A multi-functional work robot system

Abstract

The application discloses a multifunctional operation manipulator system, a machine box, a mechanical arm, an end effector module and a controller, the mechanical arm is fixedly installed on the machine box, the end effector module is detachably installed at the end of the mechanical arm through a quick-change module, the controller is fixedly installed in the machine box, and the mechanical arm, the quick-change module and the end effector module are all controlled by the controller, the quick-change module is composed of a male disc, a female disc, a positioning assembly and a driving mechanism, the robot can quickly replace the corresponding end effector body according to production task requirements, flexible corresponding diversified production processes are realized, the end effector body replacement time is significantly 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 application relates to the technical field of mechanical hands, in particular to a multifunctional operation mechanical hand system. BACKGROUND

[0002] Intelligent robot labor outsourcing represents an innovative industrial service paradigm, which deploys industrial robots with certain autonomous decision-making capabilities and their auxiliary equipment to customer production sites to meet specific production task requirements, using cutting-edge intelligent technology. This mode is similar to human labor outsourcing, but its core is to send robots rather than human employees. When performing production tasks, robots will adjust according to needs, especially in the face of diversified production processes, robots need to frequently change the end effector of their mechanical arms. However, the current market robots generally use manual replacement mode of bolt connection to replace tools.

[0003] However, the manual replacement mode of bolt connection has many limitations. It is time-consuming, low in efficiency, and requires a large amount of human resources. More importantly, the bolt is prone to wear and tear during repeated tightening and loosening, increasing the risk of failure. In addition, using wrenches or manual knobs for bolt connection not only requires sufficient operating space, but also may cause space interference problems in some specific environments, affecting the integration of modules and the compactness of the overall structure, making it quite cumbersome for robots to replace tools.

[0004] Therefore, a multifunctional operation mechanical hand system is proposed. SUMMARY

[0005] The present application aims to provide a multifunctional operation mechanical hand system, thereby solving or at least alleviating one or more of the above-mentioned problems and other aspects of the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a multifunctional operation mechanical hand system, comprising:

[0007] a case;

[0008] a mechanical arm fixedly installed on the case;

[0009] an end effector module, which is detachably installed at the end of the mechanical arm through a quick-change module;

[0010] a controller fixedly installed in the case, the mechanical arm, the quick-change module and the end effector module are all controlled by the controller.

[0011] In a multifunctional operation manipulator system according to the application, optionally, the quick-change module comprises a male disc and a female disc, a flange disc is fixedly installed on the top of the male disc through bolts, the flange disc is fixedly connected with the end of the mechanical arm through bolts, and the male disc is detachably connected with the female disc through a locking mechanism.

[0012] The locking mechanism comprises first transmission shafts, the first transmission shafts are arranged in a circular array, the top of the male disc is provided with an installation space, the first transmission shafts are rotatably installed in the installation space, and the lower ends of the first transmission shafts are rotatably penetrated through the bottom of the male disc and fixedly connected with limiting lugs.

[0013] The top of the female disc is provided with insertion grooves with the same number as the limiting lugs, the inside of the female disc is provided with limiting grooves in communication with the insertion grooves, when the male disc and the female disc are assembled, the limiting lugs are completely inserted into the insertion grooves, then the first transmission shafts are rotated, the limiting lugs are rotated into the limiting grooves, and at this time, the top of the limiting lugs abuts against the inner top of the limiting grooves.

[0014] The installation space is provided with a driving mechanism for driving the first transmission shafts to rotate, the driving mechanism comprises a motor, a worm, a box body, 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, the worm wheel is fixedly sleeved on the upper end of the second transmission shaft, the motor and the box body are fixedly installed on the bottom of the flange disc, one end of the worm is rotatably connected to the box body, the end of the worm away from the box body is fixedly connected with the rotating shaft of the motor, the worm is engaged with the worm wheel, and the ends of the first transmission shafts away from the limiting lugs are fixedly sleeved with first gears.

