A multi-degree-of-freedom manipulator for processing furniture assembly panels

Abstract

The present invention relates to the technical field of furniture panel handling robots, and more specifically, to a multi-degree-of-freedom robot for furniture assembly panel processing, comprising a base and a power steering seat, wherein the power steering seat is arranged on the base, and the robot further comprises a center of gravity adjustment component and a grabbing component, wherein the grabbing component is arranged on the machine base and is used to grab the panel, and the center of gravity adjustment component is arranged on the base and connected to the grabbing component, and is used to adjust the center of gravity position of the entire robot according to the grabbing angle and position of the panel; while the clamping lower plate rotates toward the clamping upper plate, it can drive the limit plates to move toward each other, thereby realizing the limiting work of the panel, so that the panel is in the middle position between the clamping upper plate and the clamping lower plate, thereby ensuring the stability of the panel during the clamping process.

Description

Technical Field

[0001] The invention relates to the technical field of furniture board handling manipulators, and more specifically, to a multi-degree-of-freedom manipulator for processing furniture assembly boards. Background Art

[0002] Furniture refers to a type of equipment that is indispensable for humans to maintain normal life, engage in production practice and carry out social activities. It is an indispensable part of family life. With the increase in the speed of furniture production, prefabricated furniture has gradually become the mainstream. Prefabricated furniture uses a variety of panels to assemble together to form a complete piece of furniture. During the furniture panel processing, a multi-angle adjustable manipulator is required to move the furniture panels, so that the furniture panels can be transported from one device to another for processing.

[0003] The existing multi-degree-of-freedom manipulator has a simple structure. Although it can achieve multi-angle adjustment, its biggest drawback lies in the stability of the manipulator's grasping of the plate. Most of the existing plate manipulators adopt a method of imitating the clamping of human arms to clamp the plate. This makes it easy for the plate clamping contact position to be not in the center, causing one end to hang in the air too much and shake, and the stability is poor. Therefore, there is an urgent need for a multi-degree-of-freedom manipulator that can automatically ensure that the plate is clamped in the center. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom manipulator for processing furniture assembly panels to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-degree-of-freedom manipulator for processing furniture assembly panels, comprising a base and a power steering seat, wherein the power steering seat is arranged on the base, the manipulator further comprises a center of gravity adjustment component and a grabbing component, wherein the grabbing component is arranged on the base and used to grab the panels, and the center of gravity adjustment component is arranged on the base and connected to the grabbing component and used to adjust the center of gravity position of the entire manipulator according to the grabbing angle and position of the panels;

[0007] The grabbing assembly includes an active arm, a driven arm, a grabbing structure and an angle adjustment structure. The active arm is arranged on a base, one end of the driven arm is movably arranged on the active arm, the active arm is connected to the power steering seat, the grabbing structure is movably arranged on one end of the driven arm away from the active arm, the grabbing structure is used to perform the action of grabbing the plate, the angle adjustment structure is arranged on the driven arm and is connected to both the grabbing structure and the active arm, and is used to adjust the angle between the active arm and the driven arm and the angle between the driven arm and the grabbing structure.

[0008] A further technical solution of the present application is as follows: the grabbing structure includes a clamping upper plate, a clamping lower plate, a shoveling unit and a limiting unit, the clamping upper plate is arranged on the driven arm, one end of the clamping lower plate is hinged to the bottom of the clamping upper plate, the shoveling unit is arranged on the clamping lower plate, and is used to scoop up the plate and input it between the clamping upper plate and the clamping lower plate, the limiting unit is arranged on the clamping upper plate and is connected to the clamping lower plate, and is used to adjust the angle between the clamping lower plate and the clamping upper plate and to limit the side of the plate.

[0009] A further technical solution of the present application is as follows: the scraping unit includes a scraping plate, a movable seat, a threaded rod and a power element, the scraping plate is movably arranged on the clamping lower plate, the movable seat is movably arranged on the clamping lower plate and connected to the scraping plate, a scraping part is arranged on the side of the scraping plate away from the movable seat, the threaded rod is movably arranged on the clamping lower plate and slides through the movable seat, the movable seat and the threaded rod are threadedly matched, the power element is arranged on the clamping lower plate, and the output end of the power element is connected to the threaded rod.

