of a plurality of synchronous links 422, and the other end of each synchronous link 422 is hingedly connected to a synchronous slider 423. A synchronous slide 429 is installed on each synchronous slider 423. The fixed plate 4211 is radially distributed with the same number of synchronous guide rails 428 as the synchronous slide 429. The synchronous slide 429 is slidably connected with the corresponding synchronous guide rail 428. The synchronous slider 423 is fixedly installed on the corresponding radial adjustment mechanism 440. The linear drive motor 411 is actuated to drive the linkage push plate 421 to move axially in the direction of the push rod 412, and the synchronous slider 423 is driven to slide radially along the synchronous guide rail 428 through the hinged connection of the synchronous link 422, thereby driving the radial adjustment mechanism 440 fixedly connected to the synchronous slider 423 to move radially.

[0096] In a preferred embodiment of the present invention, the opening adjustment mechanism 420 further includes a guide flange 424 and a connecting shaft 1 426. The guide flange 424 is fixedly mounted on the linkage push plate 421. A guide shaft 425 is connected between the guide flange 424 and the guide seat 427. A through hole for the guide shaft 425 to pass through is provided on the guide seat 427 and the fixed plate 4211. One end of the guide shaft 425 is fixedly connected to the guide flange 424. The other end of the guide shaft 425 is slidably connected to the through hole on the guide seat 427 and the fixed plate 4211. When the linear drive motor 411 drives the linkage push plate 421 to move linearly, the linkage push plate 421 drives the guide shaft 425 to slide linearly in the through hole. A sensor 4210 is installed on the guide seat 427. The sensor 4210 is used to detect the moving distance and position of the linkage push plate 421. The two ends of the synchronous connecting rod 422 are respectively hingedly connected to the linkage push plate 421 and the synchronous slider 423 through the connecting shaft 1 426. The linear drive motor 411 drives the linkage push plate 421 to move linearly toward or away from the fixed plate 4211 , and drives the synchronous slider 423 to slide radially through the synchronous connecting rod 422 .

[0097] The substrate 430 includes a substrate body 431 , which is fixedly connected to the front end of the support rod 322 of the sliding mechanism 320 . A plurality of guide grooves 434 are arranged on the periphery of the substrate body 431 , and a guide optical axis 433 is arranged radially in each guide groove 434 .

[0098] The radial adjustment mechanism 440 includes a radial adjustment body 441 and a support flange 443. The radial adjustment body 441 is fixedly connected to the corresponding synchronous slider 423. A guide hole 442 is provided on the radial adjustment body 441 for the guide light axis 433 to pass through. The radial adjustment body 441 is sleeved on the guide light axis 433 and clamped in the guide groove 434. The radial adjustment body 441 can radially slide in the guide groove 434 along the guide light axis 433. The support flange 443 is fixedly connected to the radial adjustment body 441. The support flange 443 is hingedly connected to the second swing mechanism 450. The linear drive motor 411 is actuated to drive the synchronous slider 423 to slide radially, thereby driving the radial adjustment body 441 fixedly connected to the synchronous slider 423 to slide radially along the guide light axis 433, and then driving the main support 510 of the claw-drill assembly 500 to make radial linear motion in the direction close to or away from the center of the substrate body 431 through the support flange 443 and the second swing mechanism 450, so as to achieve the adjustment of the opening size of the claw-drill assembly 500.

[0099] The second swing mechanism 450 includes a second swing body 451, a second double fork arm 452 and a second connecting shaft 453. The second swing body 451 is fixedly connected to the second double fork arm 452. The second swing body 451 is fixedly connected to the main support 510 of the claw-drill assembly 500. The second double fork arm 452 is hingedly connected to the support flange 443 of the radial adjustment mechanism 440 through the second connecting shaft 453.