[0015] In a multifunctional operation manipulator system according to the application, optionally, one end of one of the first transmission shafts away from the limiting lugs is fixedly connected with a limiting rod, a first vertical block and a second vertical block are fixedly installed in the installation space, a first pressure sensor is fixedly installed on one side of the upper end of the first vertical block, and a second pressure sensor is fixedly connected on one side of the upper end of the second vertical block, when the first transmission shaft drives the limiting rod to rotate counterclockwise and press the first pressure sensor, at this time, the limiting lugs are completely rotated out of the limiting grooves, when the first transmission shaft drives the limiting rod to rotate clockwise and press the second pressure sensor, at this time, the limiting lugs are completely rotated into the limiting grooves, the first pressure sensor and the second pressure sensor are electrically connected with the controller, and the motor is controlled by the controller.

[0016] In the multifunctional operation manipulator system according to the application, optionally, a torsional spring is arranged in the box body, one end of the torsional spring is fixedly connected with one end of the worm, and the other end of the torsional spring is fixedly connected with the inner wall of the box body; when the motor is powered off, the worm remains in a stationary state under the torsional force of the torsional spring.

[0017] In the multifunctional operation manipulator system according to the application, optionally, a positioning assembly is fixedly installed at the bottom of the male disc, the positioning assembly comprises a third pressure sensor and a positioning rod, the third pressure sensor is fixedly installed at the bottom of the male disc, the top of the positioning rod is fixedly installed at the bottom of the third pressure sensor, the top of the female disc is provided with a positioning groove, the top of the female disc is provided with an avoiding groove in communication with the positioning groove, when the positioning rod is completely inserted into the positioning groove, the third pressure sensor is located in the avoiding groove, the positioning rod and the positioning groove are in sliding connection, the distance between the bottom of the positioning rod and the bottom of the limiting protrusion is 1-2 mm, and the third pressure sensor is electrically connected with the controller.

[0018] Compared with the prior art, the multifunctional operation manipulator system according to the application has the following beneficial effects:

[0019] The fast-changing module composed of the male disc, the female disc, the positioning assembly and the driving mechanism can be used to quickly replace the corresponding end effector body according to the production task requirements, so that the diversified production process can be flexibly corresponded, the end effector body replacement time is significantly shortened, the production efficiency is effectively improved, the whole replacement process does not need manual intervention, and the labor cost is reduced.

[0020] The positioning assembly is arranged to accurately position the male disc and the female disc after installation, and the bottom of the positioning rod exceeds the bottom of the limiting protrusion, so that when the positioning rod touches the upper surface of the female disc, the third pressure sensor is extruded, and then the signal is transmitted to the controller, the controller controls the mechanical arm to stop docking, and the phenomenon that the equipment is damaged due to positioning error is avoided.

[0021] The limiting rod, the first pressure sensor, the second pressure sensor and the controller can be used for accurately controlling the motor, so that the limiting protrusion can be accurately rotated into or out of the limiting groove.

[0022] The torsional spring can be used to keep the worm when the motor is powered off, so that the normal connection of the male disc and the female disc is ensured.

[0023] The standardized interface design can easily realize the interchange of different functional end effectors, and meet the diversified production task requirements. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Structure diagram of a multifunctional work manipulator system of the present application;

[0025] Figure 2 Structure diagram of the connection between the quick-change module and the end effector module in the multifunctional work manipulator system of the present application;

[0026] Figure 3 Structure diagram of the common plate in the multifunctional work manipulator system of the present application;

[0027] Figure 4 Sectional structure diagram of the common plate in the multifunctional work manipulator system of the present application;

[0028] Figure 5 Local structure diagram of the common plate in the multifunctional work manipulator system of the present application;

[0029] Figure 6 Structure diagram of A part in Figure 5 ;

[0030] Figure 7 Sectional structure diagram of the assembly box in the multifunctional work manipulator system of the present application;

[0031] Figure 8 Structure diagram of the female plate in the multifunctional work manipulator system of the present application;

[0032] Figure 9 Sectional structure diagram of the female plate in the multifunctional work manipulator system of the present application;

[0033] Figure 10 Structure diagram of the female plate from another angle in the multifunctional work manipulator system of the present application;