[0010] A further technical solution of the present application: the limiting unit includes a support platform, a limiting member, an exhaust pipe, a second piston rod, an air pump and a connecting plate, the support platform is arranged on the clamping upper plate, the support platform and the driven arm are movably connected, the exhaust pipe is arranged on the support platform, the second piston rod is movably arranged in the exhaust pipe, the second piston rod divides the exhaust pipe into a first cavity and a second cavity, the connecting plate is arranged on the clamping lower plate, the connecting plate is movably connected to the second piston rod through a connecting arm, the air pump is arranged on the clamping upper plate and is connected to the first cavity, the limiting member is arranged on the clamping upper plate and is connected to the second piston rod, and when the second piston rod moves, the limiting member is controlled to work synchronously and limit the plate between the clamping upper plate and the clamping lower plate.

[0011] The present application has a further technical solution: the limiting member includes a negative pressure tube, a limiting plate, a first piston rod and an elastic member, the negative pressure tube is arranged on a support platform, the first piston rods are in a group and are symmetrically and movably arranged on the negative pressure tube, the middle position of the negative pressure tube is connected to the second cavity, the limiting plate is in a group and is symmetrically and movably arranged on both sides of the clamping upper plate, the first piston rod slides through the limiting plate and the two are connected by an elastic member.

[0012] The present application has a further technical solution: the angle adjustment structure includes a first adjustment unit and a second adjustment unit, the first adjustment unit is arranged between the active arm and the driven arm, and is used to adjust the angle between the active arm and the driven arm, and the second adjustment unit is arranged between the driven arm and the supporting platform, and is used to adjust the angle between the supporting platform and the driven arm.

[0013] The present application has a further technical solution: the first adjustment unit includes a first electric telescopic rod, a first connecting head and a first push rod, the first electric telescopic rod is arranged on the active arm, the first connecting head is movably arranged on the active arm, the first connecting head is arranged on the movable end of the first electric telescopic rod, and the first connecting head is movably connected to the driven arm through the first push rod.

[0014] A further technical solution of the present application: the second adjustment unit includes a fixed seat, a second electric telescopic rod, a second connecting head and a second push arm, the fixed seat is arranged on the driven arm, the second electric telescopic rod is arranged on the fixed seat, the second connecting head is movably arranged on the driven arm and connected to the movable end of the second electric telescopic rod, and the second connecting head is movably connected to the support platform through the second push arm.

[0015] A further technical solution of the present application is as follows: the center of gravity adjustment component includes an installation side plate, a weight adjustment plate, an energy supply box, an arc rod, an inflation unit and a hollow arc tube, the installation side plate is arranged on the active arm, one end of the weight adjustment plate is hinged on the installation side plate, the energy supply box is arranged on the weight adjustment plate, the hollow arc tube is arranged on the installation side plate, one end of the arc rod is slidably inserted in the hollow arc tube, and the other end is connected to the weight adjustment plate, the inflation unit is arranged between the driven arm and the active arm and is connected to the hollow arc tube, and the air volume in the hollow arc tube is adjusted by the inflation unit when the angle between the driven arm and the active arm changes.

[0016] A further technical solution of the present application is as follows: the inflation unit includes a vacuum cylinder, a pull rod, a sliding seat and a slide groove, the slide groove is arranged on the driven arm, the sliding seat is movably arranged in the slide groove and the two are elastically connected, the sliding seat is movably connected to the active arm through the pull rod, the vacuum cylinder is arranged between the sliding seat and the driven arm, and the vacuum cylinder is connected to the hollow arc tube.

[0017] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0018] The embodiment of the present invention sets a limiting unit and a grasping unit, and utilizes a mechanical linkage structure. In the process of scooping up the plate and completely supporting it on the clamping lower plate through the operation of the grasping unit, by controlling the operation of the limiting unit, on the one hand, the lower clamping plate can be controlled to rotate relative to the upper clamping plate, so that the plate is clamped between the upper clamping plate and the lower clamping plate; on the other hand, while the lower clamping plate rotates toward the upper clamping plate, it can drive the limiting plates to move toward each other, thereby realizing the limiting work of the plate, so that the plate is in the middle position between the upper clamping plate and the lower clamping plate, thereby ensuring the stability of the plate during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0020] Figure 2 It is a structural schematic diagram of a center of gravity adjustment component in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a grasping assembly in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0022] Figure 4 It is a structural schematic diagram of a grasping structure in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of a material scraping unit in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0024] Figure 6 It is a schematic structural diagram of a limit unit in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the angle adjustment structure in a multi-degree-of-freedom manipulator for processing furniture assembly panels in an embodiment of the present invention;

