Multifunctional operation manipulator system

Abstract

The invention discloses a multifunctional operation manipulator system which comprises a case, a mechanical arm, an end effector module and a controller, the mechanical arm is fixedly mounted on the case, the end effector module is detachably mounted at the tail end of the mechanical arm through a quick change module, and the controller is fixedly mounted in the case. According to the quick-change robot, through the quick-change module composed of the male disc, the female disc, the positioning assembly and the driving mechanism, the robot can quickly change the corresponding end effector body according to production task requirements, and the quick-change robot can flexibly correspond to diversified production processes; the replacement time of the end effector body is remarkably shortened, the production efficiency is effectively improved, manual intervention is not needed in the whole replacement process, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a multifunctional operating manipulator system. Background Art

[0002] Intelligent robot labor outsourcing represents an innovative industrial service paradigm. It uses cutting-edge intelligent technology to deploy industrial robots with certain autonomous decision-making capabilities and their auxiliary equipment to customer production sites to meet specific production task requirements. This model is similar to human labor outsourcing, but its core is that robots are dispatched instead of human employees. When performing production tasks, robots will adjust according to demand, especially in the face of diverse production processes, robots need to frequently replace the end effectors of their robotic arms. However, robots on the current market generally use manual replacement methods with bolt connections to replace tools.

[0003] However, the manual replacement method of bolted connections has many limitations. It is time-consuming, inefficient, and requires a lot of manpower. More importantly, bolts are prone to wear during multiple tightening and loosening processes, increasing the risk of failure. In addition, using wrenches or manual knobs for bolted connections not only requires sufficient operating space, but may also cause spatial interference problems in certain specific environments, thereby affecting the integration of the module and the compactness of the overall structure, making robot tool replacement quite cumbersome.

[0004] Therefore, a multifunctional operating manipulator system is proposed. Summary of the invention

[0005] An object of the present invention is to provide a multifunctional operating manipulator system, so as to solve or at least alleviate one or more of the above-mentioned problems and other problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solution: a multifunctional operation manipulator system, comprising:

[0007] Chassis;

[0008] A mechanical arm, wherein the mechanical arm is fixedly mounted on the chassis;

[0009] An end effector module, which is detachably mounted on the end of the robotic arm through a quick-change module;

[0010] A controller is fixedly installed in the chassis, and the robotic arm, the quick-change module and the end effector module are all controlled by the controller.

[0011] In a multifunctional operating manipulator system according to the present invention, optionally, the quick-change module includes a male disk and a female disk, a flange is fixedly installed on the top of the male disk by bolts, the flange is fixedly connected to the end of the manipulator arm by bolts, and the male disk is detachably connected to the female disk by a locking mechanism;

[0012] The locking mechanism comprises a first transmission shaft, at least three of which are provided, and the three first transmission shafts are provided in a circular array, an installation space is provided on the top of the male disk, and the three first transmission shafts are rotatably installed in the installation space, and the lower end of the first transmission shaft rotates through the bottom of the male disk and is fixedly connected to a limiting protrusion;

[0013] The top of the mother disk is provided with slots having the same number as the limiting protrusions, and the inside of the mother disk is provided with limiting slots connected with the slots. When the male disk and the mother disk are assembled, the limiting protrusions are fully inserted into the slots, and then the first transmission shaft is rotated to screw the limiting protrusions into the limiting slots, and at this time, the top of the limiting protrusions is against the inner top of the limiting slots;

[0014] A driving mechanism for driving the first transmission shaft to rotate is arranged in the installation space, and the driving mechanism includes a motor, a worm, a housing, a worm wheel, a second transmission shaft and a second gear. The second transmission shaft is rotatably installed in the installation space, the second gear is fixedly sleeved on the lower end of the second transmission shaft, and the worm wheel is fixedly sleeved on the upper end of the second transmission shaft. The motor and the housing are both fixedly installed on the bottom of the flange, one end of the worm is rotatably connected to the housing, one end of the worm away from the housing is fixedly connected to the rotating shaft of the motor, the worm is meshed with the worm wheel, and one end of the three first transmission shafts away from the limiting protrusion is fixedly sleeved with a first gear, and the second gear is meshed with the first gear.