[0034] Figure 11 Local sectional structure diagram of the quick-change module in the multifunctional work manipulator system of the present application;

[0035] Figure 12 Structure diagram of B part in Figure 11 ;

[0036] In the figure: 1, case; 101, electric cylinder; 102, roller; 103, touch screen; 2, mechanical arm; 3, quick-change module; 301, male disc; 3011, first female head interface; 3012, flange plate; 3013, locking mechanism; 30131, first gear; 30132, first transmission shaft; 30133, limiting protrusion; 30134, limiting 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; 3015, driving mechanism; 30151, motor; 30152, worm; 30153, box body; 301537, torsional spring; 30154, worm gear; 30155, second transmission shaft; 30156, second gear; 3016, assembly groove; 302, female disc; 3021, insertion groove; 30211, limiting groove; 3022, positioning groove; 30221, avoiding groove; 3023, male head interface; 3024, mounting thread groove; 4, end effector module; 401, end effector body; 402, mounting plate; 403, second female head interface; 5, camera. DETAILED DESCRIPTION

[0037] The technical solutions of the present application will be further described below in combination with the drawings and through specific embodiments.

[0038] Among them, the drawings are only used for illustrative explanation, and the representation is only a schematic diagram, not a real object diagram, and cannot be understood as a limitation of the present patent; in order to better illustrate the embodiments of the present application, some components of the drawings will 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 can be omitted.

[0039] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only used for illustrative explanation, and cannot be understood as a limitation of the present patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.

[0040] In the description of the present application, unless otherwise explicitly specified and limited, if the term "connection" and the like appear to indicate the connection relationship between components, the term should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two components or the interaction relationship between two components. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0041] Embodiment 1

[0042] Please refer to Figures 1 to 12 The embodiment provides the following technical scheme: a multifunctional operation manipulator system, comprising a case 1, a mechanical arm 2, a quick-change module 3, an end effector module 4 and a controller.

[0043] The mechanical arm 2 is fixedly installed on the case 1, the end effector module 4 is detachably installed at the end of the mechanical arm 2 through the quick-change module 3, and the controller is fixedly installed in the case 1, and the mechanical arm 2, the quick-change module 3 and the end effector module 4 are all controlled by the controller.

[0044] In the embodiment, the quick-change module 3 comprises a male disc 301 and a female disc 302, a flange disc 3012 is fixedly installed on the top of the male disc 301 through bolts, the flange disc 3012 is fixedly connected with the end of the mechanical arm 2 through bolts, and the male disc 301 is detachably connected with the female disc 302 through a locking mechanism 3013.

[0045] The locking mechanism 3013 comprises a first transmission shaft 30132, the first transmission shaft 30132 is provided in not less than three, the three first transmission shafts 30132 are arranged in a circular array, an installation space is formed in the top of the male disc 301, the three first transmission shafts 30132 are all rotatably installed in the installation space, and the lower end of the first transmission shaft 30132 rotatably penetrates the bottom of the male disc 301 and is fixedly connected with a limiting protrusion 30133.

[0046] A plurality of insertion grooves 3021 are formed in the top of the female disc 302, a limiting groove 30211 is formed in the inside of the female disc 302 and communicates with the insertion grooves 3021, when the male disc 301 is assembled with the female disc 302, the limiting protrusion 30133 is completely inserted into the insertion groove 3021, then the first transmission shaft 30132 is rotated, the limiting protrusion 30133 is rotated into the limiting groove 30211, and the top of the limiting protrusion 30133 abuts against the inner top of the limiting groove 30211.

[0047] A driving mechanism 3015 for driving the first transmission shaft 30132 to rotate is arranged in the mounting space. The driving mechanism 3015 comprises a motor 30151, a worm 30152, a box body 30153, a worm wheel 30154, a second transmission shaft 30155 and a second gear 30156. The second transmission shaft 30155 is rotatably arranged in the mounting 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 both fixedly arranged on the bottom of the flange plate 3012. One end of the worm 30152 is rotatably connected to the box body 30153. The other end of the worm 30152 is fixedly connected to the rotating shaft of the motor 30151. The worm 30152 is engaged with the worm wheel 30154. The first gear 30131 is fixedly sleeved on the end of each of the three first transmission shafts 30132 away from the limiting protrusion 30133. The second gear 30156 is engaged with the first gear 30131.