[0100] like Fig.13 As shown, each group of claw-drill assemblies 500 includes a main support 510, a parallel drill piece 520, an oblique drill piece 530 and a claw body 540. The rear end of the main support 510 is hingedly connected to the first swing arm mechanism 340, and the front end of the main support 510 is connected to the claw body 540 for clamping and placing objects. The second swing mechanism 450 is fixedly connected to the main support 510 between the first swing arm mechanism 340 and the claw body 540. The outer side of the front end of the claw body 540 is inclined, and the oblique drill piece 530 is fixedly installed on the inclined surface of the claw body 540. The parallel drill piece 520 is installed on the outer side of the claw body 540 and the main support 510. The front end of the parallel drill piece 520 is connected to the rear end of the oblique drill piece 530. The oblique drill piece 530 and the parallel drill piece 520 are used for drilling operations of the claw-drill assembly 500.

[0101] The oblique drill bits 530 on each set of claw-drill assemblies 500 envelop a circumferential drill bit with a tapered angle, which can realize the positioning and pre-drilling functions before drilling; the parallel drill bits 520 on each set of claw-drill assemblies 500 can realize parallel or tapered advancement drilling.

[0102] In order to improve the stability of the claw-drill assembly 500 during drilling operation, a reinforcement mechanism 550 is further provided on the main support 510 , and the reinforcement mechanism 550 is used to connect the main support 510 and the parallel drill piece 520 .

[0103] In the present invention, the number of claw-drill assemblies 500 is at least 2 groups. Considering the efficiency of drilling operations, clamping and placing operations, equipment flexibility and cost, the number of claw-drill assemblies 500 is preferably 3-6 groups, which are symmetrical or evenly distributed around the axis of the manipulator.

[0104] The working method of the operating manipulator of the present invention comprises the following steps:

[0105] (1) Steps for adjusting the manipulator opening:

[0106] 1) When the distance between the linkage push plate 421 and the fixed plate 4211 is the farthest, each radial adjustment mechanism 440 is located at the bottom of the corresponding guide light axis 433 and guide groove 434, such as Fig.14 As shown, at this time, the radial adjustment mechanism 440 drives each claw-drill assembly 500 to be located at the position closest to the center of the base plate 430 through the second swing mechanism 450, and the multiple claw-drill assemblies 500 are at the minimum diameter opening (small opening mode).

[0107] 2) The linear drive motor 411 is actuated to drive the linkage push plate 421 to move linearly along the push rod 412 toward the fixed plate 4211, and the synchronous slider 423 is driven to slide radially along the synchronous guide rail 428 toward the outer circumference of the fixed plate 4211 through the hinged connection of the synchronous link 422, thereby driving the radial adjustment mechanism 440 fixedly connected to the synchronous slider 423 to slide along the guide optical axis 433 toward the outer circumference of the base plate 430, as shown in FIG. Fig.15 As shown, each claw-drill assembly 500 is driven by the second swing mechanism 450 to move in a direction away from the center of the base plate 430, and the diameter opening between the plurality of claw-drill assemblies 500 increases.

[0108] 3) The linear drive motor 411 continues to move, driving the linkage push plate 421 to move linearly along the push rod 412 until the distance between the linkage push plate 421 and the fixed plate 4211 is the shortest. At this time, the radial adjustment mechanism 440 drives each claw-drill assembly 500 to be located at the position farthest from the center of the base plate 430 through the second swing mechanism 450. Fig.16 As shown, the plurality of claw-drill assemblies 500 are in a maximum diameter opening (large opening mode).

[0109] 4) The linear drive motor 411 moves in the reverse direction, driving the linkage push plate 421 to move linearly along the push rod 412 in the direction away from the fixed plate 4211, and driving the synchronous slider 423 to slide radially along the synchronous guide rail 428 toward the center direction of the fixed plate 4211 through the hinged connection of the synchronous link 422, thereby driving the radial adjustment mechanism 440 fixedly connected to the synchronous slider 423 to slide along the guide light axis 433 toward the center direction of the base plate 430, thereby driving each claw-drill assembly 500 to move toward the center of the base plate 430 through the second swing mechanism 450, and the diameter opening between the multiple claw-drill assemblies 500 is reduced.