[0015] In a multifunctional operating manipulator system according to the present invention, optionally, one end of one of the first transmission shafts away from the limit protrusion is fixedly connected to the limit rod, and a first vertical block and a second vertical block are fixedly installed in the installation space. A first pressure sensor is fixedly installed on the upper end of one side of the first vertical block, and a second pressure sensor is fixedly connected to the upper end of one side of the second vertical block. When the first transmission shaft drives the limit rod to rotate counterclockwise and presses the first pressure sensor, the limit protrusion is completely screwed out of the limit groove at this time, and when the first transmission shaft drives the limit rod to rotate clockwise and presses the second pressure sensor, the limit protrusion is completely screwed into the limit groove at this time. The first pressure sensor and the second pressure sensor are both electrically connected to the controller, and the motor is controlled by the controller.

[0016] In a multifunctional operating robot system according to the present invention, optionally, a torsion spring is arranged inside the box, one end of the torsion spring is located in the inner circle and is fixedly connected to one end of the worm, and one end of the torsion spring is located in the outer circle and is fixedly connected to the inner wall of the box, and when the motor is powered off, the worm remains stationary under the torsion of the torsion spring.

[0017] In a multifunctional operating manipulator system according to the present invention, optionally, a positioning assembly is fixedly installed on the bottom of the male disk, and the positioning assembly includes a third pressure sensor and a positioning rod, the third pressure sensor is fixedly installed on the bottom of the male disk, and the top of the positioning rod is fixedly installed on the bottom of the third pressure sensor, the top of the mother disk is provided with a positioning groove, and the top of the mother disk is provided with an avoidance groove connected to the positioning groove, when the positioning rod is fully inserted into the positioning groove, the third pressure sensor is located in the avoidance groove, the positioning rod and the positioning groove are slidably connected, the bottom of the positioning rod exceeds the bottom of the limit bump by 1-2mm, and the third pressure sensor is electrically connected to the controller.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The invention uses a quick-change module composed of a male disk, a female disk, a positioning assembly and a driving mechanism, so that the robot can quickly replace the corresponding end effector body according to the production task requirements, flexibly respond to diversified production processes, significantly shorten the end effector body replacement time, effectively improve production efficiency, and the entire replacement process does not require manual intervention, thereby reducing labor costs;

[0020] Through the positioning assembly, the male and female disks are accurately positioned after being installed, and the bottom of the positioning rod exceeds the bottom of the limit bump. When the positioning rod touches the upper surface of the female disk, the third pressure sensor is squeezed, and then the signal is transmitted to the controller. The controller controls the mechanical arm to stop docking, so as to avoid the phenomenon of equipment damage caused by positioning errors.

[0021] The motor can be precisely controlled by the setting of the limit rod, the first pressure sensor, the second pressure sensor and the controller to ensure that the limit projection can be precisely screwed into the limit groove or screwed out of the limit groove;

[0022] The torsion spring can hold the worm when the motor is powered off, ensuring the normal connection between the male and female discs.

[0023] Through standardized interface design, end effectors with different functions can be easily interchanged to meet diverse production task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a multifunctional operating manipulator system of the present invention;

[0025] Figure 2 It is a schematic diagram of the connection structure between the quick-change module and the end effector module in a multifunctional operating manipulator system of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a public plate in a multifunctional operation manipulator system of the present invention;

[0027] Figure 4 It is a schematic cross-sectional structure diagram of a male plate in a multifunctional operating manipulator system of the present invention;

[0028] Figure 5 It is a partial structural schematic diagram of a public plate in a multifunctional operation manipulator system of the present invention;

[0029] Figure 6 for Figure 5 A schematic diagram of the enlarged structure of part A;

[0030] Figure 7 It is a schematic cross-sectional structure diagram of an assembly box in a multifunctional operating manipulator system of the present invention;

[0031] Figure 8 It is a structural schematic diagram of a master disk in a multifunctional operation manipulator system of the present invention;

[0032] Fig. 9 It is a schematic cross-sectional structure diagram of a master plate in a multifunctional operating manipulator system of the present invention;

[0033] Fig.10 It is a structural schematic diagram of another perspective of a mother disk in a multifunctional operation manipulator system of the present invention;

[0034] Fig.11 It is a partial cross-sectional structural schematic diagram of a quick-change module in a multifunctional operating manipulator system of the present invention;

[0035] Fig.12 for Fig.11 Schematic diagram of the enlarged structure of part B in FIG.