[0048] A positioning assembly 3014 is fixedly arranged on the bottom of the male disc 301. The positioning assembly 3014 comprises a third pressure sensor 30142 and a positioning rod 30141. The third pressure sensor 30142 is fixedly arranged on the bottom of the male disc 301. The top of the positioning rod 30141 is fixedly arranged on the bottom of the third pressure sensor 30142. The top of the female disc 302 is provided with a positioning groove 3022. The top of the female disc 302 is provided with an avoiding groove 30221 which is in communication with the positioning groove 3022. When the positioning rod 30141 is completely inserted into the positioning groove 3022, the third pressure sensor 30142 is located in the avoiding groove 30221. The positioning rod 30141 is in sliding connection with the positioning groove 3022. The bottom of the positioning rod 30141 is 1-2 mm away from the bottom of the limiting protrusion 30133. The third pressure sensor 30142 is electrically connected with the controller. The positioning assembly 3014 is arranged to accurately position the male disc 301 and the female disc 302 after installation. Moreover, the bottom of the positioning rod 30141 is away from the bottom of the limiting protrusion 30133. When the positioning rod 30141 touches the upper surface of the female disc 302, the third pressure sensor 30142 is pressed, and then signals are transmitted to the controller. The controller controls the mechanical arm 2 to stop docking, so as to avoid the damage of the equipment caused by positioning error.

[0049] The end effector module 4 comprises an end effector body 401 and a mounting plate 402. The end effector body 401 is fixedly arranged on the mounting plate 402. The bottom of the female disc 302 is provided with a mounting threaded groove 3024. The mounting plate 402 is fixed on the bottom of the female disc 302 through bolts. The upper ends of the bolts are fixed in the mounting threaded groove 3024 through threads after penetrating through the mounting plate 402.

[0050] By adopting the above technical scheme, when the mechanical 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, 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 block 30133 to rotate out of the limiting groove 30211, at this time the mechanical arm 2 drives the male disc 301 to move upwards, and then the male disc 301 and the female disc 302 are separated;

[0051] Then the controller controls the mechanical arm 2 to move the male disc 301 to the position where the end effector body 401 needs to be replaced, and then the mechanical arm 2 drives the male disc 301 to move downwards, so that the positioning rod 30141 is inserted into the corresponding positioning groove 3022, at this time the limiting block 30133 is inserted into the limiting groove 3021, and when the limiting block 30133 is completely inserted into the limiting 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, the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting block 30133 to rotate into the limiting groove 30211, at this time the top of the limiting block 30133 abuts against the inner top of the limiting groove 30211, and the installation of the male disc 301 and the female disc 302 is completed.

[0052] In this embodiment, the bottom of the male disc 301 is provided with an assembly groove 3016, and a camera 5 is fixedly embedded in the inside of the assembly groove 3016. The camera 5 is electrically connected with the controller, and is used for collecting pictures of the female disc 302 and sending the pictures to the controller. The controller processes the pictures and identifies the position of the positioning groove 3022 on the female disc 302, and then realizes accurate positioning when the male disc 301 and the female disc 302 are installed.

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

[0054] In this embodiment, the mounting plate 402 is fixedly installed with a second female connector interface 403 electrically connected with the power supply line and the communication line of the end effector body 401, the side of the male plate 301 is fixedly installed with a first female connector interface 3011 electrically connected with the power supply and the communication line of the controller, the side of the female plate 302 is fixedly installed with a male connector interface 3023, the second female connector interface 403 is inserted into the lower end of the male connector interface 3023, the first female connector interface 3011 is inserted into the upper end of the male connector interface 3023, the second female connector interface 403 is electrically connected with the first female connector interface 3011 through the male connector interface 3023, and through the standardized interface design, the interchange of end effectors with different functions can be easily realized, and the diversified production task requirements can be met.

