Manipulator based on lightweight multifunctional electric telescopic arm

Abstract

The invention discloses a mechanical arm based on a lightweight multifunctional electric telescopic arm, and belongs to the technical field of robots, the mechanical arm comprises a plurality of precision steering engines and connecting seats, the connecting seats are rotatably mounted on the precision steering engines, and rotating shafts of the connecting seats are perpendicular to rotating shafts of the precision steering engines; the mechanical arm comprises an outer arm and a rack linearly and slidably mounted in the outer arm, the rack is meshed with a gear assembly in the outer arm, and the gear assembly is in transmission connection with the first steering engine; the end, extending out of the outer arm, of the rack is further connected with a base, the base is meshed with a pair of transmission gears driven by a second steering engine, a transmission arm is fixed to one side of the two transmission gears, a clamping arm is hinged to the end of the transmission arm, one end of a connecting rod is further hinged between the two ends of the clamping arm, and the other end of the connecting rod is hinged to the base. When the two transmission gears synchronously and reversely rotate, the clamping ends of the two clamping arms get close to each other or get away from each other. The mechanism is compact in structure, sensitive and changeable in motion control, and capable of well improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a manipulator based on a lightweight multifunctional electric telescopic arm. Background Art

[0002] In the prior art, robots are widely used in the fields of industrial automation, material handling, assembly production lines, etc. However, the fixed length of traditional robotic arms limits their operating range and cannot adapt to diverse working environments. To solve this problem, telescopic arm technology came into being. However, the existing telescopic arm technology has problems such as complex structure, low reliability, and limited telescopic range, which makes it difficult to meet the needs of high-precision and high-efficiency operations. Limitations of existing telescopic arms of robotic arms The telescopic arms of robotic arms currently on the market often have problems of insufficient precision during extension and contraction, and traditional telescopic arm devices mostly use hydraulic, pneumatic or electric drive methods. However, these traditional devices have some limitations in practical applications. For example, on some industrial production lines, robotic arms are required to accurately grasp and place parts. Since the telescopic movement of the telescopic arm is not precise enough, the grasping position deviation occurs, affecting production efficiency and product quality.

[0003] In order to solve the above problems, after searching, the utility model with Chinese patent authorization announcement number: CN219429571U and authorization announcement date: July 28, 2023 discloses a hydraulic telescopic arm. The device uses a sealing ring sleeve to produce a certain extrusion deformation under force, fills the gap between the top plate and the oil arm with extrusion, effectively reduces the gap between the top plate and the oil arm, and improves the sealing performance of the oil arm. However, the device cannot solve the problem of aging of the sealing ring and frequent replacement leading to increased costs. Another example is a pneumatic telescopic arm of a rolling obstacle robot disclosed in Chinese patent CN214560907U. The device solves the problem of unstable installation and insufficient flexibility between the components of the existing robot through the coordinated use of a sliding frame and a shaft rod. However, the telescopic force of the pneumatic telescopic arm is achieved by the compression of the gas, and the compression amount of the gas is difficult to accurately match the size of the load. Therefore, the device cannot solve the problem of distortion and deformation of the pneumatic telescopic arm when bearing a large load, which limits its application in certain heavy-load occasions.

[0004] Another example is the utility model patent with Chinese patent authorization announcement number CN211946015U and authorization announcement date of November 17, 2020, which involves a multi-stage vertical lifting electric telescopic arm, wherein the telescopic arm assembly includes several sections of telescopic tubes that are sequentially sleeved, and the several sections of the telescopic tubes are slidably connected by linear guide rails. However, the pulley of the device is located at the front end of the arm body, which is used to guide transmission elements such as wire ropes to realize the telescopic action of the arm body. When the arm body is extended, the position of the pulley will also move forward accordingly, increasing the risk of collision with obstacles.

