Multi-dimensional robot system and its application in interior decoration

Abstract

The present invention discloses a multidimensional manipulator system and its application in interior decoration, which relates to the field of manipulator technology, and solves the problem that when the multidimensional manipulator is in use, overweight materials will cause the materials to have unstable center of gravity, tilt or shake, and the safety is low. The multidimensional manipulator system includes a base, a multidimensional mechanical arm system and a multiple grasping system. A vertical transmission system is installed inside the base, and the top of the vertical transmission system extends to the outside of the base. The top of the vertical transmission system is connected to the multidimensional mechanical arm system, and the multidimensional mechanical arm system is rotatably connected to the base. In the present invention, when the mechanical claw is driven to move to realize the material handling operation, the material in the handling and placement process can be counterweighted synchronously, reducing the problem of tilting or shaking of the device due to weightlessness during the handling of heavier materials, thereby ensuring the safety of the device, other equipment and staff.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a multi-dimensional robot system and its application in interior decoration. Background Art

[0002] A multi-dimensional manipulator is an automatic operating device that can imitate certain movements of human hands and arms to grasp, carry objects or operate tools according to a fixed program. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and decoration departments.

[0003] The existing Chinese patent application with application publication number CN118342537A discloses a handling robot, including a horizontal displacement mechanism; a robot support frame, the robot support frame is installed on the top of the horizontal displacement mechanism; a swing arm mechanism, the swing arm mechanism is installed on the top of the robot support frame; a rotating mechanism, the rotating mechanism is installed on one side of the swing arm mechanism and is located on one side of the robot support frame; a clamping mechanism, the clamping mechanism is installed on the bottom of the rotating mechanism and is located on one side of the robot support frame; the invention utilizes the clamping mechanism to clamp the material to realize the material handling operation, so that the handling robot has a simple structure and high reliability, and is easy to adjust the swing amplitude of the swing arm mechanism so that the material can be raised to different heights, so that the entire handling robot has a better adjustment effect.

[0004] However, the multi-dimensional manipulator has the following defects when used: 1. When grabbing and moving materials, the existing multi-dimensional manipulator needs to drive the fixed materials to rotate and adjust the position of the material gripper according to the location of the materials. However, when the above solution is actually implemented, overweight materials will cause one side of the manipulator gripper to be heavier. When rotating to adjust the placement of the material, the centrifugal force generated by the rotation may cause problems such as unstable center of gravity, tilting or shaking, which will not only damage the manipulator itself, but may also cause harm to operators and other equipment, and the safety is low; 2. When existing multi-dimensional manipulators grab and fix longer materials, they generally only clamp and fix the middle part of the material. When the manipulator rotates and moves to realize the automatic material handling operation, it is easy to cause the material to slip or tilt during the clamping process, affecting the stability of the material clamping. At the same time, due to unstable clamping, it is easy to cause the material to be damaged under high-speed operation or heavy load conditions. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-dimensional robot system and its application in interior decoration to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions: The present invention provides a multi-dimensional manipulator system and its application in interior decoration, comprising a base, a multi-dimensional manipulator system and a multiple grasping system, wherein a vertical transmission system is installed inside the base, the top of the vertical transmission system extends to the outside of the base, the top of the vertical transmission system is connected to a multi-dimensional manipulator system, and the multi-dimensional manipulator system is rotatably connected to the base. The bottom of the multi-dimensional robotic arm system is equipped with a multiple grabbing system, which grabs and fixes the material. A plurality of universal wheels are installed at the angle of the bottom of the base. Wherein, the multi-dimensional robotic arm system includes: A longitudinal rotation assembly, the longitudinal rotation assembly is rotationally connected to the top of the base, the longitudinal rotation assembly is connected to the vertical transmission system, and a horizontal frame is installed on the top of the longitudinal rotation assembly through screws; A telescopic counterweight assembly is installed inside the horizontal frame, the telescopic counterweight assembly extends to the outside of the horizontal frame, a plurality of counterweight bodies are installed on one side of the top of the telescopic counterweight assembly, a telescopic compensation assembly is installed on the other side of the bottom of the telescopic counterweight assembly, and a multiple grabbing system is installed on the bottom of the telescopic compensation assembly.