[0026] Figure 8 It is a schematic structural diagram of an inflation unit in a multi-degree-of-freedom manipulator used for processing furniture assembly panels in an embodiment of the present invention.

[0027] Explanation of the symbols in the schematic diagram:

[0028] 1-base, 2-power steering seat, 3-active arm, 4-mounting side plate, 5-weight adjustment plate, 6-energy box, 7-hollow arc tube, 8-arc rod, 9-driven arm, 10-pull rod, 11-first connector, 12-first push rod, 13-fixed seat, 14-second electric telescopic rod, 15-second connector, 16-clamping upper plate, 17-clamping lower plate, 18-moving seat, 19-shoveling plate, 20-shoveling part, 21-threaded rod, 22-stepping motor, 23-connecting plate, 24-limiting plate, 25-first piston rod, 26-spring, 27-air pump, 28-exhaust pipe, 29-second piston rod, 30-support platform, 31-negative pressure pipe, 32-second push arm, 33-exhaust cylinder, 34-sliding seat, 35-slide, 36-first electric telescopic rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The present invention is further described below in combination with the embodiments.

[0030] See also Figure 1-Figure 8 In one embodiment of the present application, a multi-degree-of-freedom manipulator for processing furniture assembly panels includes a base 1 and a power steering seat 2, wherein the power steering seat 2 is disposed on the base 1, and the manipulator further includes a center of gravity adjustment component and a grabbing component, wherein the grabbing component is disposed on the base and is used to grab the panel, and the center of gravity adjustment component is disposed on the base 1 and is connected to the grabbing component, and is used to adjust the center of gravity position of the entire manipulator according to the grabbing angle and position of the panel;

[0031] The grabbing assembly includes an active arm 3, a driven arm 9, a grabbing structure and an angle adjustment structure. The active arm 3 is arranged on a base 1, one end of the driven arm 9 is movably arranged on the active arm 3, the active arm 3 is connected to the power steering seat 2, the grabbing structure is movably arranged on one end of the driven arm 9 away from the active arm 3, the grabbing structure is used to perform the action of grabbing the plate, the angle adjustment structure is arranged on the driven arm 9 and is connected to the grabbing structure and the active arm 3, and is used to adjust the angle between the active arm 3 and the driven arm 9 and the angle between the driven arm 9 and the grabbing structure.

[0032] In the exemplary embodiment, the gripping structure includes a clamping upper plate 16, a clamping lower plate 17, a shoveling unit and a limiting unit. The clamping upper plate 16 is arranged on the driven arm 9, and one end of the clamping lower plate 17 is hinged to the bottom of the clamping upper plate 16. The shoveling unit is arranged on the clamping lower plate 17, and is used to scoop up the plate and input it between the clamping upper plate 16 and the clamping lower plate 17. The limiting unit is arranged on the clamping upper plate 16 and connected to the clamping lower plate 17, and is used to adjust the angle between the clamping lower plate 17 and the clamping upper plate 16 and to limit the side of the plate.

[0033] In actual application, the entire base 1 is installed on the supporting surface of the equipment for plate processing, and the angle between the active arm 3 and the driven arm 9 or the angle between the grasping structure and the driven arm 9 is adjusted by controlling the angle adjustment structure, so that the clamping lower plate 17 and the plate are at the same height and arranged in parallel, and the plate can be scooped up and attached to the clamping lower plate 17 by controlling the shoveling unit, and the plate can be rotated relative to the clamping upper plate 16 by controlling the limiting unit, so that the plate is between the clamping upper plate 16 and the clamping lower plate 17, and at the same time, the limiting unit can adjust the position of the plate so that the plate is in the middle position between the clamping upper plate 16 and the clamping lower plate 17, so as to avoid the phenomenon that one end is suspended at an angle and tilted, and the center of gravity adjustment component can adjust the center of gravity position of the entire manipulator according to the forward tilt of the entire grasping structure, thereby ensuring the stability of the entire device.