[0005] The existing lightweight mechanical arm robots must correspond to fixed arms with two arms of different lengths in order to act in different environments. It is very time-consuming to replace two arms of different lengths, and the working requirements of the mechanical arm robots cannot be guaranteed. Although the manipulators disclosed in the prior art such as CN 104227708 A can have a large range of motion control accuracy, they are relatively complex in transmission design. If it is necessary to achieve precise control of multiple degrees of freedom and expand the range of motion, more auxiliary components need to be equipped, resulting in a bloated overall structure and difficulty in easy transfer and use. It can be seen that in view of these defects, it is very necessary to design a manipulator with a simple structure, relatively simple and reliable motion control, and a relatively large operating radius. Summary of the invention

[0006] In view of the introduction to the above technical status quo, the purpose of the present invention is to provide a manipulator based on a lightweight multifunctional electric telescopic arm, so as to better solve the technical problems of insufficient precision and insufficient flexibility of motion control during the extension and contraction of the manipulator, which affect production efficiency and product quality.

[0007] To achieve the above-mentioned purpose, the present invention adopts a manipulator based on a lightweight multifunctional electric telescopic arm, including a grasping part and a mechanical arm for connecting the grasping part, the mechanical arm including a plurality of precision servos and a connecting seat, the connecting seat is rotatably mounted on the precision servos, and its rotating shaft is perpendicular to the rotating shaft of the precision servos; the mechanical arm includes an outer arm and a rack linearly slidably mounted in the outer arm, the rack is meshed with a gear assembly in the outer arm, and the gear assembly is transmission-connected to the first servos; a base is also connected to the end of the rack extending out of the outer arm, a pair of transmission gears driven by the second servos are meshed on the base, a transmission arm is fixed on one side of the two transmission gears, a clamping arm is hinged at the end of the transmission arm, one end of a connecting rod is also hinged between the two ends of the clamping arm, and the other section of the connecting rod is hinged on the base, when the two transmission gears rotate synchronously in opposite directions, the clamping ends of the two clamping arms move closer to or away from each other.

[0008] Furthermore, the rack is fixed on an inner arm, which is linearly slidably installed in the outer arm. The end surface of one end of the inner arm extending out of the outer arm is connected to the side surface of the base to push the base to move; a guide rod is also fixed on the side surface of the base, which is axially fixedly inserted into the inner arm to limit the relative installation position between the base and the inner arm.

[0009] Furthermore, a suction cup is fixed on the end surface between the two connecting rods on the base, and the suction cup can suck objects with smooth surfaces. The suction cup is fixed on a suction pipe, and the suction pipe is fixed on the base. A vacuum pump is connected to the suction pipe.

[0010] Furthermore, the connecting seat is a Π-shaped structure. Except for the first precision servo installed on a mounting plate, each of the remaining precision servos is rotatably installed in the center of the closed end of the adjacent connecting seat; except for the connecting seat rotatably connected to the outer arm, the open ends of the remaining connecting seats are covered on the precision servo, and the two side walls of the open end of the connecting seat are rotatably connected to the two opposite outer side walls of the adjacent precision servo.

[0011] Furthermore, the outer arm is a rectangular block structure, and a T-shaped groove is opened inside the outer arm along the length direction and runs through both ends of the outer arm. The rack is slidably installed at the bottom of the T-shaped groove, and the gear assembly is rotatably installed at the groove mouth of the T-shaped groove.

[0012] Furthermore, the gear assembly includes five cylindrical gears meshed in sequence, wherein the first cylindrical gear is transmission-connected to the first steering gear, the fifth cylindrical gear is meshed with the rack, and the first steering gear is embedded and fixedly installed in one side of the T-shaped slide groove.

[0013] Furthermore, the connecting rod and the transmission arm are hinged on the front and rear sides of each clamping arm, and the two connecting rods and the two transmission arms are respectively opposite to each other and parallel to each other; a section of the clamping arm where the clamping end is located is a curved structure arched toward the outside, and the end face of the clamping end has a serrated convex ridge.