[0007] As a preferred embodiment of the present invention, the multiple grabbing system comprises: A bracket body, the bracket body is installed at the bottom of the telescopic compensation assembly, a linear motor is installed on one side of the bracket body, an output end of the linear motor is connected to a spindle, and the spindle is rotatably connected to one side of the bracket body; A stopper, the stopper is installed inside the bracket body, a plurality of the stoppers are provided, a main shaft is penetrated inside the plurality of the stoppers, a slave shaft is penetrated inside the stopper, and the slave shaft is provided on the side of the main shaft; Rotating gears, wherein a plurality of rotating gears are provided, and two adjacent rotating gears are meshedly connected, and rotating gears are fixedly mounted on the outer sides of the main shaft and the slave shaft.

[0008] As a preferred solution of the present invention, a side connecting rod is installed on the side of the rotating gear, the bottom of the side connecting rod is rotatably connected to a side grabbing arm, and the center of the side grabbing arm is rotatably connected to an oblique rod. The oblique rod extends to the outside of the side grabbing arm, and the inside of the oblique rod is rotatably connected to a guide rod, which is installed on the side of the stopper. Wherein, an assembly seat is installed on the outer side of the bottom of the side grabbing arm, and a clamping block is installed on the side of the assembly seat facing the inside of the side grabbing arm, and the side surface of the clamping block clamps and fixes the material.

[0009] As a preferred solution of the present invention, the guide rod is arranged below the side connecting rod, and the side connecting rod, the side grabbing arm, the oblique rod, the guide rod, the assembly seat and the clamping block are all provided with a plurality of them. Wherein, the guide rod and the side connecting rod are arranged relatively parallel.

[0010] As a preferred solution of the present invention, the vertical transmission system comprises: An upper support block, the upper support block is welded and fixed to the inner wall of the base, a servo motor is supported and positioned at the top of the upper support block, and an output end of the servo motor is connected to a drive shaft; A side gear, the side gear is connected to the driving shaft, the side gear is rotatably connected to an eccentric position inside the base, the side surface of the side gear is meshedly connected to an intermediate gear, and the intermediate gear is rotatably connected to the center of the base; An intermediate shaft is installed at the center of the top of the intermediate gear, the intermediate shaft extends to the outside of the base, and a longitudinal rotating component is installed on the top of the intermediate shaft.

[0011] As a preferred embodiment of the present invention, the longitudinal rotation assembly comprises: A lower mounting seat, the lower mounting seat is rotatably connected to the top of the base, the lower mounting seat is mounted on the top of the intermediate shaft, and a first rotating motor is mounted on one side of the lower mounting seat; a first rotating shaft, the first rotating shaft being connected to an output end of the first rotating motor, the first rotating shaft being rotatably connected to the interior of the lower mounting seat, a supporting arm being fixedly mounted on the outer side of the first rotating shaft, and the supporting arm being rotatably connected to the inner wall of the lower mounting seat; A side support block, the side support block is mounted on one side of the top of the support arm by screws, a second rotating motor is mounted on one side of the side support block, an output end of the second rotating motor is connected to a second rotating shaft, and the second rotating shaft is rotatably connected to the inner top of the support arm; An upper rotating seat is installed on the outer side of the second rotating shaft, the upper rotating seat is rotatably connected to the outer side of the side support block, and a horizontal frame is installed on the top of the upper rotating seat through screws.

[0012] As a preferred solution of the present invention, a bending arm is installed on the outer side of the second rotating shaft, and the bending arm is movably arranged inside the supporting arm, and the bending arm extends to the side of the supporting arm. Wherein, the bottom of the bending arm is rotatably connected to the side of the positioning arm, and the positioning arm is arranged on the outside of the first rotating shaft.

[0013] As a preferred embodiment of the present invention, the telescopic counterweight assembly comprises: An intermediate block, the intermediate block is welded and fixed on the top of the horizontal frame, a driving motor is installed on one side of the intermediate block, a transmission belt is connected to the outer side of the output end of the driving motor through a key-connected synchronous wheel, and the transmission belt extends to the inside of the horizontal frame; The intermediate connecting rod is connected to the inner side of the transmission belt through a synchronous wheel connected by an outer key, and the intermediate connecting rod is movably arranged inside the horizontal frame. The left and right sides of the intermediate connecting rod are connected with a reciprocating screw rod. Wherein, the reciprocating screw rods are rotatably connected to the inner wall of the horizontal frame, and the spiral raceways on the outer surfaces of the two reciprocating screw rods are in opposite directions; A horizontal slide, the horizontal slide is connected to the outside of the reciprocating screw through a ball bearing, two horizontal slides are provided, and the two horizontal slides are evenly slidably connected to the horizontal frame, Among them, a plurality of counterweights are positioned on the top support of one of the horizontal slides, and a telescopic compensation component is installed on the bottom of the other horizontal slide via screws.