[0034] See also Figure 1-Figure 8 As another preferred embodiment of the present application, the shoveling unit includes a shoveling plate 19, a movable seat 18, a threaded rod 21 and a power element. The shoveling plate 19 is movably arranged on the clamping lower plate 17, the movable seat 18 is movably arranged on the clamping lower plate 17 and connected to the shoveling plate 19, a shoveling portion 20 is arranged on the side of the shoveling plate 19 away from the movable seat 18, the threaded rod 21 is movably arranged on the clamping lower plate 17 and slides through the movable seat 18, the movable seat 18 and the threaded rod 21 are threadedly matched, the power element is arranged on the clamping lower plate 17, and the output end of the power element is connected to the threaded rod 21.

[0035] It should be noted that the power element can be a stepper motor 22 or a servo motor. In the present embodiment, the power element is preferably a stepper motor 22. The stepper motor 22 is arranged on the clamping lower plate 17 and its output end is connected to the threaded rod 21. As for the specific model parameters of the stepper motor 22, the best choice can be made according to the actual situation.

[0036] In the present embodiment, the limiting unit includes a support platform 30, a limiting member, an exhaust pipe 28, a second piston rod 29, an air pump 27 and a connecting plate 23. The support platform 30 is arranged on the clamping upper plate 16, and the support platform 30 and the driven arm 9 are movably connected. The exhaust pipe 28 is arranged on the support platform 30, and the second piston rod 29 is movably arranged in the exhaust pipe 28. The second piston rod 29 divides the exhaust pipe 28 into a first cavity and a second cavity. The connecting plate 23 is arranged on the clamping lower plate 17, and the connecting plate 23 is movably connected to the second piston rod 29 through a connecting arm. The air pump 27 is arranged on the clamping upper plate 16 and is connected to the first cavity. The limiting member is arranged on the clamping upper plate 16 and is connected to the second piston rod 29. When the second piston rod 29 moves, the limiting member is controlled to work synchronously and limit the plate between the clamping upper plate 16 and the clamping lower plate 17.

[0037] It should be supplemented that the limiting member includes a negative pressure tube 31, a limiting plate 24, a first piston rod 25 and an elastic member. The negative pressure tube 31 is arranged on the support platform 30. The first piston rods 25 are in a group and are symmetrically and movably arranged on the negative pressure tube 31. The middle position of the negative pressure tube 31 is connected to the second cavity. The limiting plate 24 is in a group and is symmetrically and movably arranged on both sides of the clamping upper plate 16. The first piston rod 25 slides through the limiting plate 24 and the two are connected by an elastic member.

[0038] In addition, the elastic member can be a spring 26, a spring sheet or an elastic steel plate structure. In the present embodiment, the elastic member is preferably a spring 26, and the spring 26 is connected between the limit plate 24 and the first piston rod 25. As for the specific model parameters of the spring 26, the best choice can be made according to the actual situation, and no specific limitation is made here.

[0039] In actual application, the angle between the active arm 3 and the driven arm 9 or the angle between the support platform 30 and the driven arm 9 is adjusted through the angle adjustment structure, so that the shoveling plate 19 and the plate to be transported are at the same height and parallel, and the stepper motor 22 is controlled to be powered on and rotated, driving the threaded rod 21 to rotate, so that under the action of the shoveling part 20, the shoveling plate 19 scoops up the plate and is at the bottom of the plate until the surface of the shoveling plate 19 completely supports the plate. At this time, the air in the first cavity is pumped out by the air pump 27, thereby driving the second cavity to move. The second piston rod 29 moves relative to the exhaust pipe 28, so that under the action of the connecting plate 23 and the connecting arm, it can drive the clamping lower plate 17 to rotate along its hinge, thereby lifting the plate and clamping it between the clamping upper plate 16 and the clamping lower plate 17. When the second piston rod 29 moves, the air in the negative pressure tube 31 can be drawn into the exhaust pipe 28, so that the first piston rod 25 and the limiting plate 24 move toward each other, thereby realizing the limiting work of the plate, so that the plate is in the middle position between the clamping upper plate 16 and the clamping lower plate 17.