[0014] Furthermore, the end face of one end of the rack extending out of the outer arm is connected to the side face of the base to push the base to move; a guide rod is also fixed on the side face of the base, and the guide rod is axially slidably inserted into the outer arm to guide the base to move linearly when the end face of the rack pushes the base.

[0015] Furthermore, the end of the rack is slidably mounted in an annular groove on the side of the base and never leaves the annular groove; The upper and lower surfaces of the rack are provided with teeth, a row of teeth on the upper surface meshes with the gear assembly, and a row of teeth on the lower surface meshes with a driven gear rotatably installed in the outer arm. A worm wheel is coaxially fixed to the driven gear, and a worm is meshed below the worm wheel. The worm is arranged parallel to the rack, and a cylindrical thin gear is coaxially fixed to the end of the worm away from the worm wheel. The cylindrical thin gear meshes with the circular gear column below it. The cylindrical gear is rod-shaped and coaxially fixed on the guide rod, and the guide rod also cooperates with the outer arm in rotation, so that when the rack slides out of the outer arm, the base not only moves linearly, but also rotates around the axis of the guide rod at the same time.

[0016] Furthermore, at least one of the gears has at least two elastic gear teeth, and the bottom end of the elastic gear teeth has a slider, which is circumferentially slidably installed in a slide groove near the tooth root of the gear, and a supporting spring is provided on one side of the slide groove. In the assembled state, the supporting spring pushes the slider to the other side of the slide groove; A screw hole is provided in the center of the elastic gear tooth, and a threaded blind hole is provided at the bottom of the slide groove. In the assembled state, the screw hole is opposite to the threaded blind hole, and a locking screw is screwed into the screw hole and the threaded blind hole to fix the elastic gear tooth. The top end of the locking screw is connected to a threaded pressure ring through a tension spring. The threaded pressure ring is threadedly installed in the top end of the screw hole, and when the locking screw and the threaded blind hole are in threaded cooperation, the tension spring is always in a stretched state. A pressure plate pressed by a fastening nut is sleeved on the gear shaft of the gear, and a compressed pressure-resistant spring is provided between the pressure plate and the end face of the gear.

[0017] Beneficial effects: The present invention designs and constructs a manipulator based on a lightweight multifunctional electric telescopic arm. The entire manipulator arm and the clamping part are lightweight in design. Several connecting seats are based on mechanical joints formed by the precise transmission of multiple servos, and a pair of transmission gears driven by the same servos realize the clamping and releasing actions. The structure is simple and compact, and can well control the movement accuracy and range of the manipulator and improve the sensitivity of the movement. This lightweight design makes the overall weight of the manipulator lighter and easier to carry and use.

[0018] More specifically, the lightweight manipulator in the present invention requires less power. As an industrial robot, it undoubtedly has lower energy consumption, which helps to achieve the concept of energy conservation and emission reduction. Secondly, the present invention also has the advantages of high precision and can accurately grasp and place the grasped objects; the manipulator arm of the present invention adopts an assembly structure of an electric telescopic arm, which is driven by a steering gear, is easy to operate and control, and reduces the difficulty and complexity of operation. Its telescopic movement also greatly expands the working radius of the manipulator arm, which can cover a wider working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following are auxiliary illustrations for explaining some specific embodiments of the present invention. The drawings described are mainly the principles of the specific operation execution structures or methods of some embodiments of the present invention. However, this does not mean that the physical structure or operation steps of the present invention can only be as shown in the drawings.

[0020] Figure 1-Figure 2 It is a three-dimensional structural diagram of the present invention under two viewing angles; Figure 3 This is a first connection structure diagram between the clamping part and the robot arm; Figure 4 is a second connection structure diagram between the clamping part and the robot arm; Figure 5 It is a schematic diagram of the end face when the fastening nut and the pressure plate are set on the transmission gear; Figure 6 It is a specific installation structure diagram of elastic gear teeth.