[0036] In the figure: 1, chassis; 101, electric cylinder; 102, roller; 103, touch screen; 2, mechanical arm; 3, quick change module; 301, male disk; 3011, first female interface; 3012, flange; 3013, locking mechanism; 30131, first gear; 30132, first transmission shaft; 30133, limit convex block; 30134, limit rod; 30135, first vertical block; 30136, first pressure sensor; 30137, second vertical block; 30138, second pressure sensor; 3014, positioning assembly; 30141, positioning rod; 30142, third pressure sensor Force sensor; 3015, driving mechanism; 30151, motor; 30152, worm; 30153, housing; 301537, torsion spring; 30154, worm wheel; 30155, second transmission shaft; 30156, second gear; 3016, assembly groove; 302, mother disk; 3021, slot; 30211, limit groove; 3022, positioning groove; 30221, avoidance groove; 3023, male interface; 3024, mounting thread groove; 4, end effector module; 401, end effector body; 402, mounting plate; 403, second female interface; 5, camera. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0038] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0039] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0040] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Example 1

[0042] See also Figures 1 to 12 , this embodiment provides the following technical solution: a multifunctional operating manipulator system, including a chassis 1, a manipulator arm 2, a quick-change module 3, an end effector module 4 and a controller.

[0043] The robot arm 2 is fixedly mounted on the chassis 1, the end effector module 4 is detachably mounted on the end of the robot arm 2 through the quick change module 3, the controller is fixedly mounted in the chassis 1, and the robot arm 2, the quick change module 3 and the end effector module 4 are all controlled by the controller.

[0044] In this embodiment, the quick-change module 3 includes a male disk 301 and a female disk 302. A flange 3012 is fixedly installed on the top of the male disk 301 by bolts. The flange 3012 is fixedly connected to the end of the robot arm 2 by bolts. The male disk 301 is detachably connected to the female disk 302 by a locking mechanism 3013.

[0045] The locking mechanism 3013 includes a first transmission shaft 30132, and at least three first transmission shafts 30132 are provided. The three first transmission shafts 30132 are arranged in a circular array. An installation space is provided on the top of the male disk 301. The three first transmission shafts 30132 are rotatably installed in the installation space. The lower end of the first transmission shaft 30132 rotates through the bottom of the male disk 301 and is fixedly connected to the limiting protrusion 30133.

[0046] The top of the female disk 302 is provided with slots 3021 having the same number as the limiting protrusions 30133, and the interior of the female disk 302 is provided with limiting slots 30211 connected with the slots 3021. When the male disk 301 and the female disk 302 are assembled, the limiting protrusions 30133 are fully inserted into the slots 3021, and then the first transmission shaft 30132 is rotated to screw the limiting protrusions 30133 into the limiting slots 30211, and at this time, the top of the limiting protrusion 30133 abuts against the inner top of the limiting slot 30211;

[0047] A driving mechanism 3015 for driving the first transmission shaft 30132 to rotate is arranged in the installation space. The driving mechanism 3015 comprises a motor 30151, a worm 30152, a housing 30153, a worm wheel 30154, a second transmission shaft 30155 and a second gear 30156. The second transmission shaft 30155 is rotatably installed in the installation space. The second gear 30156 is fixedly sleeved on the lower end of the second transmission shaft 30155. The worm wheel 30154 is fixedly sleeved on the upper end of the second transmission shaft 30155. The motor 30151 and the box body 30153 are fixedly mounted on the bottom of the flange 3012, one end of the worm 30152 is rotatably connected to the box body 30153, the end of the worm 30152 away from the box body 30153 is fixedly connected to the rotating shaft of the motor 30151, the worm 30152 is meshed with the worm wheel 30154, and the ends of the three first transmission shafts 30132 away from the limiting protrusion 30133 are fixedly sleeved with the first gear 30131, and the second gear 30156 is meshed with the first gear 30131;