[0014] As a preferred embodiment of the present invention, the telescopic compensation component comprises: A lower frame is installed on the bottom of the horizontal slide by screws, a linear motor is installed on one side of the inner wall of the lower frame, and an output end of the linear motor is connected to a deflection seat, Wherein, the deflection seat is rotatably connected to the outer side of the lower frame; A servo electric cylinder is installed inside the deflection seat, an output end of the servo electric cylinder extends to the bottom of the deflection seat, and a bracket body is installed at the bottom of the output end of the servo electric cylinder.

[0015] The present invention also provides the application of the multi-dimensional manipulator system in interior decoration.

[0016] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: 1. In the multi-dimensional manipulator system and its application in interior decoration, when the materials are grabbed and transported, the operating multi-dimensional manipulator can adjust the position of the materials to be transported and placed by driving the horizontal slide and grabbing the fixed materials to move horizontally through the driving motor, so as to ensure the accuracy of the materials during transportation and placement. At the same time, in the process of driving the horizontal slide and the mechanical claws that grab the fixed materials to move, it can also synchronously drive multiple counterweights to move (in the opposite direction of material transportation), and perform counterweight processing on the materials during transportation and placement, so as to reduce the problems of tilting or shaking of the device due to weightlessness during the transportation of heavier materials, and ensure the safety of the device, other equipment and staff; 2. In the multi-dimensional manipulator system and its application in interior decoration, when carrying longer or heavier materials, a set of linear motors can be used to drive multiple side grabbing arms and clamping blocks to clamp and fix the materials at multiple points. On the one hand, the stability of the material is improved when it is grabbed and fixed, and on the other hand, it is not easy to damage the material during the clamping process. At the same time, when the position of the material handling is adjusted by rotation later, the centrifugal force generated by the rotation will not cause the grabbed and fixed material to slide or tilt, ensuring the safety of the material when it is handled; 3. In the multi-dimensional manipulator system and its application in interior decoration, when the angle of the manipulator arm is adjusted according to the material handling and placement position, three independent angle adjustment operations can be realized in the longitudinal direction through the operation of the three driving parts of the first rotary motor, the second rotary motor and the linear motor. On the one hand, higher precision and flexibility of material handling operations can be achieved to meet complex operation requirements. On the other hand, different end effectors (arms) can be flexibly replaced to adapt to different application scenarios. It can also have a larger driving force, can withstand a larger load, and can carry heavier materials; 4. In the multi-dimensional manipulator system and its application in interior decoration, when the second rotating motor drives the second rotating shaft to rotate and adjust the angle and direction of the upper rotating seat, the horizontal frame and the material to be grabbed, the bending arm connected to the outer side of the second rotating shaft can rotate on the side of the positioning arm to provide side support for the upper rotating seat in the rotating state, thereby ensuring the stability of the material handling position when adjusting the manipulator arm, and not easily causing damage to the manipulator arm when adjusting the manipulator arm. At the same time, the bending arm and the positioning arm can form a triangle with the support arm to ensure the strength and service life of the support arm when supporting its top structure and materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic structural diagram of the overall main view of the present invention; Figure 3 It is a schematic structural diagram of the overall side view of the present invention; Figure 4 It is a schematic diagram of the overall front view of the structure of the present invention; Figure 5 It is a schematic structural diagram of the cross-section of the base of the present invention connected with the vertical transmission system; Figure 6 It is a schematic diagram of the structure of the multiple grasping system of the present invention; Figure 7 It is a structural schematic diagram of the connection between the linear motor and the clamping block of the present invention; Figure 8 It is a structural schematic diagram of the multi-dimensional robotic arm system of the present invention; Fig. 9 It is a schematic structural diagram of the connection between the longitudinal rotating assembly and the horizontal frame of the present invention; Fig.10 It is a schematic structural diagram of the cross-section of the horizontal frame of the present invention connected with the telescopic counterweight assembly; Fig.11 It is a schematic structural diagram of the connection between the reciprocating screw rod and the telescopic compensation assembly of the present invention; In the figure: 10. Base; 100. Universal wheels; 20. Multi-dimensional robotic arm system; 30. Multiple grabbing system; 301. Bracket body; 302. Linear motor; 303. Main shaft; 304. Stopper; 305. Slave shaft; 306. Rotating gear; 3061. Side connecting rod; 3062. Side grabbing arm; 3063. Oblique rod; 3064. Guide rod; 3065. Assembly seat; 3066. Clamping block; 40. vertical transmission system; 401. upper support block; 402. servo motor; 403. drive shaft; 404. side gear; 405. intermediate gear; 406. intermediate shaft; 50, longitudinal rotation assembly; 500, horizontal frame; 501, lower mounting seat; 502, first rotating motor; 503, first rotating shaft; 504, support arm; 505, side support block; 506, second rotating motor; 507, second rotating shaft; 5071, bending arm; 5072, positioning arm; 508, upper rotating seat; 60, telescopic counterweight assembly; 600, counterweight body; 601, intermediate block; 602, driving motor; 603, transmission belt; 604, intermediate connecting rod; 605, reciprocating screw rod; 606, horizontal slide seat; 70. Telescopic compensation assembly; 701. Lower frame; 702. Linear motor; 703. Deflection seat; 704. Servo electric cylinder. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] See also Figure 1-Figure 11 The multi-dimensional robot system includes a base 10, a multi-dimensional robot arm system 20 and a multiple grasping system 30. A vertical transmission system 40 is installed inside the base 10. The top of the vertical transmission system 40 extends to the outside of the base 10. The top of the vertical transmission system 40 is connected to the multi-dimensional robot arm system 20. The multi-dimensional robot arm system 20 is rotatably connected to the base 10. The bottom of the multi-dimensional robot arm system 20 is installed with a multiple grasping system 30. The multiple grasping system 30 grasps and fixes the material. A plurality of universal wheels 100 are installed at the angle at the bottom of the base 10. Among them, the multi-dimensional robot arm system 20 includes A longitudinal rotation assembly 50, the longitudinal rotation assembly 50 is rotationally connected to the top of the base 10, the longitudinal rotation assembly 50 is connected to the vertical transmission system 40, and a horizontal frame 500 is installed on the top of the longitudinal rotation assembly 50 by screws; a telescopic counterweight assembly 60, the telescopic counterweight assembly 60 is installed inside the horizontal frame 500, the telescopic counterweight assembly 60 extends to the outside of the horizontal frame 500, a plurality of counterweight bodies 600 are installed on one side of the top of the telescopic counterweight assembly 60, a telescopic compensation assembly 70 is installed on the other side of the bottom of the telescopic counterweight assembly 60, and a multiple grabbing system 30 is installed on the bottom of the telescopic compensation assembly 70.