[0021] Component number explanation: connecting rod 1, precision servo 2, connecting seat 3, first servo 4, outer arm 5, inner arm 6, rack 7, guide rod 8, transmission gear 9, base 10, transmission arm 11, suction cup 12, vacuum pump 13, suction tube 14, clamping arm 15, mounting plate 16, second servo 17, gear assembly 18, driven gear 19, worm gear 20, worm 21, cylindrical thin gear 22, circular gear column 23, annular groove 24, T-bolt structure 25, one of the gears 26, elastic gear teeth 27, slider 28, support spring 29, locking screw 30, tension spring 31, threaded pressure ring 32, fastening nut 33, pressure plate 34. DETAILED DESCRIPTION

[0022] The embodiments of the present invention will be fully described below, and some core features of the embodiments will be specifically shown in the accompanying drawings, wherein the same or similar reference numerals in the drawings represent the same or similar technical features, or structures or steps or processes with similar functions. Other embodiments replaced by ordinary technicians based on these embodiments without the need for creative work also belong to the protection scope of the present invention.

[0023] See also Figure 1-Figure 2 This embodiment introduces a manipulator based on a lightweight multifunctional electric telescopic arm, which structure includes a grasping part for directly grasping goods, and a mechanical arm for connecting the grasping part, which is used to install the grasping part, drive the grasping part to move to the corresponding goods, and then grasp. Specifically, this mechanical arm includes a number of precision servos 2 and a connecting seat 3. The connecting seat 3 is rotatably mounted on the precision servos 2, and its rotating shaft is perpendicular to the rotating shaft of the precision servos 2. The precision servos 2 can each rotate according to the set parameters, thereby driving the corresponding connecting seat 3 to rotate and reach different positions. The combination of these connecting seats and precision servos 2 forms multiple groups of joints that are independent of each other and can cooperate with each other to achieve different motion trajectories and reach different spatial positions. At the same time, when the robot arm in this embodiment is manufactured, it mainly includes an outer arm 5 and a rack 7 linearly slidably installed in the outer arm 5. The rack 7 is meshed with a gear assembly 18 in the outer arm 5. The gear assembly 18 is connected to the first steering gear 4 in a transmission manner. The movement of the rack 7 is accurately controlled by the first steering gear 4, and then the clamping action of the base 10 and its clamping arm 15 mentioned later is indirectly controlled.

[0024] In practice, please refer to Figure 3A base 10 may be connected to one end of the rack 7 extending out of the outer arm 5. The base 10 is a rectangular plate structure. A pair of transmission gears 9 driven by the second steering gear 17 are meshed on the base 10 to achieve precise and controllable transmission control of the transmission gears 9. A transmission arm 11 is fixed on one side of the two transmission gears 9. A clamping arm 15 is hinged at the end of the transmission arm 11. One end of the connecting rod 1 is hinged between the two ends of the clamping arm 15, and the other end of the connecting rod 1 is hinged on the base 10. When the second steering gear 17 is started, the two transmission gears 9 rotate synchronously in opposite directions, so that the clamping ends of the two clamping arms 15 are close to or away from each other, and the goods can be accurately grasped and released.

[0025] As one of the embodiments, Figure 1-Figure 3 The rack 7 is fixed on an inner arm 6, and the inner arm 6 is linearly slidably installed in the outer arm 5. The end surface of the inner arm 6 extending out of the outer arm 5 is connected to the side of the base 10 to drive the base 10 to move linearly and approach the goods. In addition, a guide rod 8 is fixed on the side of the base 10. The guide rod 8 is axially fixedly inserted in the inner arm 6 to define the relative installation position between the base 10 and the inner arm 6, and control the installation position of the base 10 at the end of the inner arm 6.