[0048] The bottom of the male disk 301 is fixedly installed with a positioning assembly 3014, and the positioning assembly 3014 includes a third pressure sensor 30142 and a positioning rod 30141. The third pressure sensor 30142 is fixedly installed at the bottom of the male disk 301, and the top of the positioning rod 30141 is fixedly installed at the bottom of the third pressure sensor 30142. The top of the female disk 302 is provided with a positioning groove 3022, and the top of the female disk 302 is provided with an avoidance groove 30221 connected to the positioning groove 3022. When the positioning rod 30141 is fully inserted into the positioning groove 3022, the third pressure sensor 30142 is located in the avoidance groove 30221, and the positioning rod 30141 is connected to the positioning groove 3022. The grooves 3022 are connected in a sliding manner, the bottom of the positioning rod 30141 exceeds the bottom of the limiting protrusion 30133 by 1-2 mm, the third pressure sensor 30142 is electrically connected to the controller, and the positioning assembly 3014 is provided to accurately position the male disk 301 and the female disk 302 after installation, and the bottom of the positioning rod 30141 exceeds the bottom of the limiting protrusion 30133. When the positioning rod 30141 touches the upper surface of the female disk 302, the third pressure sensor 30142 is squeezed, and then the signal is transmitted to the controller, and the controller controls the robot arm 2 to stop docking, so as to avoid the phenomenon of equipment damage caused by positioning errors;

[0049] The end effector module 4 includes an end effector body 401 and a mounting plate 402. The end effector body 401 is fixedly mounted on the mounting plate 402. A mounting thread groove 3024 is provided at the bottom of the mother disk 302. The mounting plate 402 is fixed to the bottom of the mother disk 302 by bolts. The upper end of the bolt passes through the mounting plate 402 and is threadedly fixed inside the mounting thread groove 3024.

[0050] By adopting the above technical solution, when the robot arm 2 needs to replace another end effector body 401, the controller controls the motor 30151 to drive the worm 30152 to rotate, and then drives the second gear 30156 to rotate through the worm gear 30154, and the rotating second gear 30156 drives the first gear 30131 to rotate, and the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting protrusion 30133 to rotate out of the limiting groove 30211, and at this time the robot arm 2 drives the male disk 301 to move upward, thereby realizing the separation of the male disk 301 and the female disk 302;

[0051] Then the controller controls the robot arm 2 to move the male disk 301 to the position where the end effector body 401 needs to be replaced, and then the robot arm 2 drives the male disk 301 to move downward, so that the positioning rod 30141 is inserted into the corresponding positioning groove 3022. At this time, the limiting protrusion 30133 is inserted into the slot 3021. When the limiting protrusion 30133 is completely inserted into the positioning groove 3022, the controller controls the motor 30151 to drive the worm 30152 to rotate, and then drives the second gear 30156 to rotate through the worm gear 30154. The rotating second gear 30156 drives the first gear 30131 to rotate, and the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting protrusion 30133 to rotate into the limiting groove 30211. At this time, the top of the limiting protrusion 30133 is against the inner top of the limiting groove 30211, and the installation of the male disk 301 and the female disk 302 is completed.

[0052] In this embodiment, an assembly groove 3016 is provided at the bottom of the male disk 301, and a camera 5 is fixedly embedded inside the assembly groove 3016. The camera 5 is electrically connected to the controller. The camera 5 is used to capture images of the mother disk 302 and send the captured images to the controller. The controller processes the image and identifies the position of the positioning groove 3022 on the mother disk 302, thereby achieving precise positioning when the male disk 301 and the mother disk 302 are installed.

[0053] In this embodiment, the end effector body 401 includes but is not limited to a clamp, a loading and unloading mechanism, a spraying mechanism, a welding mechanism, and a screw driving mechanism.

[0054] In this embodiment, a second female interface 403 electrically connected to the power line and communication line of the end effector body 401 is fixedly installed on the mounting plate 402, a first female interface 3011 electrically connected to the power supply and the communication line of the controller is fixedly installed on the side of the male disk 301, a male interface 3023 is fixedly installed on the side of the female disk 302, the second female interface 403 is plugged into the lower end of the male interface 3023, the first female interface 3011 is plugged into the upper end of the male interface 3023, the second female interface 403 is electrically connected to the first female interface 3011 via the male interface 3023, and through standardized interface design, the end effector bodies 401 with different functions can be easily interchanged to meet the diverse production task requirements.