[0022] The above working principle: when grabbing, fixing and transporting materials, the vertical transmission system 40 can drive the multiple grabbing systems 30 for grabbing and fixing materials and the materials after grabbing and fixing to rotate in the vertical direction (at any angle) to realize the grabbing and placing operations of materials at different positions. When actually grabbing and transporting materials, the longitudinal rotation component 50 and the telescopic counterweight component 60 can cooperate with the telescopic compensation component 70 to adjust the position of the grabbed materials in multiple dimensions and space to realize high-precision material handling operations. At the same time, when the telescopic counterweight component 60 is in operation to realize material transportation, it can automatically balance the weight of materials at different angles, which is more stable and safe when transporting heavier materials, and it is not easy to cause the overall device to tilt or even collapse due to overweight materials.

[0023] In the present invention, the multiple grabbing system 30 has multiple positions for grabbing and fixing materials, ensuring that when grabbing and clamping longer and heavier materials, the materials will not slide or tilt during the clamping process.

[0024] Specific reference Figure 6 and Figure 7 The multiple grasping system 30 includes a support body 301, which is installed at the bottom of the telescopic compensation assembly 70. A linear motor 302 is installed on one side of the support body 301, and the output end of the linear motor 302 is connected to the main shaft 303, and the main shaft 303 is rotatably connected to one side of the support body 301; a stopper 304, which is installed inside the support body 301, and a plurality of stoppers 304 are provided, and the main shaft 303 is penetrated inside the plurality of stoppers 304, and a slave shaft 305 is penetrated inside the stoppers 304, and the slave shaft 305 is provided on the side of the main shaft 303; a rotating gear 306, which is provided with a plurality of rotating gears 306, and two adjacent rotating gears 306 are meshed and connected, and rotating gears 306 are fixedly installed on the outer sides of the main shaft 303 and the slave shaft 305.