[0026] Specifically, during manufacturing and installation, a suction cup 12 can be fixed on the end face between the two connecting rods 1 on the base 10. The suction cup 12 can absorb objects with smooth surfaces. The suction cup 12 is fixed on a straw 14, and the straw 14 is fixed on the base 10. A vacuum pump 13 is connected to the straw 14. When it is necessary to grab some goods that are not convenient to be clamped by the clamp arm 15, the suction cup 12 can contact the smooth surface of the goods and take the goods away.

[0027] In the above embodiments, as one of the implementation structures, Figure 1-Figure 2 As shown, the connection seats 3 used are all of Π-shaped structure. Except for the first precision steering gear 2 installed on a mounting plate 16, each of the other precision steering gears 2 is rotatably mounted at the center of the closed end of the adjacent connection seat 3 to drive the corresponding connection seat 3 to rotate. In addition, except for the connection seat 3 rotatably connected to the outer arm 5, the open ends of the other connection seats 3 are all covered on the precision steering gear 2, and the two side walls of the open end of the connection seat 3 must form a rotatable connection with the two opposite outer side walls of the adjacent precision steering gear 2, so that the pitch angle can be adjusted.

[0028] In practice, Figure 1-Figure 2, the outer arm 5 in this embodiment is a rectangular block structure, and a T-shaped slot is specially opened inside the outer arm 5 along the length direction, which runs through both ends of the outer arm 5. A rack 7 is slidably installed at the bottom of the T-shaped slot for the rack 7 to slide linearly, and a gear assembly 18 is rotatably installed at the notch of the T-shaped slot to directly drive the gear to slide in the slot. In more detail, when manufacturing, if Figure 3 The gear assembly 18 includes five cylindrical gears meshed in sequence, wherein the first cylindrical gear is transmission-connected to the first steering gear 4, and the fifth cylindrical gear is meshed with the rack 7 to precisely control the movement of the rack 7. During installation, the first steering gear 4 is embedded and fixedly installed on one side of the T-shaped slide groove, and the structure is more compact.

[0029] like Figure 1-Figure 3 , on the front and rear sides of each clamping arm 15, a connecting rod 1 and a transmission arm 11 are hinged, that is, the connecting rod 1 and the transmission arm 11 on each side are arranged as a pair, and the two connecting rods 1 and the two transmission arms 11 are respectively opposite to each other and parallel to each other, so as to improve the stability and reliability of the clamping action. In particular, a section of the clamping arm 15 where the clamping end is located is a curved structure arched toward the outside, and the end surface of the clamping end has a serrated convex ridge to better clamp the goods and achieve stable and reliable grasping.