[0055] In this embodiment, one end of one of the first transmission shafts 30132 away from the limiting protrusion 30133 is fixedly connected to the limiting rod 30134, and a first vertical block 30135 and a second vertical block 30137 are fixedly installed in the installation space. A first pressure sensor 30136 is fixedly installed on the upper end of one side of the first vertical block 30135, and a second pressure sensor 30138 is fixedly connected to the upper end of one side of the second vertical block 30137. When the first transmission shaft 30132 drives the limiting rod 30134 to rotate in the opposite direction, the limiting rod 30134 rotates in the opposite direction. When the hour hand rotates and presses onto the first pressure sensor 30136, the limiting protrusion 30133 is completely screwed out from the limiting groove 30211. When the first transmission shaft 30132 drives the limiting rod 30134 to rotate clockwise and press onto the second pressure sensor 30138, the limiting protrusion 30133 is completely screwed into the limiting groove 30211. The first pressure sensor 30136 and the second pressure sensor 30138 are both electrically connected to the controller, and the motor 30151 is controlled by the controller.

[0056] By setting the limit rod 30134, the first pressure sensor 30136, and the second pressure sensor 30138 in cooperation with the controller, the motor 30151 can be precisely controlled to ensure that the limit protrusion 30133 can be accurately screwed into the limit groove 30211, or screwed out of the limit groove 30211.

[0057] In this embodiment, a torsion spring 30157 is provided inside the box 30153. One end of the torsion spring 30157 is located on the inner circle and is fixedly connected to one end of the worm 30152. One end of the torsion spring 30157 is located on the outer circle and is fixedly connected to the inner wall of the box 30153. When the motor 30151 is powered off, the worm 30152 remains stationary under the torsion of the torsion spring 30157. By setting the torsion spring 30157, the worm 30152 can be maintained when the motor 30151 is powered off, thereby ensuring the normal connection between the male disk 301 and the female disk 302.

[0058] In this embodiment, a touch screen 103 is fixedly embedded on one side of the chassis 1, and the touch screen 103 is electrically connected to the controller. Through this arrangement, the user can operate and control intuitively, thereby improving the user-friendliness of the system.

[0059] In this embodiment, a roller 102 is fixedly installed on the bottom of the chassis 1, and an electric cylinder 101 is fixedly installed on the four inner corners of the chassis 1. The bottom of the piston rod of the electric cylinder 101 slides through the bottom of the chassis 1 and is fixedly connected to an anti-slip pad. The chassis 1 is easily moved by the provided roller 102. When the chassis 1 moves to the specified position, the piston rod of the electric cylinder 101 is controlled to extend, thereby lifting and fixing the chassis 1.

[0060] It should be noted that in this embodiment, the models of the controller, the first pressure sensor 30136, the second pressure sensor 30138, and the third pressure sensor 30142 are not limited, as long as they meet the functional requirements of the system.

[0061] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0062] Working principle: when the robot arm 2 needs to replace another end effector body 401, the controller controls the motor 30151 to drive the worm 30152 to rotate, and then drives the second gear 30156 to rotate through the worm gear 30154, and the rotating second gear 30156 drives the first gear 30131 to rotate, and the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting protrusion 30133 to rotate out of the limiting groove 30211, at this time the limiting rod 30134 presses the first pressure sensor 30136, the controller controls the motor 30151 to stop, and then controls the robot arm 2 to drive the male disk 301 to move upward, thereby realizing the separation of the male disk 301 and the female disk 302, at this time the first female head interface 3011 is separated from the male head interface 3023 on the female disk 302;

[0063] Then the controller controls the robot arm 2 to move the male disk 301 to the position where the end effector body 401 needs to be replaced, the camera 5 takes a picture of the mother disk 302, and transmits the taken image to the controller. After processing the picture, the controller obtains the position coordinates of the positioning groove 3022 on the mother disk 302, and then controls the robot arm 2 to drive the male disk 301 to move downward, so that the positioning rod 30141 is inserted into the corresponding positioning groove 3022, and the limiting protrusion 30133 is inserted into the slot 3021. When the limiting protrusion 30133 is completely inserted into the positioning groove 3022, the controller controls the motor 30151 to drive the worm 30152 to rotate, and then drives the second gear 30154 through the worm wheel 30154. 0156 rotates, the rotating second gear 30156 drives the first gear 30131 to rotate, the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting protrusion 30133 to rotate into the limiting groove 30211, at this time, the top of the limiting protrusion 30133 is against the inner top of the limiting groove 30211, when the limiting rod 30134 is pressed to the second pressure sensor 30138, the controller controls the motor 30151 to stop, at this time, the first female interface 3011 is connected to the second female interface 403 of the end actuator body 401 through the male interface 3023, and the installation of the male disk 301 and the female disk 302 is completed.