[0025] In this embodiment, a side connecting rod 3061 is installed on the side of the rotating gear 306, and the bottom of the side connecting rod 3061 is rotatably connected to the side grabbing arm 3062, and the center of the side grabbing arm 3062 is rotatably connected to the oblique rod 3063, wherein the oblique rod 3063 extends to the outside of the side grabbing arm 3062, and the inside of the oblique rod 3063 is rotatably connected to the guide rod 3064, and the guide rod 3064 is installed on the side of the stopper 304, wherein an assembly seat 3065 is installed on the outside of the bottom of the side grabbing arm 3062, and a clamping block 3066 is installed on the side of the assembly seat 3065 facing the inside of the side grabbing arm 3062, and the side of the clamping block 3066 clamps and fixes the material.

[0026] In addition, in this embodiment, the guide rod 3064 is arranged below the side connecting rod 3061, and the side connecting rod 3061, the side grabbing arm 3062, the oblique rod 3063, the guide rod 3064, the assembly seat 3065 and the clamping block 3066 are all provided in plurality, wherein the guide rod 3064 and the side connecting rod 3061 are arranged relatively parallel.

[0027] In the above embodiment, when the rotating gear 306 rotates, the side connecting rod 3061 installed on the side thereof will rotate, and drive the side grabbing arm 3062 rotatably connected to the bottom of the side connecting rod 3061 to operate. When the side grabbing arm 3062 is in operation, the stability of the side grabbing arm 3062 can be ensured under the action of the rotatably connected oblique rod 3063 and the guide rod 3064. The clamping block 3066 installed on the side of the side grabbing arm 3062 through the assembly seat 3065 can be moved to the left and right sides of the material, and the left and right sides of the material are grabbed and fixed.

[0028] In the multi-dimensional manipulator system of the present invention, when it is necessary to grab and carry materials, the linear motor 302 can be started to operate, driving the main shaft 303 connected to the output end of the linear motor 302 to rotate. When the main shaft 303 rotates, the rotating gear 306 installed on the outside thereof can rotate, so that another rotating gear 306 meshingly connected to the outside of the rotating gear 306 rotates. At this time, when the other rotating gear 306 rotates, the slave shaft 305 installed inside it will rotate, so that the rotating gear 306 installed on the outside of the slave shaft 305 can rotate (in the opposite direction of rotation of the rotating gear 306 installed on the outside of the main shaft 303).

[0029] Specific reference Figure 5 The vertical transmission system 40 includes an upper support block 401, which is welded and fixed to the inner wall of the base 10. The top support of the upper support block 401 is supported and positioned with a servo motor 402, and the output end of the servo motor 402 is connected to a drive shaft 403; a side gear 404, which is connected to the drive shaft 403, and the side gear 404 is rotatably connected to the eccentric part inside the base 10. The side of the side gear 404 is meshed and connected with an intermediate gear 405, and the intermediate gear 405 is rotatably connected to the center inside the base 10; an intermediate shaft 406, which is installed at the center of the top of the intermediate gear 405, and the intermediate shaft 406 extends to the outside of the base 10, and the top of the intermediate shaft 406 is installed with a longitudinal rotation component 50.

[0030] In the multi-dimensional manipulator system of the present invention, when driving the material to rotate and transport, the servo motor 402 can be started to operate, driving the drive shaft 403 connected to the output end of the servo motor 402 to rotate. When the drive shaft 403 rotates, the side gear 404 connected to the bottom can rotate, and the middle gear 405 meshingly connected to the side of the side gear 404 can rotate. When the middle gear 405 rotates, the middle shaft 406 connected to the top can rotate, realizing the rotation operation of grabbing the material at any angle in the vertical direction.

[0031] Specific reference Figure 8 and Fig. 9 The longitudinal rotation assembly 50 includes a lower mounting seat 501, which is rotatably connected to the top of the base 10, and the lower mounting seat 501 is installed on the top of the intermediate shaft 406. A first rotating motor 502 is installed on one side of the lower mounting seat 501; a first rotating shaft 503, which is connected to the output end of the first rotating motor 502, and the first rotating shaft 503 is rotatably connected to the inside of the lower mounting seat 501. A support arm 504 is fixedly installed on the outer side of the first rotating shaft 503, and the support arm 504 is rotatably connected to the inner side of the lower mounting seat 501. Wall; side support block 505, the side support block 505 is installed on one side of the top of the support arm 504 by screws, a second rotating motor 506 is installed on one side of the side support block 505, the output end of the second rotating motor 506 is connected to the second rotating shaft 507, the second rotating shaft 507 is rotatably connected to the inner top of the support arm 504; an upper rotating seat 508, the upper rotating seat 508 is installed on the outer side of the second rotating shaft 507, the upper rotating seat 508 is rotatably connected to the outer side of the side support block 505, and a horizontal frame 500 is installed on the top of the upper rotating seat 508 by screws.