[0030] As another in-depth design solution, it is necessary not only to realize the movement of the gripping part, but also to realize the rotation of the gripping part simultaneously: in this design solution, the installation of the base 10 does not rely on the inner arm 6 mentioned above. Here, the inner arm 6 is removed and the rack 7 is directly connected to the base 10. Specifically, Figure 4 As shown, the end surface of the rack 7 extending out of the outer arm 5 can be connected to the side surface of the base 10 to directly push the base 10 to move without the help of the inner arm 6. Similarly, a guide rod 8 is fixed on the side surface of the base 10, but the difference is that the guide rod 8 here is axially slidably inserted into the outer arm 5 to guide the base 10 to move linearly when the end surface of the rack 7 pushes the base 10. That is, although there is no inner arm 6 to guide the drive, when the rack 7 is directly driven, it can also achieve linear movement with the guidance of the guide rod 8. At the same time, in this design, if Figure 4The end of the rack 7 must be installed in a sliding fit in an annular groove 24 on the side of the base 10, and it must never leave the annular groove 24. During the specific production, the end of the rack 7 can be provided with a T-shaped bolt structure 25, and correspondingly, the annular groove 24 can be a T-shaped slide groove structure with a T-shaped cross section. In addition, in the present embodiment, teeth are provided on both the upper and lower surfaces of the rack 7, rather than the single-sided teeth of the conventional rack 7. A row of teeth on the upper surface of the rack 7 meshes with the gear assembly 18, driving the rack 7 to move, thereby pushing the base 10 forward, and a row of teeth on the lower surface of the rack 7 meshes with a driven gear 19 rotatably mounted in the outer arm 5. A worm wheel 20 is coaxially fixed to the driven gear 19. A worm 21 meshes below the worm wheel 20, which is rotatably mounted in the outer arm 5, and the worm 21 is arranged parallel to the rack 7. A cylindrical thin gear 22 is coaxially fixed to the end of the worm 21 away from the worm wheel 20, and the cylindrical thin gear 22 meshes with a circular gear column 23 below it. The cylindrical gear is rod-shaped. The reason why it is called a circular gear column 23 is that the gear is very special. Compared with ordinary gears, it is extremely thick, which makes the overall structure look like a spline shaft. The reason why this structure is adopted is that The structure is to ensure that when the cylindrical thin gear 22 drives the circular gear column 23 to transmit, even if the guide rod 8 and the circular gear column 23 move axially together, they will not be out of meshing relationship, that is, the cylindrical gear is coaxially fixed on the guide rod 8, and the guide rod 8 also cooperates with the outer arm 5 to rotate, so that when the rack 7 slides out of the outer arm 5, the base 10 not only moves in a straight line, but also rotates around the axis of the guide rod 8 at the same time. During operation, after the rack 7 slides out of the outer arm 5 to a set distance, the second steering gear 17 is started, and the base 10 and the two clamping arms 15 installed thereon move in a straight line toward the goods while rotating. When the clamping arm 15 rotates to a set angle, the clamping end of the clamping arm 15 also happens to clamp the goods. Then the second steering gear 17 reverses, and the two clamping arms 15 clamp the goods and move backward in a rotating manner, which can realize the effect of rotational pulling. It is particularly suitable for dismantling and crushing some waste and old items, and is best used as a dismantling robot.

[0031] In all the above embodiments, the components driven by the servo motor are used, which can well control the motion position accuracy of the controller. In actual use, as a special embodiment, a dual control mechanism is designed, which not only relies solely on the automatic control of the electrical signal of the servo motor, but also designs pure mechanical control. Compared with the servo motor control, it has lower requirements on the use environment, is more stable and reliable, and is easy for general personnel to repair, achieving a dual action mechanism of electrical signal control and mechanical control. Specifically, in the gear transmission used, at least one of the gears 26 has at least two elastic gear teeth 27, because generally speaking, when the gears are in meshing state, the accessories will have more than two gear teeth in meshing or about to mesh, such as Figure 6As shown, in this embodiment, a slider 28 is provided at the bottom end of the elastic gear 27. The slider 28 is circumferentially slidably installed in a slide groove near the tooth root of the gear. A support spring 29 is provided on one side of the slide groove. In the assembled state, the support spring 29 pushes the slider 28 to the other side of the slide groove, and a standard cylindrical gear structure is formed. On the other hand, in this embodiment, a screw hole is provided in the center of the elastic gear 27, and a threaded blind hole is provided at the bottom of the slide groove. In the assembled state, the screw hole is opposite to the threaded blind hole, and a locking screw 30 is screwed into the screw hole and the threaded blind hole to fix the elastic gear 27, so that normal gear transmission can be achieved. Specifically, the top of the locking screw 30 is connected to a threaded pressure ring 32 through a tension spring 31. The threaded pressure ring 32 is threadedly installed in the top port of the screw hole, and when the locking screw 30 and the threaded blind hole are in threaded cooperation, the tension spring 31 is always in a stretched state. This has two purposes. First, the locking screw 30 is in a pre-tightened state, which is more stable. Second, the threaded pressure ring 32 is also in a tightened state, and the structure is more stable and reliable and not easy to loosen. Third, when the locking screw 30 is screwed out, the locking screw 30 can automatically rebound into the elastic gear 27 to maintain a fixed relationship with the gear it is in. The above design structure, for example, when used on the transmission gear 9 that is not directly connected to the second servo 17, Figure 5 As shown, a pressure plate 34 pressed by a fastening nut 33 can be coaxially sleeved on the gear shaft of the gear. A compressed pressure-resistant spring (not shown in the figure) is specially sleeved between the pressure plate 34 and the end surface of the gear (for example, the gear is one of the transmission gears 9). The degree to which the fastening nut 33 is tightened is different, and the more resistance the transmission gear 9 has to its rotation relative to its rotating shaft, so as to adapt to the functional design of the elastic gear teeth 27. When some of the locking screws 30 are loosened, these elastic gear teeth 27 become elastically installed. Once other gear teeth are in transmission meshing contact with them, they will press the elastic gear teeth 27 to slide, and then the transmission effect between the gear teeth cannot be achieved, making the gear meshing effect invalid. Even if the transmission gear 9 as the active element rotates continuously, it is impossible to continue to make the gear as the driven element rotate, and then the purpose of controlling the rotation angle of the transmission gear 9 is achieved. Regardless of whether the external driving element, such as the steering gear, is started at this time, it is impossible to drive the clamping arms 15 to move closer to each other, and then protect the clamped object from being damaged.