[0110] (2) Steps for adjusting the gripping and placing angle of the robot front end:

[0111] 1) When the propulsion plate 310 is located behind the hinge point between the main support 510 and the first swing arm mechanism 340, the first swing arm mechanism 340 tilts backward, and the electromagnetic clutch 222 is controlled to drive the power output shaft 225 to rotate. At this time, the drive motor 210 is controlled to rotate forward, driving the power output shaft 225 to rotate forward, and then driving the lead screw 331 to rotate forward. The propulsion plate 310 slides forward linearly along the sliding mechanism 320, and the claw-drill assembly 500 is driven to rotate around the hinge connection between the radial adjustment mechanism 440 and the second swing mechanism 450 through the connection action of the first swing arm mechanism 340. At this time, the rear end of the claw-drill assembly 500 rotates outward and the front end rotates inward, and the clamping and placing angle of the front end of the claw-drill assembly 500 becomes smaller.

[0112] 2) The driving motor 210 continues to rotate forward, driving the propulsion plate 310 to continue to slide forward along the sliding mechanism 320. When the propulsion plate 310 is located directly below the hinge point between the main support 510 and the first swing arm mechanism 340, the first swing arm mechanism 340 is in a vertical state. At this time, the rear end of the claw-drill assembly 500 is farthest from the propulsion plate 310, and the clamping and placing angle of the front end of the claw-drill assembly 500 is the smallest.

[0113] 3) The driving motor 210 continues to rotate forward, driving the push plate 310 to continue to slide forward along the sliding mechanism 320. When the push plate 310 is located in front of the hinge point between the main support 510 and the first swing arm mechanism 340, the first swing arm mechanism 340 tilts forward, and the claw-drill assembly 500 is driven to rotate around the hinge connection between the radial adjustment mechanism 440 and the second swing mechanism 450 through the connection action of the first swing arm mechanism 340. At this time, the rear end of the claw-drill assembly 500 rotates inward and the front end rotates outward, and the clamping and placing angle of the front end of the claw-drill assembly 500 becomes larger; limited by the length of the first swing arm mechanism 340, when the push plate 310 moves to the frontmost position, the clamping and placing angle of the front end of the claw-drill assembly 500 is the largest.

[0114] 4) When the driving motor 210 rotates in the reverse direction, the adjustment process is opposite to the adjustment process when the driving motor 210 rotates in the forward direction.

[0115] (3) Robot drilling operation steps:

[0116] 1) According to the drilling diameter requirement, the diameter opening between the claw-drill assembly 500 is adjusted according to step (1) the manipulator opening adjustment step, and the position of the push plate 310 is adjusted according to step (2) the manipulator front end clamping and placing angle adjustment step, so that the main support 510 and the parallel drill piece 520 of the claw-drill assembly 500 are parallel to the lead screw 331, and the parallel drill pieces 520 are evenly distributed on the circumference of the manipulator.

[0117] The specific adjustment process is as follows:

[0118] like Fig.17 As shown, by adjusting the linear drive motor 411 of the opening adjustment component 400, the distance between the linkage push plate 421 and the fixed plate 4211 is maximized, and the claw-drill component 500 is at the minimum diameter opening (small opening mode). At this time, by controlling the rotation of the drive motor 210, the claw-drill component 500 is driven to rotate around the hinge connection between the radial adjustment mechanism 440 and the second swing mechanism 450, so that the multiple groups of claw-drill components 500 are parallel to each other and are parallel to the lead screw 331. The multiple groups of claw-drill components 500 are enveloping to form a cylindrical drill bit structure with a tapered front end, which is used for drilling operations with the minimum diameter.

[0119] Adjust the linear drive motor 411 of the opening adjustment component 400 to move the linked push plate 421 toward the fixed plate 4211, and the claw-drill components 500 are at an intermediate diameter opening. At this time, by controlling the rotation of the drive motor 210, multiple groups of claw-drill components 500 are parallel to each other and are all parallel to the lead screw 331. Multiple groups of claw-drill components 500 are enveloped to form a cylindrical drill bit structure with a tapered front end, which is used for drilling operations with intermediate diameters.