[0064] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional operating manipulator system, characterized in that: include: Chassis (1); A mechanical arm (2), wherein the mechanical arm (2) is fixedly mounted on the chassis (1); An end effector module (4), wherein the end effector module (4) is detachably mounted on the end of the robotic arm (2) via a quick-change module (3); A controller is fixedly installed in the chassis (1); the mechanical arm (2), the quick-change module (3) and the end effector module (4) are all controlled by the controller.

2. A multifunctional operating manipulator system according to claim 1, characterized in that: The quick-change module (3) comprises a male disk (301) and a female disk (302); a flange (3012) is fixedly mounted on the top of the male disk (301) by means of bolts; the flange (3012) is fixedly connected to the end of the mechanical arm (2) by means of bolts; and the male disk (301) is detachably connected to the female disk (302) by means of a locking mechanism (3013).

3. A multifunctional operating manipulator system according to claim 2, characterized in that: The locking mechanism (3013) comprises a first transmission shaft (30132), wherein no less than three first transmission shafts (30132) are provided, and the three first transmission shafts (30132) are arranged in a circular array. An installation space is provided at the top of the male disk (301), and the three first transmission shafts (30132) are rotatably installed in the installation space. The lower end of the first transmission shaft (30132) rotates through the bottom of the male disk (301) and is fixedly connected to a limiting protrusion (30133).

4. A multifunctional operating manipulator system according to claim 3, characterized in that: The top of the mother disk (302) is provided with slots (3021) having the same number as the limiting protrusions (30133), and the interior of the mother disk (302) is provided with limiting grooves (30211) connected with the slots (3021). When the male disk (301) and the mother disk (302) are assembled, the limiting protrusions (30133) are fully inserted into the slots (3021), and then the first transmission shaft (30132) is rotated to screw the limiting protrusions (30133) into the limiting grooves (30211), and at this time, the top of the limiting protrusions (30133) abuts against the inner top of the limiting grooves (30211).

5. A multifunctional operating manipulator system according to claim 4, characterized in that: A driving mechanism (3015) for driving the first transmission shaft (30132) to rotate is arranged in the installation space, and the driving mechanism (3015) includes a motor (30151), a worm (30152), a housing (30153), a worm wheel (30154), a second transmission shaft (30155) and a second gear (30156).

6. A multifunctional operating manipulator system according to claim 5, characterized in that: The second transmission shaft (30155) is rotatably mounted in the installation space, the second gear (30156) is fixedly sleeved on the lower end of the second transmission shaft (30155), the worm wheel (30154) is fixedly sleeved on the upper end of the second transmission shaft (30155), the motor (30151) and the housing (30153) are both fixedly mounted on the bottom of the flange (3012), and one end of the worm (30152) is rotatably connected to the housing (30153).

7. A multifunctional operating manipulator system according to claim 6, characterized in that: The end of the worm (30152) away from the box (30153) is fixedly connected to the rotating shaft of the motor (30151), and the worm (30152) is meshed with the worm wheel (30154). The ends of the three first transmission shafts (30132) away from the limiting protrusion (30133) are fixedly sleeved with a first gear (30131), and the second gear (30156) is meshed with the first gear (30131).

8. A multifunctional operating manipulator system according to claim 7, characterized in that: One end of one of the first transmission shafts (30132) away from the limiting protrusion (30133) is fixedly connected to the limiting rod (30134), and a first vertical block (30135) and a second vertical block (30137) are fixedly installed in the installation space, a first pressure sensor (30136) is fixedly installed on the upper end of one side of the first vertical block (30135), and a second pressure sensor (30138) is fixedly connected to the upper end of one side of the second vertical block (30137).

9. A multifunctional operating manipulator system according to claim 8, characterized in that: When the first transmission shaft (30132) drives the limiting rod (30134) to rotate counterclockwise and press onto the first pressure sensor (30136), the limiting protrusion (30133) is completely screwed out of the limiting groove (30211).

10. A multifunctional operating manipulator system according to claim 9, characterized in that: When the first transmission shaft (30132) drives the limiting rod (30134) to rotate clockwise and press onto the second pressure sensor (30138), the limiting protrusion (30133) is completely screwed into the limiting groove (30211), the first pressure sensor (30136) and the second pressure sensor (30138) are both electrically connected to the controller, and the motor (30151) is controlled by the controller.

Images