[0055] In this embodiment, one of the first transmission shafts 30132 is fixedly connected with a limiting rod 30134 away from one end of the limiting protrusion 30133, the first vertical block 30135 and the second vertical block 30137 are fixedly installed in the installation space, the first pressure sensor 30136 is fixedly installed on one side of the upper end of the first vertical block 30135, and the second pressure sensor 30138 is fixedly connected to one side of the upper end of the second vertical block 30137; when the first transmission shaft 30132 drives the limiting rod 30134 to rotate counterclockwise and press the first pressure sensor 30136, the limiting protrusion 30133 is completely rotated out of the limiting groove 30211 at this time; when the first transmission shaft 30132 drives the limiting rod 30134 to rotate clockwise and press the second pressure sensor 30138, the limiting protrusion 30133 is completely rotated into the limiting groove 30211 at this time; the first pressure sensor 30136 and the second pressure sensor 30138 are electrically connected with the controller, and the motor 30151 is controlled by the controller.

[0056] The precise control of the motor 30151 can be realized through cooperation of the limiting rod 30134, the first pressure sensor 30136, the second pressure sensor 30138 and the controller, so that the limiting protrusion 30133 can be accurately rotated into or out of the limiting groove 30211.

[0057] In this embodiment, the inside of the box body 30153 is provided with a torsional spring 30157, one end of the torsional spring 30157 located in the inner ring is fixedly connected with one end of the worm 30152, and the other end of the torsional spring 30157 located in the outer ring is fixedly connected with the inner wall of the box body 30153; when the motor 30151 is powered off, the worm 30152 remains in a stationary state under the torsional force of the torsional spring 30157, and through the setting of the torsional spring 30157, the worm 30152 can be kept when the motor 30151 is powered off, so that the normal connection of the male plate 301 and the female plate 302 is ensured.

[0058] In the embodiment, one side of the case 1 is fixedly embedded with a touch screen 103, the touch screen 103 is electrically connected with the controller, through the arrangement, the user can intuitively operate and control, and the user friendliness of the system is improved.

[0059] In the embodiment, the bottom of the case 1 is fixedly installed with a roller 102, the inner side of the case 1 is fixedly installed with an electric cylinder 101 at four corners, the bottom of the piston rod of the electric cylinder 101 is slidably penetrated through the bottom of the case 1 and is fixedly connected with an anti-skid pad, the roller 102 is convenient for moving the case 1, when the case 1 is moved to a specified position, the piston rod of the electric cylinder 101 is controlled to be elongated, and then the case 1 is lifted and fixed.

[0060] It should be noted that the model of the controller, the first pressure sensor 30136, the second pressure sensor 30138 and the third pressure sensor 30142 is not limited in the embodiment, as long as the function requirement of the system is met.

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

[0062] Working principle: when the mechanical 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, 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 block 30133 to rotate out of the limiting groove 30211, at this time, the limiting rod 30134 is pressed to the first pressure sensor 30136, the controller controls the motor 30151 to stop, and then controls the mechanical arm 2 to drive the male disc 301 to move upwards, and then realizes the separation of the male disc 301 and the female disc 302, at this time, the first female head interface 3011 is separated from the male head interface 3023 on the female disc 302.

[0063] Then the controller controls the mechanical arm 2 to move the male disc 301 to a position where the end effector body 401 needs to be replaced, the camera 5 takes a picture of the female disc 302, and transmits the picture to the controller, the controller processes the picture to obtain the position coordinates of the positioning groove 3022 on the female disc 302, then controls the mechanical arm 2 to drive the male disc 301 to move downward, so that the positioning rod 30141 is inserted into the corresponding positioning groove 3022, at this time the limiting block 30133 is inserted into the limiting groove 3021, when the limiting block 30133 is completely inserted into the positioning groove 3022, at this time 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, the rotating first gear 30131 drives the first transmission shaft 30132 to rotate, and then the rotating second gear 30156 drives the limiting block 30133 to rotate into the limiting groove 30211, at this time the top of the limiting block 30133 abuts against the inner top of the limiting groove 30211, when the limiting rod 30134 presses the second pressure sensor 30138, the controller controls the motor 30151 to stop, at this time the first female head interface 3011 is connected with the second female head interface 403 of the end effector body 401 through the male head interface 3023, and the installation of the male disc 301 and the female disc 302 is completed.