[0032] In this embodiment, a bending arm 5071 is installed on the outer side of the second rotating shaft 507, and the bending arm 5071 is movably arranged inside the support arm 504. The bending arm 5071 extends to the side of the support arm 504, wherein the bottom of the bending arm 5071 is rotatably connected to the side of the positioning arm 5072, and the positioning arm 5072 is arranged on the outer side of the first rotating shaft 503.

[0033] In the above embodiment, the rotation of the second rotating shaft 507 can be supported and positioned by the movably arranged bending arm 5071 and the positioning arm 5072, thereby ensuring the stability of the horizontal frame 500 during the rotation process.

[0034] In the multi-dimensional manipulator system of the present invention, when the position of material handling needs to be adjusted, the first rotating motor 502 can be started to operate, driving the first rotating shaft 503 and the support arm 504 connected to the output end of the first rotating motor 502 to rotate, and adjusting the angle and position of material handling in the longitudinal direction. The second rotating motor 506 can be operated to drive the second rotating shaft 507 connected to the output end of the second rotating motor 506 to rotate, so that the upper rotating seat 508 installed outside the second rotating shaft 507 can rotate, and the angle and position of material handling can be adjusted in the longitudinal direction for a second time.

[0035] Specific reference Fig.10 and Fig.11 The telescopic counterweight assembly 60 includes an intermediate block 601, which is welded and fixed on the top of the horizontal frame 500. A driving motor 602 is installed on one side of the intermediate block 601. The outer side of the output end of the driving motor 602 is connected to a transmission belt 603 through a synchronous wheel connected by a key. The transmission belt 603 extends to the inside of the horizontal frame 500; an intermediate connecting rod 604, which is connected to the inner side of the transmission belt 603 through a synchronous wheel connected by an outer key. The intermediate connecting rod 604 is movably arranged inside the horizontal frame 500. The left and right sides of the intermediate connecting rod 604 are Reciprocating screws 605 are connected on both sides, wherein the reciprocating screws 605 are rotatably connected to the inner wall of the horizontal frame 500, and the spiral raceways on the outer surfaces of the two reciprocating screws 605 are in opposite directions; a horizontal slide 606, the horizontal slide 606 is connected to the outer side of the reciprocating screw 605 through a ball bearing, and two horizontal slides 606 are provided, and the two horizontal slides 606 are evenly slidably connected to the horizontal frame 500, wherein the top support of one horizontal slide 606 is positioned with multiple counterweights 600, and the bottom of the other horizontal slide 606 is installed with a telescopic compensation component 70 by screws.

[0036] In the multi-dimensional manipulator system of the present invention, when the position of material handling needs to be adjusted, the drive motor 602 can be started to operate, driving the synchronous wheel and the transmission belt 603 connected to the outer key of the output end of the drive motor 602 to operate, so that the intermediate connecting rod 604 connected to the inner side of the transmission belt 603 through the synchronous wheel can rotate. When the intermediate connecting rod 604 rotates, the reciprocating screw 605 connected to the left and right sides thereof can rotate, so that the two horizontal slides 606 connected to the outer side of the reciprocating screw 605 through the ball bearings move in opposite directions. The relative movement of the two horizontal slides 606 can respectively drive the counterweight body 600 of the counterweight and the material to move in opposite directions, so as to perform counterweight processing on the transported material.

[0037] Specific reference Fig.11The telescopic compensation assembly 70 includes a lower frame 701, which is installed on the bottom of the horizontal slide 606 by screws, and a linear motor 702 is installed on one side of the inner wall of the lower frame 701, and the output end of the linear motor 702 is connected to the deflection seat 703, wherein the deflection seat 703 is rotatably connected to the outer side of the lower frame 701; a servo electric cylinder 704, which is installed inside the deflection seat 703, and the output end of the servo electric cylinder 704 extends to the bottom of the deflection seat 703, and the bottom of the output end of the servo electric cylinder 704 is installed with a bracket body 301.