[0040] See also Figure 1-Figure 8 As another preferred embodiment of the present application, the angle adjustment structure includes a first adjustment unit and a second adjustment unit. The first adjustment unit is arranged between the active arm 3 and the driven arm 9, and is used to adjust the angle between the active arm 3 and the driven arm 9. The second adjustment unit is arranged between the driven arm 9 and the support platform 30, and is used to adjust the angle between the support platform 30 and the driven arm 9.

[0041] In a specific case of this embodiment, the first adjusting unit includes a first electric telescopic rod 36, a first connecting head 11 and a first push rod 12, the first electric telescopic rod 36 is arranged on the active arm 3, the first connecting head 11 is movably arranged on the active arm 3, the first connecting head 11 is arranged on the movable end of the first electric telescopic rod 36, and the first connecting head 11 is movably connected to the driven arm 9 through the first push rod 12.

[0042] In another specific case of the present embodiment, the second adjusting unit includes a fixed seat 13, a second electric telescopic rod 14, a second connecting head 15 and a second pushing arm 32, the fixed seat 13 is arranged on the driven arm 9, the second electric telescopic rod 14 is arranged on the fixed seat 13, the second connecting head 15 is movably arranged on the driven arm 9 and connected to the movable end of the second electric telescopic rod 14, and the second connecting head 15 is movably connected to the support platform 30 through the second pushing arm 32.

[0043] In actual application, by controlling the first electric telescopic rod 36 to be powered on and extended, the first connecting head 11 can be driven to move in the vertical direction, and under the action of the first push rod 12, the driven arm 9 can be driven to rotate along its hinge, thereby realizing the adjustment of the angle between the active arm 3 and the driven arm 9, and by controlling the second electric telescopic rod 14 to be powered on and extended, the second connecting head 15 can be driven to move along the driven arm 9, so that under the action of the second push arm 32, the support platform 30 can be driven to rotate relative to the driven arm 9, thereby realizing the adjustment of the angle between the support platform 30 and the driven arm 9 within the chassis.

[0044] See also Figure 1-Figure 8 As another preferred embodiment of the present application, the center of gravity adjustment assembly includes an installation side plate 4, a weight adjustment plate 5, an energy supply box 6, an arc rod 8, an inflation unit and a hollow arc tube 7. The installation side plate 4 is arranged on the active arm 3, one end of the weight adjustment plate 5 is hinged on the installation side plate 4, the energy supply box 6 is arranged on the weight adjustment plate 5, the hollow arc tube 7 is arranged on the installation side plate 4, one end of the arc rod 8 is slidably inserted in the hollow arc tube 7, and the other end is connected to the weight adjustment plate 5. The inflation unit is arranged between the driven arm 9 and the active arm 3 and is connected to the hollow arc tube 7. When the angle between the driven arm 9 and the active arm 3 changes, the air volume in the hollow arc tube 7 is adjusted by the inflation unit.

[0045] In this exemplary embodiment, the inflation unit includes a vacuum cylinder 33, a pull rod 10, a sliding seat 34 and a slide groove 35. The slide groove 35 is arranged on the driven arm 9. The sliding seat 34 is movably arranged in the slide groove 35 and the two are elastically connected. The sliding seat 34 is movably connected to the active arm 3 through the pull rod 10. The vacuum cylinder 33 is arranged between the sliding seat 34 and the driven arm 9, and the vacuum cylinder 33 is connected to the hollow arc tube 7.

[0046] When the driven arm 9 is controlled to rotate relative to the active arm 3 along its hinge, the angle between the driven arm 9 and the active arm 3 changes, for example, the entire grasping structure moves toward Figure 1 When it is tilted to the right in the direction shown, under the action of the pulling arm, the sliding seat 34 can be driven to move along the sliding groove 35. When the sliding seat 34 moves, it can drive the vacuum cylinder 33 to work and squeeze the air in the vacuum cylinder 33 into the hollow arc tube 7, driving the arc rod 8 to move relative to the hollow arc tube 7, so that the weight adjustment plate 5 rotates a certain angle and the rotation direction is opposite to the direction of the grasping structure, so as to adjust the center of gravity of the entire manipulator, and avoid the pressure at the connection between the base 1 and the supporting surface caused by the forward tilt of the grasping structure, which causes the center of gravity of the entire device to move forward.