[0120] By adjusting the linear drive motor 411 of the opening adjustment component 400, the distance between the linkage push plate 421 and the fixed plate 4211 is minimized, and the claw-drill component 500 is at the maximum diameter opening (large opening mode). At this time, by controlling the rotation of the drive motor 210, the claw-drill component 500 is driven to rotate around the hinge connection between the radial adjustment mechanism 440 and the second swing mechanism 450, so that the multiple groups of claw-drill components 500 are parallel to each other and are parallel to the lead screw 331. The multiple groups of claw-drill components 500 are enveloped to form a cylindrical drill bit structure with a tapered front end, which is used for drilling operations with the maximum diameter.

[0121] 2) After the multiple claw-drill assemblies 500 are adjusted into a drill bit structure, the electromagnetic clutch 222 is controlled to drive the power output disk 224 to rotate. At this time, the drive motor 210 is controlled to rotate, thereby driving the power output disk 224 to rotate, and the power output base plate 2211 connected to the power output disk 224 to rotate, thereby driving the pick-and-place control assembly 300, the opening adjustment assembly 400 and the claw-drill assembly 500 connected to the power output base plate 2211 to rotate as a whole, and the oblique drill bit 530 and the parallel drill bit 520 realize variable diameter drilling operations.

[0122] (4) Robotic gripping and placing operation steps:

[0123] 1) According to the shape and size of the object to be clamped, the diameter opening between the claw-drill assembly 500 is adjusted according to step (1) the manipulator opening adjustment step, and the position of the push plate 310 is adjusted according to step (2) the manipulator front end clamping and placing angle adjustment step, so that the claw body 540 at the front end of the claw-drill assembly 500 is adjusted to a suitable placing and picking angle, and the object to be clamped is accurately clamped, thereby realizing the manipulator's precise posture change, placing, and clamping operations.

[0124] like Fig.18 As shown, by adjusting the linear drive motor 411 of the opening adjustment assembly 400, the distance between the linkage push plate 421 and the fixed plate 4211 is made the farthest, and the claw-drill assembly 500 is in the minimum diameter opening (small opening mode). In the small opening mode, the drive motor 210 is controlled to rotate so that the first swing arm mechanism 340 tilts backward. When the push plate 310 is located at the farthest distance behind the hinge point between the main support 510 and the first swing arm mechanism 340, the clamping and placing angle of the front end of the claw-drill assembly 500 is larger (intermediate picking and placing angle); the drive motor 210 is controlled to rotate so that the first swing arm mechanism 340 is in a vertical state, the rear end of the claw-drill assembly 500 is farthest from the push plate 310, and the clamping and placing angle of the front end of the claw-drill assembly 500 is the smallest (minimum picking and placing angle); the drive motor 210 is controlled to continue to rotate so that the first swing arm mechanism 340 tilts forward. When the push plate 310 is located at the farthest distance in front of the hinge point between the main support 510 and the first swing arm mechanism 340, the clamping and placing angle of the front end of the claw-drill assembly 500 is the largest (maximum picking and placing angle).

[0125] By adjusting the linear drive motor 411 of the opening adjustment component 400, the distance between the linkage push plate 421 and the fixed plate 4211 is minimized, and the claw-drill component 500 is in the maximum diameter opening (large opening mode). Fig.19 As shown, in the large opening mode, the adjustment process of the clamping and placing angle of the front end of the claw-drill assembly 500 is consistent with the adjustment process in the small opening mode, and will not be repeated here.

[0126] The present invention is not limited to the above-mentioned implementation modes, and anyone should be aware that any structural changes made under the enlightenment of the present invention, and any technical solutions having the same or similar technical solutions as the present invention, shall fall within the protection scope of the present invention.