[0038] In the multi-dimensional manipulator system of the present invention, when the position of the material to be transported needs to be adjusted, the linear motor 702 can be started to operate, driving the deflection seat 703 connected to the output end of the linear motor 702 to rotate, and adjusting the position and angle of the material to be transported. The servo cylinder 704 can operate to drive the bracket body 301 and the material connected to its output end to telescope and move, and adjust the height of the transport position according to the height.

[0039] See also Figure 1-Figure 11 ,Multi-dimensional robot systems can be used in interior decoration.

[0040] Without limitation, any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent substitutions or changes according to the technical solution and inventive concept of the present invention, should be covered by the protection scope of the present invention.

Claims

1. A multi-dimensional manipulator system, comprising a base (10), a multi-dimensional manipulator system (20) and a multiple grasping system (30), characterized in that: A vertical transmission system (40) is installed inside the base (10), the top of the vertical transmission system (40) extends to the outside of the base (10), the top of the vertical transmission system (40) is connected to a multi-dimensional robotic arm system (20), and the multi-dimensional robotic arm system (20) is rotatably connected to the base (10). A multi-grabbing system (30) is installed at the bottom of the multi-dimensional robotic arm system (20), and the multi-grabbing system (30) is used to grab and fix materials. A plurality of universal wheels (100) are installed at the angle of the bottom of the base (10). Wherein, the multi-dimensional robotic arm system (20) comprises: A longitudinal rotation assembly (50), the longitudinal rotation assembly (50) being rotationally connected to the top of the base (10), the longitudinal rotation assembly (50) being connected to the vertical transmission system (40), and a horizontal frame (500) being mounted on the top of the longitudinal rotation assembly (50) via screws; A telescopic counterweight assembly (60), the telescopic counterweight assembly (60) being installed inside the horizontal frame (500), the telescopic counterweight assembly (60) extending to the outside of the horizontal frame (500), a plurality of counterweight bodies (600) being installed on one side of the top of the telescopic counterweight assembly (60), a telescopic compensation assembly (70) being installed on the other side of the bottom of the telescopic counterweight assembly (60), and a multiple grabbing system (30) being installed on the bottom of the telescopic compensation assembly (70).

2. The multi-dimensional robot system according to claim 1, characterized in that: The multiple grabbing system (30) comprises: A support body (301), the support body (301) being mounted at the bottom of the telescopic compensation assembly (70), a linear motor (302) being mounted on one side of the support body (301), an output end of the linear motor (302) being connected to a main shaft (303), and the main shaft (303) being rotatably connected to one side of the interior of the support body (301); a stopper (304), the stopper (304) being installed inside the bracket body (301), a plurality of the stoppers (304) being provided, a main shaft (303) being provided inside the plurality of the stoppers (304), a slave shaft (305) being provided inside the stoppers (304), and the slave shaft (305) being provided on the side of the main shaft (303); A rotating gear (306), wherein a plurality of the rotating gears (306) are provided, and two adjacent rotating gears (306) are meshingly connected, and rotating gears (306) are fixedly mounted on the outer sides of the main shaft (303) and the slave shaft (305).

3. The multi-dimensional robot system according to claim 2, characterized in that: A side connecting rod (3061) is installed on the side of the rotating gear (306), the bottom of the side connecting rod (3061) is rotatably connected to a side grabbing arm (3062), and the center of the inside of the side grabbing arm (3062) is rotatably connected to an oblique rod (3063). The oblique rod (3063) extends to the outside of the side grabbing arm (3062), and the inside of the oblique rod (3063) is rotatably connected to a guide rod (3064), and the guide rod (3064) is installed on the side of the stopper (304). An assembly seat (3065) is installed on the outer side of the bottom of the side grabbing arm (3062), and a clamping block (3066) is installed on the side of the assembly seat (3065) facing the inside of the side grabbing arm (3062), and the side of the clamping block (3066) clamps and fixes the material.

4. The multi-dimensional robot system according to claim 3, characterized in that: The guide rod (3064) is arranged below the side connecting rod (3061), and a plurality of the side connecting rod (3061), the side grabbing arm (3062), the oblique rod (3063), the guide rod (3064), the assembly seat (3065) and the clamping block (3066) are provided. Wherein, the guide rod (3064) and the side connecting rod (3061) are arranged relatively parallel.