[0047] How this application works:

[0048] By controlling the first electric telescopic rod 36 to be powered on and extended, the first connecting head 11 can be driven to move in the vertical direction. Under the action of the first push rod 12, the driven arm 9 can be driven to rotate along its hinge, thereby realizing the adjustment of the angle between the active arm 3 and the driven arm 9. By controlling the second electric telescopic rod 14 to be powered on and extended, the second connecting head 15 can be driven to move along the driven arm 9, so that under the action of the second push arm 32, the support platform 30 can be driven to rotate relative to the driven arm 9, thereby realizing the adjustment of the angle between the support platform 30 and the driven arm 9 in the chassis, so that the shoveling plate 19 and the plate to be transported are at the same height and parallel. By controlling the stepping motor 22 to be powered on and rotated, the threaded rod 21 is driven to rotate, so that the shoveling part 2 0, the shovel plate 19 scoops up the plate and is at the bottom of the plate until the surface of the shovel plate 19 completely supports the plate. At this time, the air in the first cavity is extracted by the air pump 27, thereby driving the second piston rod 29 to move relative to the air extraction pipe 28, so that under the action of the connecting plate 23 and the connecting arm, the clamping lower plate 17 can be driven to rotate along its hinge, thereby lifting the plate and clamping it between the clamping upper plate 16 and the clamping lower plate 17. When the second piston rod 29 moves, the air in the negative pressure tube 31 can be sucked into the air extraction pipe 28, so that the first piston rod 25 and the limiting plate 24 move toward each other, thereby realizing the limiting work of the plate, so that the plate is in the middle position between the clamping upper plate 16 and the clamping lower plate 17. When the driven arm 9 is controlled to rotate relative to the active arm 3 along its hinge, the angle between the driven arm 9 and the active arm 3 changes. For example, the entire grasping structure moves toward Figure 1 When it is tilted to the right in the direction shown, under the action of the pulling arm, the sliding seat 34 can be driven to move along the sliding groove 35. When the sliding seat 34 moves, it can drive the vacuum cylinder 33 to work and squeeze the air in the vacuum cylinder 33 into the hollow arc tube 7, driving the arc rod 8 to move relative to the hollow arc tube 7, so that the weight adjustment plate 5 rotates a certain angle and the rotation direction is opposite to the direction of the grasping structure, so as to adjust the center of gravity of the entire manipulator, and avoid the pressure at the connection between the base 1 and the supporting surface caused by the forward tilt of the grasping structure, which causes the center of gravity of the entire device to move forward.

[0049] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

[0050] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom manipulator for processing furniture assembly panels, comprising a base and a power steering seat, wherein the power steering seat is arranged on the base, and is characterized in that: The manipulator further comprises a center of gravity adjustment component and a grabbing component, wherein the grabbing component is arranged on the machine base and is used to grab the plate, and the center of gravity adjustment component is arranged on the base and connected to the grabbing component and is used to adjust the center of gravity position of the entire manipulator according to the grabbing angle and position of the plate; The grabbing assembly comprises an active arm, a driven arm, a grabbing structure and an angle adjustment structure, wherein the active arm is arranged on a base, one end of the driven arm is movably arranged on the active arm, the active arm is connected to the power steering seat, the grabbing structure is movably arranged on one end of the driven arm away from the active arm, the grabbing structure is used to perform the action of grabbing the plate, the angle adjustment structure is arranged on the driven arm and is connected to the grabbing structure and the active arm, and is used to adjust the angle between the active arm and the driven arm and the angle between the driven arm and the grabbing structure; The grabbing structure includes an upper clamping plate, a lower clamping plate, a shoveling unit and a limiting unit. The upper clamping plate is arranged on the driven arm, one end of the lower clamping plate is hinged to the bottom of the upper clamping plate, the shoveling unit is arranged on the lower clamping plate, and is used to shovel up the plate and input it between the upper clamping plate and the lower clamping plate. The limiting unit is arranged on the upper clamping plate and connected with the lower clamping plate, and is used to adjust the angle between the lower clamping plate and the upper clamping plate and to limit the side of the plate. The scraping unit includes a scraping plate, a movable seat, a threaded rod and a power element. The scraping plate is movably arranged on the clamping lower plate, the movable seat is movably arranged on the clamping lower plate and connected to the scraping plate, a scraping portion is arranged on the side of the scraping plate away from the movable seat, the threaded rod is movably arranged on the clamping lower plate and slides through the movable seat, the movable seat and the threaded rod are threadedly matched, the power element is arranged on the clamping lower plate, and the output end of the power element is connected to the threaded rod.