[0032] The above series of specific implementation details are merely some preferred embodiments of the present invention and cannot be used to limit the protection scope of the claims of the present invention. A person skilled in the art can simply change the design ideas based on the understanding of the above embodiments and the reference to the basic principles recorded in the claims of the present invention. However, these design changes still fall within the protection scope of the invention.

Claims

1. A manipulator based on a lightweight multifunctional electric telescopic arm, comprising a gripping portion and a manipulator arm for connecting the gripping portion, characterized in that: The mechanical arm comprises a plurality of precision steering gears (2) and a connecting seat (3); the connecting seat (3) is rotatably mounted on the precision steering gear (2), and its rotating shaft is perpendicular to the rotating shaft of the precision steering gear (2); The mechanical arm comprises an outer arm (5) and a rack (7) linearly slidably mounted in the outer arm (5), the rack (7) meshing with a gear assembly (18) in the outer arm (5), and the gear assembly (18) is transmission-connected to the first steering gear (4); A base (10) is also connected to one end of the rack (7) extending out of the outer arm (5); a pair of transmission gears (9) driven by a second steering gear (17) are meshed on the base (10); a transmission arm (11) is fixed on one side of the two transmission gears (9); a clamping arm (15) is hinged at the end of the transmission arm (11); one end of a connecting rod (1) is hinged between the two ends of the clamping arm (15); the other end of the connecting rod (1) is hinged on the base (10); when the two transmission gears (9) rotate synchronously in opposite directions, the clamping ends of the two clamping arms (15) move closer to or farther away from each other.

2. A manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: The rack (7) is fixed on an inner arm (6), and the inner arm (6) is linearly slidably mounted in the outer arm (5). The end surface of one end of the inner arm (6) extending out of the outer arm (5) is connected to the side surface of the base (10) to push the base (10) to move. A guide rod (8) is also fixed on the side surface of the base (10), and the guide rod (8) is axially fixedly inserted into the inner arm (6) to define the relative installation position between the base (10) and the inner arm (6).

3. A manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: A suction cup (12) is fixed on the end surface between the two connecting rods (1) on the base (10), and the suction cup (12) can suck up objects with smooth surfaces. The suction cup (12) is fixed on a suction pipe (14), and the suction pipe (14) is fixed on the base (10). A vacuum pump (13) is connected to the suction pipe (14).

4. A manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: The connecting seat (3) is a Π-shaped structure. Except for the first precision steering gear (2) mounted on a mounting plate (16), each of the other precision steering gears (2) is rotatably mounted at the center of the closed end of the adjacent connecting seat (3); except for the connecting seat (3) rotatably connected to the outer arm (5), the open ends of the other connecting seats (3) are all covered on the precision steering gear (2), and the two side walls of the open end of the connecting seat (3) are rotatably connected to the two opposite outer side walls of the adjacent precision steering gear (2).