5. The multi-dimensional robot system according to claim 1, characterized in that: The vertical transmission system (40) comprises: An upper support block (401), the upper support block (401) being welded and fixed to the inner wall of the base (10), a servo motor (402) being supported and positioned at the top of the upper support block (401), and an output end of the servo motor (402) being connected to a drive shaft (403); A side gear (404), the side gear (404) being connected to the drive shaft (403), the side gear (404) being rotatably connected to an eccentric portion inside the base (10), the side surface of the side gear (404) being meshedly connected to an intermediate gear (405), the intermediate gear (405) being rotatably connected to the center portion inside the base (10); An intermediate shaft (406) is installed at the center of the top of the intermediate gear (405), the intermediate shaft (406) extends to the outside of the base (10), and a longitudinal rotation component (50) is installed on the top of the intermediate shaft (406).

6. The multi-dimensional robot system according to claim 5, characterized in that: The longitudinal rotation assembly (50) comprises: A lower mounting seat (501), the lower mounting seat (501) being rotatably connected to the top of the base (10), the lower mounting seat (501) being mounted on the top of the intermediate shaft (406), and a first rotating motor (502) being mounted on one side of the lower mounting seat (501); a first rotating shaft (503), the first rotating shaft (503) being connected to an output end of the first rotating motor (502), the first rotating shaft (503) being rotatably connected to the interior of the lower mounting seat (501), a supporting arm (504) being fixedly mounted on the outer side of the first rotating shaft (503), the supporting arm (504) being rotatably connected to the inner wall of the lower mounting seat (501); a side support block (505), the side support block (505) being mounted on one side of the top of the support arm (504) by means of screws, a second rotating motor (506) being mounted on one side of the side support block (505), an output end of the second rotating motor (506) being connected to a second rotating shaft (507), and the second rotating shaft (507) being rotatably connected to the inner top of the support arm (504); An upper rotating seat (508), the upper rotating seat (508) is installed on the outside of the second rotating shaft (507), the upper rotating seat (508) is rotatably connected to the outside of the side support block (505), and a horizontal frame (500) is installed on the top of the upper rotating seat (508) by screws.

7. The multi-dimensional robot system according to claim 6, characterized in that: A bending arm (5071) is installed on the outer side of the second rotating shaft (507), and the bending arm (5071) is movably arranged inside the supporting arm (504). The bending arm (5071) extends to the side of the supporting arm (504). The bottom of the bending arm (5071) is rotatably connected to the side of the positioning arm (5072), and the positioning arm (5072) is arranged on the outside of the first rotating shaft (503).

8. The multi-dimensional robot system according to claim 1, characterized in that: The telescopic counterweight assembly (60) comprises: An intermediate block (601), the intermediate block (601) being welded and fixed to the top of the horizontal frame (500), a driving motor (602) being installed on one side of the intermediate block (601), a transmission belt (603) being connected to the outer side of the output end of the driving motor (602) via a key-connected synchronous wheel, and the transmission belt (603) extending to the interior of the horizontal frame (500); an intermediate connecting rod (604), the intermediate connecting rod (604) being connected to the inner side of the transmission belt (603) via a synchronous wheel connected by an outer key, the intermediate connecting rod (604) being movably arranged inside the horizontal frame (500), and the left and right sides of the intermediate connecting rod (604) being connected to a reciprocating screw rod (605), The reciprocating screw rods (605) are rotatably connected to the inner wall of the horizontal frame (500), and the spiral raceways on the outer surfaces of the two reciprocating screw rods (605) are in opposite directions; A horizontal slide (606), wherein the horizontal slide (606) is connected to the outer side of the reciprocating screw (605) via a ball bearing, and two horizontal slides (606) are provided, and the two horizontal slides (606) are evenly slidably connected to the horizontal frame (500). The top support of one of the horizontal slides (606) is provided with a plurality of counterweights (600), and the bottom of the other horizontal slide (606) is provided with a telescopic compensation assembly (70) mounted thereon via screws.

9. The multi-dimensional robot system according to claim 8, characterized in that: The telescopic compensation component (70) comprises: A lower frame (701), the lower frame (701) being mounted on the bottom of the horizontal slide seat (606) by means of screws, a linear motor (702) being mounted on one side of the inner wall of the lower frame (701), and an output end of the linear motor (702) being connected to a deflection seat (703), Wherein, the deflection seat (703) is rotatably connected to the outer side of the lower frame (701); A servo electric cylinder (704), the servo electric cylinder (704) being mounted inside the deflection seat (703), the output end of the servo electric cylinder (704) extending below the deflection seat (703), and a bracket body (301) being mounted at the bottom of the output end of the servo electric cylinder (704).

10. Application of the multi-dimensional manipulator system according to any one of claims 1 to 9 in interior decoration.

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