[0127] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A working manipulator, comprising a manipulator body and a power assembly, characterized in that: Also included are a pick-and-place control assembly, an opening adjustment assembly, and a claw-drill assembly; The manipulator body is mounted on a moving carrier; The power assembly is installed on the main body of the manipulator to provide power for the manipulator and to control the manipulator's gripping, picking, placing and drilling operations; The pick-and-place control component is connected to the power component, and the power component controls the pick-and-place control component to realize the pick-and-place operation of the manipulator; The opening adjustment component is installed at the front end of the pick-and-place control component and is used to adjust the opening size of the manipulator; There are multiple groups of claw-drill assemblies, which are evenly distributed on the periphery of the pick-and-place control assembly in a circular shape along the axis of the manipulator. The claw-drill assemblies are used for clamping, picking, placing and drilling operations. Each group of claw-drill assemblies is hingedly connected to the pick-and-place control assembly, and each group of claw-drill assemblies is fixedly connected to the opening adjustment assembly. The connection between the pick-and-place control assembly and the claw-drill assembly is located behind the opening adjustment assembly. The opening adjustment assembly is used to adjust the opening size between the multiple groups of claw-drill assemblies, and the pick-and-place control assembly is used to adjust the clamping and picking angles between the multiple groups of claw-drill assemblies. The power assembly includes a drive motor and a power transmission conversion mechanism, the power transmission conversion mechanism includes a power input shaft, an electromagnetic clutch, a power output disc, a power output shaft and a power output base plate, the drive motor is connected to the power input shaft, the power input shaft is respectively connected to the power output disc and the power output shaft through an electromagnetic clutch, the drive motor controls the power output disc or the power output shaft to rotate through the electromagnetic clutch, the power output disc is fixedly connected to the power output base plate, the power output base plate is fixedly connected to the pick-and-place control assembly, the power output disc rotates, driving the pick-and-place control assembly, the opening adjustment assembly and the claw-drill assembly to rotate as a whole, for drilling operations; The pick-and-place control assembly includes a push plate, a sliding mechanism, a driving mechanism and a plurality of first swing arm mechanisms, the rear end of the driving mechanism is fixedly connected to the power output shaft, the front end of the driving mechanism is rotatably connected to the opening adjustment assembly, the rear end of the sliding mechanism is fixedly mounted on the power output bottom plate, the front end of the sliding mechanism is fixedly mounted on the opening adjustment assembly, the central thread of the push plate is sleeved on the driving mechanism, and the push plate is slidably sleeved on the sliding mechanism, the number and position of the first swing arm mechanisms correspond to the number and position of the claw-drill assemblies, the push plate is respectively hingedly connected to one end of each first swing arm mechanism, and the other end of each first swing arm mechanism is hingedly connected to the rear end of the corresponding claw-drill assembly, the rotation of the power output shaft drives the driving mechanism to rotate, and then drives the push plate to slide linearly along the sliding mechanism, and the claw-drill assembly is driven to rotate through the connection action of the first swing arm mechanism, so as to realize the clamping and pick-and-place operation of the front end of the claw-drill assembly; The opening adjustment assembly includes a linear drive mechanism, an opening adjustment mechanism, a base plate, a radial adjustment mechanism and a second swinging mechanism. The base plate is fixedly connected to the front end of the sliding mechanism, and the base plate is rotatably connected to the front end of the drive mechanism. The output end of the linear drive mechanism is connected to the opening adjustment mechanism. The opening adjustment mechanism is connected to multiple radial adjustment mechanisms. Each radial adjustment mechanism is connected to the outer periphery of the base plate along the radial sliding of the base plate. Each radial adjustment mechanism is respectively hingedly connected to a second swinging mechanism. Each second swinging mechanism is respectively fixedly connected to a group of claw-drill assemblies. The number and position of the radial adjustment mechanism and the second swinging mechanism correspond to the number and position of the claw-drill assemblies. The output end of the linear drive mechanism telescopes and drives the radial adjustment mechanism to move linearly along the radial direction of the base plate through the opening adjustment mechanism, and then drives the claw-drill assembly to move linearly in a direction close to or away from the center of the base plate through the second swinging mechanism, so as to achieve the opening size adjustment of the claw-drill assembly.

2. The operating robot according to claim 1, characterized in that: Each group of the claw-drill assembly includes a main body support, a parallel drill piece, an oblique drill piece and a claw body. The rear end of the main body support is hingedly connected to the first swing arm mechanism, and the front end of the main body support is connected to a claw body for clamping and placing objects. The second swing mechanism is fixedly connected to the main body support between the first swing arm mechanism and the claw body. The outer side of the front end of the claw body is inclined, and the oblique drill piece is fixedly installed on the inclined surface of the claw body. Parallel drill pieces are installed on the outer sides of the claw body and the main body support. The front end of the parallel drill piece is connected to the rear end of the oblique drill piece. The oblique drill piece and the parallel drill piece are used for drilling operations of the claw-drill assembly.