5. The manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: The outer arm (5) is a rectangular block structure, and a T-shaped slot is provided inside the outer arm (5) along the length direction and passes through the two ends of the outer arm (5). The rack (7) is slidably installed at the bottom of the T-shaped slot, and the gear assembly (18) is rotatably installed at the notch of the T-shaped slot.

6. A manipulator based on a lightweight multifunctional electric telescopic arm according to claim 5, characterized in that: The gear assembly (18) comprises five cylindrical gears meshing in sequence, wherein the first cylindrical gear is transmission-connected to the first steering gear (4), the fifth cylindrical gear is meshed with the rack (7), and the first steering gear (4) is embedded and fixedly installed in one side of the T-shaped slide groove.

7. The manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: The connecting rod (1) and the transmission arm (11) are hingedly connected on both the front and rear sides of each clamping arm (15), and the two connecting rods (1) and the two transmission arms (11) are respectively opposite to each other and parallel to each other; a section of the clamping arm (15) where the clamping end is located is a curved structure arched outward, and the end face of the clamping end has a serrated convex edge.

8. The manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: The end surface of one end of the rack (7) extending out of the outer arm (5) is connected to the side surface of the base (10) to push the base (10) to move; a guide rod (8) is also fixed on the side surface of the base (10), and the guide rod (8) is axially slidably inserted into the outer arm (5) to guide the base (10) to move linearly when the end surface of the rack (7) pushes the base (10).

9. A manipulator based on a lightweight multifunctional electric telescopic arm according to claim 8, characterized in that: The end of the rack (7) is slidably mounted in an annular groove (24) on the side of the base (10) and never leaves the annular groove (24); The upper and lower surfaces of the rack (7) are both provided with teeth, a row of teeth on the upper surface meshes with the gear assembly (18), and a row of teeth on the lower surface meshes with a driven gear (19) rotatably mounted in the outer arm (5), a worm wheel (20) is coaxially fixed to the driven gear (19), a worm (21) is meshed below the worm wheel (20), the worm (21) is arranged parallel to the rack (7), a cylindrical thin gear (22) is coaxially fixed at one end of the worm (21) away from the worm wheel (20), the cylindrical thin gear (22) meshes with a circular gear column (23) below it, the cylindrical gear is rod-shaped and coaxially fixed on the guide rod (8), and the guide rod (8) is also rotatably matched with the outer arm (5), so that when the rack (7) slides out of the outer arm (5), the base (10) not only moves linearly, but also rotates around the axis of the guide rod (8) at the same time.

10. The manipulator based on a lightweight multifunctional electric telescopic arm according to claim 1, characterized in that: At least one of the gears (26) has at least two elastic gear teeth (27), and the bottom end of the elastic gear teeth (27) has a slider (28). The slider (28) is circumferentially slidably installed in a slide groove near the tooth root of the gear. A support spring (29) is provided on one side of the slide groove. In the assembled state, the support spring (29) pushes the slider (28) to the other side of the slide groove. A screw hole is provided in the center of the elastic gear tooth (27), and a threaded blind hole is provided at the bottom of the slide groove. In the assembled state, the screw hole is opposite to the threaded blind hole, and a locking screw (30) is screwed into the screw hole and the threaded blind hole to fix the elastic gear tooth (27). The top end of the locking screw (30) is connected to a threaded pressure ring (32) through a tension spring (31). The threaded pressure ring (32) is threadedly mounted in the top end of the screw hole, and when the locking screw (30) and the threaded blind hole are in threaded engagement, the tension spring (31) is always in a stretched state. A pressure plate (34) pressed by a fastening nut (33) is sleeved on the gear shaft of the gear, and a compressed pressure-resistant spring is provided between the pressure plate (34) and the end face of the gear.

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