2. The multi-degree-of-freedom manipulator for furniture assembly board processing according to claim 1 is characterized in that: The limiting unit includes a support platform, a limiting member, an exhaust pipe, a second piston rod, an air pump and a connecting plate. The support platform is arranged on the clamping upper plate, the support platform and the driven arm are movably connected, the exhaust pipe is arranged on the support platform, the second piston rod is movably arranged in the exhaust pipe, the second piston rod divides the exhaust pipe into a first cavity and a second cavity, the connecting plate is arranged on the clamping lower plate, the connecting plate is movably connected to the second piston rod through the connecting arm, the air pump is arranged on the clamping upper plate and is connected to the first cavity, the limiting member is arranged on the clamping upper plate and is connected to the second piston rod, and when the second piston rod moves, the limiting member is controlled to work synchronously and limit the plate between the clamping upper plate and the clamping lower plate.

3. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 2 is characterized in that: The limiting member includes a negative pressure tube, a limiting plate, a first piston rod and an elastic member. The negative pressure tube is arranged on a support platform. The first piston rods are in a group and are symmetrically and movably arranged on the negative pressure tube. The middle position of the negative pressure tube is connected to the second cavity. The limiting plates are in a group and are symmetrically and movably arranged on both sides of the clamping upper plate. The first piston rod slides through the limiting plate and the two are connected by an elastic member.

4. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 3 is characterized in that: The angle adjustment structure includes a first adjustment unit and a second adjustment unit. The first adjustment unit is arranged between the active arm and the driven arm, and is used to adjust the angle between the active arm and the driven arm. The second adjustment unit is arranged between the driven arm and the supporting platform, and is used to adjust the angle between the supporting platform and the driven arm.

5. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 4 is characterized in that: The first adjustment unit includes a first electric telescopic rod, a first connecting head and a first push rod. The first electric telescopic rod is arranged on the active arm, the first connecting head is movably arranged on the active arm, the first connecting head is arranged on the movable end of the first electric telescopic rod, and the first connecting head is movably connected to the driven arm through the first push rod.

6. The multi-degree-of-freedom manipulator for furniture assembly board processing according to claim 5 is characterized in that: The second adjustment unit includes a fixed seat, a second electric telescopic rod, a second connecting head and a second push arm. The fixed seat is arranged on the driven arm, the second electric telescopic rod is arranged on the fixed seat, the second connecting head is movably arranged on the driven arm and connected to the movable end of the second electric telescopic rod, and the second connecting head is movably connected to the support platform through the second push arm.

7. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 1, characterized in that: The center of gravity adjustment assembly includes an installation side plate, a weight adjustment plate, an energy supply box, an arc rod, an inflation unit and a hollow arc tube. The installation side plate is arranged on the active arm, one end of the weight adjustment plate is hinged on the installation side plate, the energy supply box is arranged on the weight adjustment plate, the hollow arc tube is arranged on the installation side plate, one end of the arc rod is slidably inserted in the hollow arc tube, and the other end is connected to the weight adjustment plate. The inflation unit is arranged between the driven arm and the active arm and is connected to the hollow arc tube. When the angle between the driven arm and the active arm changes, the air volume in the hollow arc tube is adjusted by the inflation unit.

8. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 7, characterized in that: The inflation unit includes a vacuum cylinder, a pull rod, a sliding seat and a slide groove, wherein the slide groove is arranged on the driven arm, the sliding seat is movably arranged in the slide groove and the two are elastically connected, the sliding seat is movably connected to the active arm through the pull rod, the vacuum cylinder is arranged between the sliding seat and the driven arm, and the vacuum cylinder is connected to the hollow arc tube.

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