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

Claims

1. A multifunctional robotic arm system, characterized in that, include: Chassis (1); Robotic arm (2), which is fixedly mounted on the chassis (1); An end effector module (4) is detachably mounted on the end of the robotic arm (2) via a quick-change module (3); The controller is fixedly installed inside the chassis (1), and the robotic arm (2), the quick-change module (3) and the end effector module (4) are all controlled by the controller; The quick-change module (3) includes a male plate (301) and a female plate (302). A flange (3012) is fixedly installed on the top of the male plate (301) by bolts. The flange (3012) is fixedly connected to the end of the robotic arm (2) by bolts. The male plate (301) is detachably connected to the female plate (302) by a locking mechanism (3013). The locking mechanism (3013) includes a first drive shaft (30132), and there are three first drive shafts (30132) arranged in a circular array. The top of the public disk (301) is provided with an installation space. All three first drive shafts (30132) are rotatably installed in the installation space. The lower end of the first drive shaft (30132) rotatably passes through the bottom of the public disk (301) and is fixedly connected to a limiting protrusion (30133). The top of the female disk (302) has slots (3021) with the same number of limiting protrusions (30133) as the female disk (302). The inside of the female disk (302) has limiting grooves (30211) that communicate with the slots (3021). When the male disk (301) is assembled with the female disk (302), the limiting protrusions (30133) are fully inserted into the slots (3021), and then the first drive shaft (30132) is rotated to screw the limiting protrusions (30133) into the limiting grooves (30211). At this time, the top of the limiting protrusions (30133) abuts against the inner top of the limiting grooves (30211).

2. The multifunctional robotic arm system according to claim 1, characterized in that: The installation space is provided with a drive mechanism (3015) for driving the first transmission shaft (30132) to rotate. The drive mechanism (3015) includes a motor (30151), a worm gear (30152), a housing (30153), a worm wheel (30154), a second transmission shaft (30155), and a second gear (30156).

3. The multifunctional robotic arm system according to claim 2, characterized in that: The second drive shaft (30155) is rotatably installed in the installation space. The second gear (30156) is fixedly sleeved on the lower end of the second drive shaft (30155). The worm gear (30154) is fixedly sleeved on the upper end of the second drive shaft (30155). The motor (30151) and the housing (30153) are both fixedly installed on the bottom of the flange (3012). One end of the worm (30152) is rotatably connected to the housing (30153).

4. The multifunctional robotic arm system according to claim 3, characterized in that: The end of the worm gear (30152) away from the housing (30153) is fixedly connected to the shaft of the motor (30151). The worm gear (30152) meshes with the worm wheel (30154). The ends of the three first transmission shafts (30132) away from the limiting protrusion (30133) are all fixedly fitted with first gears (30131). The second gears (30156) mesh with the first gears (30131).

5. The multifunctional robotic arm system according to claim 4, characterized in that: One of the first drive shafts (30132) is fixedly connected to a limit rod (30134) at one end away from the limit protrusion (30133). A first stand (30135) and a second stand (30137) are fixedly installed in the installation space. A first pressure sensor (30136) is fixedly installed on the upper side of one side of the first stand (30135), and a second pressure sensor (30138) is fixedly connected to the upper side of one side of the second stand (30137).

6. The multifunctional robotic arm system according to claim 5, characterized in that: When the first drive shaft (30132) drives the limiting rod (30134) to rotate counterclockwise and presses against the first pressure sensor (30136), the limiting protrusion (30133) is completely rotated out of the limiting groove (30211).

7. A multifunctional robotic arm system according to claim 6, characterized in that: When the first drive shaft (30132) drives the limiting rod (30134) to rotate clockwise and presses against 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.

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