3. The operating robot according to claim 2, characterized in that: The driving mechanism includes a screw, the rear end of the screw is fixedly connected to the power output shaft, the front end of the screw is sleeved with a propulsion bearing, the base plate is provided with a base plate bearing seat, the propulsion bearing cooperates with the base plate bearing seat, the propulsion plate includes a propulsion plate body, the center of the propulsion plate body is provided with a threaded hole matching the screw, and the rotation of the screw drives the propulsion plate body to move linearly along the screw.

4. The operating robot according to claim 2, characterized in that: The linear drive mechanism comprises a linear drive motor, the output end of the linear drive motor is connected to a push rod, and the end of the push rod is connected to a drive flange; The opening adjustment mechanism includes a linkage push plate, a synchronous connecting rod, a synchronous slider and a fixed plate. The linkage push plate is sleeved and installed on the push rod. A guide seat is installed on the front side of the fixed plate. The push rod passes through the linkage push plate and is connected to the guide seat through a driving flange. The linkage push plate is hingedly connected to one end of multiple synchronous connecting rods respectively, and the other end of each synchronous connecting rod is hingedly connected to a synchronous slider respectively. A synchronous slide is installed on each synchronous slider. Multiple synchronous guide rails are radially distributed on the upper surface of the fixed plate. The synchronous slide is slidably connected with the corresponding synchronous guide rails. The synchronous slider is fixedly installed on the corresponding radial adjustment mechanism. The linear drive motor is activated to drive the linkage push plate to move linearly in the direction of the push rod. The synchronous slider is driven to slide radially along the synchronous guide rail through the hinged connection of the synchronous connecting rod, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to move radially.

5. The operating robot according to claim 4, characterized in that: The substrate comprises a substrate body, which is fixedly connected to the front end of the sliding mechanism, and a plurality of guide grooves are arranged on the outer periphery of the substrate body, and a guide optical axis is arranged in each guide groove along the radial direction; The radial adjustment mechanism includes a radial adjustment body and a supporting flange. The radial adjustment body is fixedly connected to the corresponding synchronous slider. A guide hole is provided on the radial adjustment body for the guide light axis to pass through. The radial adjustment body is sleeved on the guide light axis and clamped in the guide groove. The radial adjustment body can slide radially in the guide groove along the guide light axis. The supporting flange is fixedly connected to the radial adjustment body. The supporting flange is hingedly connected to the second swinging mechanism. The linear drive motor is actuated to drive the radial adjustment body fixedly connected to the synchronous slider to slide radially along the guide light axis, and then the main bracket of the claw-drill assembly is driven to make radial linear motion in the direction close to or away from the center of the substrate body through the supporting flange and the second swinging mechanism, so as to realize the adjustment of the opening size of the claw-drill assembly.

6. The operating robot according to claim 3, characterized in that: The power input shaft, electromagnetic clutch, power output shaft and lead screw are located on the same axis and are in a hollow shaft structure, so that the cables required by the opening adjustment component can pass through.

7. The working method of the operating robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: (1) Steps for adjusting the manipulator opening: 1) When the distance between the linkage push plate and the fixed plate is the farthest, each radial adjustment mechanism is located at the bottom of the corresponding guide optical axis and guide groove. At this time, the radial adjustment mechanism drives each claw-drill assembly to be located at the position closest to the center of the base plate through the second swing mechanism, and the multiple claw-drill assemblies are at the minimum diameter opening; 2) The linear drive motor is actuated to drive the linkage push plate to move linearly along the push rod toward the fixed plate, and the synchronous slider is driven to slide radially along the synchronous guide rail toward the outer circumference of the fixed plate through the hinged connection of the synchronous link, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to slide along the guide light axis toward the outer circumference of the substrate, thereby driving each claw-drill assembly to move away from the center of the substrate through the second swing mechanism, and the diameter opening between the multiple claw-drill assemblies is increased; 3) The linear drive motor continues to move, driving the linkage push plate to move linearly along the push rod direction until the distance between the linkage push plate and the fixed plate is the shortest. At this time, the radial adjustment mechanism drives each claw-drill assembly to the position farthest from the center of the base plate through the second swing mechanism, and the multiple claw-drill assemblies are at the maximum diameter opening; 4) The linear drive motor moves in the reverse direction, driving the linkage push plate to move linearly along the push rod in the direction away from the fixed plate, and driving the synchronous slider to slide radially along the synchronous guide rail toward the center direction of the fixed plate through the hinged connection of the synchronous connecting rod, thereby driving the radial adjustment mechanism fixedly connected to the synchronous slider to slide along the guide light axis toward the center direction of the substrate, thereby driving each claw-drill assembly to move toward the center of the substrate through the second swing mechanism, and the diameter opening between the multiple claw-drill assemblies is reduced; (2) Steps for adjusting the gripping and placing angle of the robot front end: 1) When the push plate is located behind the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism tilts backward, controlling the electromagnetic clutch to drive the power output shaft to rotate. At this time, the drive motor is controlled to rotate forward, driving the power output shaft to rotate forward, and then driving the lead screw to rotate forward. The push plate slides forward linearly along the sliding mechanism, and the claw-drill assembly is driven to rotate around the hinge connection between the radial adjustment mechanism and the second swing mechanism through the connection action of the first swing arm mechanism. At this time, the rear end of the claw-drill assembly rotates outward and the front end rotates inward, and the clamping and placing angle of the front end of the claw-drill assembly becomes smaller; 2) The driving motor continues to rotate forward, driving the propulsion plate to continue to slide forward along the sliding mechanism. When the propulsion plate is located directly below the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism is in a vertical state. At this time, the rear end of the claw-drill assembly is farthest from the propulsion plate, and the gripping and placing angle of the front end of the claw-drill assembly is the smallest. 3) The driving motor continues to rotate forward, driving the push plate to continue to slide forward along the sliding mechanism. When the push plate is located in front of the hinge point between the main support and the first swing arm mechanism, the first swing arm mechanism tilts forward, and the claw-drill assembly is driven to rotate around the hinge connection between the radial adjustment mechanism and the second swing mechanism through the connection action of the first swing arm mechanism. At this time, the rear end of the claw-drill assembly rotates inward and the front end rotates outward, and the gripping and placing angle of the front end of the claw-drill assembly becomes larger; limited by the length of the first swing arm mechanism, when the push plate moves to the front, the gripping and placing angle of the front end of the claw-drill assembly is the largest; 4) When the drive motor rotates in reverse, the adjustment process is opposite to that when the drive motor rotates in forward direction; (3) Robot drilling operation steps: 1) According to the drilling diameter requirement, adjust the diameter opening between the claw-drill assembly according to step (1) manipulator opening adjustment step, and adjust the position of the push plate according to step (2) manipulator front end clamping and placing angle adjustment step, so that the main support and parallel drill pieces of the claw-drill assembly are parallel to the lead screw, and the parallel drill pieces are evenly distributed on the outer circumference of the manipulator in a circular shape; 2) After multiple groups of claw-drill assemblies are adjusted into a drill bit structure, the electromagnetic clutch is controlled to drive the power output disc to rotate. At this time, the drive motor is controlled to rotate, thereby driving the power output disc to rotate, and the power output base plate connected to the power output disc to rotate, thereby driving the pick-and-place control assembly, the opening adjustment assembly and the claw-drill assembly connected to the power output base plate to rotate as a whole, and the oblique drill bit and the parallel drill bit realize variable diameter drilling operations; (4) Robotic gripping and placing operation steps: 1) According to the shape and size of the object to be clamped, the diameter opening between the claw-drill assembly is adjusted according to step (1) the manipulator opening adjustment step, and the position of the push plate is adjusted according to step (2) the manipulator front end clamping and placing angle adjustment step, so that the claw body at the front end of the claw-drill assembly is adjusted to the corresponding pick-up and placement angle, and the object to be clamped is accurately clamped, thereby realizing the manipulator's precise posture change pick-up and clamping operations.

Images