Multifunctional manipulator

Abstract

The invention relates to the technical field of mechanical arms, in particular to a multifunctional mechanical arm, the head of a nail penetrating through a wood board is pressed into the wood board through a pressing block, then the wood board is tightly sucked through an electric suction cup, the mechanical arm is matched to transport the wood board, and the situation that when the electric suction cup is tightly sucked to the wood board, the nail cannot be damaged is avoided. Meanwhile, a round long hole in the wood board is covered with a strong rubber piece, then suction and transportation operation is conducted, and the situation that suction fails and the electric suction cup is damaged due to the fact that a cavity in the inner side of the electric suction cup communicates with the external environment through the round long hole is avoided; the problem of separation risk in the wood board carrying process is solved; a multifunctional mechanical arm comprises a first telescopic air cylinder, a pressing block and a visual sensor. At least four first telescopic air cylinders are fixedly connected to the supporting frame. The telescopic end of each first telescopic air cylinder is fixedly connected with a pressing block. A visual sensor is installed on the supporting frame.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more particularly to a multifunctional manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed procedure.

[0003] Wooden boards are spliced ​​and fixed together by nails to form wooden products for people to use. Wooden boards have good reusability. After the wooden products are disassembled back to the wooden board state, nails will remain on the wooden board. Some nails will break inside the wooden board, and the heads of the nails will slightly pass through the wooden board. It is difficult to find such nails manually and it is difficult to remove them cleanly. In the process of using a robot to grab and transfer wooden boards, it is difficult to use a conventional robot to clamp wooden boards with larger length and width. Usually, a robot is used to cooperate with a suction cup structure to adsorb and transfer large wooden boards. When the robot cooperates with the suction cup structure to grab such wooden boards, the suction cup on the robot needs to be pressed against the surface of the wooden board to suck the wooden board tightly. However, during the pressing process, the heads of the nails that pass through the wooden board will pierce the suction cup, causing damage to the suction cup, thereby affecting the wooden board grabbing operation. Summary of the invention

[0004] In order to overcome the disadvantage that when the existing manipulator grasps such a wooden board, the nails hidden on the wooden board may pierce the suction cup on the manipulator, the present invention provides a multifunctional manipulator.

[0005] Technical solution: A multifunctional manipulator includes a manipulator, a support frame and an electric suction cup; the movable end of the manipulator is connected to the support frame; at least four electric suction cups are fixedly connected to the support frame; it also includes a telescopic cylinder 1, a pressure block and a visual sensor; at least four telescopic cylinders 1 are fixedly connected to the support frame; a pressure block is fixedly connected to the telescopic end of each telescopic cylinder 1; and a visual sensor is installed on the support frame.

[0006] Furthermore, it also includes an auxiliary component; the auxiliary component is connected to the support frame; the auxiliary component includes a telescopic cylinder 2, a connecting block 1, a strong rubber sheet and a limit component; at least four telescopic cylinders 2 are fixedly connected to the support frame; the telescopic end of each telescopic cylinder 2 is fixedly connected to a connecting block 1; each connecting block 1 is bonded with a group of strong rubber sheets, the lower side of the strong rubber sheets is set as a bonding surface, and the upper side surface of the strong rubber sheets is set as a smooth surface, and each group of strong rubber sheets is stacked; the connecting block 1 is connected with a limit component, and the limit component is used to press and limit the strong rubber sheets.

[0007] Furthermore, it also includes film sheets; each strong adhesive sheet is fixedly connected with a plurality of film sheets.

[0008] Furthermore, it also includes a cleaning component; the cleaning component is connected to the connecting block 1; the cleaning component includes a motor 1, a connecting block 2 and a cleaning block; each connecting block 1 is connected to a motor 1; each motor 1 output end is fixedly connected to a connecting block 2; each connecting block 2 is fixedly connected to a cleaning block, the inside of the cleaning block is arranged as a water-absorbing sponge, and the outside of the cleaning block is arranged as a hard microporous fiber structure.

[0009] Furthermore, it also includes a dustproof component; the dustproof component is connected to the connecting block 1; the dustproof component includes a ring and a spring; each connecting block 1 is slidably connected to a ring; each ring is fixedly connected to at least four springs, and the spring is fixedly connected to the corresponding connecting block 1; the ring is fixedly connected to the corresponding motor 1; a cavity 1 is formed between each adjacent connecting block 1, connecting block 2 and ring.

[0010] Furthermore, it also includes a pipeline; a cavity 2 is opened on the inner side of each connecting block 2; a plurality of circular holes are opened at the position of each connecting block 2 in contact with the cleaning block, and the circular holes are connected to the corresponding cavity 2; each connecting block 2 is connected with a pipeline.

[0011] Furthermore, the limiting assembly includes a telescopic cylinder three, a connecting block three, a pressing plate and a driving unit; each connecting block one is fixedly connected to a telescopic cylinder three; the telescopic end of each telescopic cylinder three is fixedly connected to a connecting block three; each connecting block three is slidably connected to a pressing plate; the connecting block three is connected to a driving unit; the driving unit is used to drive the pressing plate to move horizontally; the length of the film sheet decreases from top to bottom.

[0012] Furthermore, the driving unit includes a motor 2, a gear and a rack; each connecting block 3 is fixedly connected to a motor 2; the output end of each motor 2 is fixedly connected to a gear; each pressing plate is fixedly connected to a rack, and the rack is meshed with the corresponding gear.

[0013] Furthermore, the surface of the manipulator is coated with an anti-corrosion layer.

[0014] Furthermore, a plurality of elastic buckles are arranged on the support frame.

[0015] Beneficial effects of the present invention: 1. The heads of the nails that pass through the wooden board are pressed into the inside of the wooden board by the pressing block, and the wooden board is sucked tightly by the electric suction cup, and the wooden board is transported in cooperation with the manipulator, so as to avoid the problem that when the electric suction cup is sucked tightly on the wooden board, the nails remaining on the wooden board will stab the electric suction cup, causing damage to the electric suction cup. At the same time, the circular long hole on the wooden board is covered by a strong film, and then the suction and transportation operation is performed, so as to avoid the problem that the suction failure caused by the inner cavity of the electric suction cup is connected with the external environment through the circular long hole, resulting in the risk of the wooden board being separated when being transported. At the same time, manually pinching the film sheet and then tearing off the strong film is conducive to improving the convenience of manual operation. At the same time, the device can grab wooden boards of various specifications and other plate-like objects, and has strong functionality; Second, the glue marks remaining on the side of the super film are cleaned by the cleaning block, so as to avoid the problem that the glue marks are stained on the electric suction cup and interfere with the suction and transportation operation. At the same time, in the normal state, the super film can be covered by connecting block 1, connecting block 2 and the ring to prevent the dust in the air from adhering to the lower side of the super film and reducing its bonding ability, thereby avoiding interference with the suction and transportation operation; The present invention also has the following beneficial effects: The surface of the manipulator is coated with an anti-corrosion coating to prevent rust.

[0016] The support frame is provided with a number of elastic buckles for wiring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The schematic diagram of the structure of the multifunctional manipulator of the present invention is shown; Figure 2 The structure diagram of the visual sensor of the present invention is shown; Figure 3 A schematic diagram of the structure of the auxiliary component of the present invention is shown; Figure 4 A schematic diagram showing the structure of the film sheet of the present invention is shown; Figure 5 A right side view of the multifunctional manipulator of the present invention is shown; Figure 6 A schematic structural diagram of the position limiting assembly of the present invention is shown.

[0018] Description of reference numerals: 1-manipulator, 2-support frame, 3-electric suction cup, 4-telescopic cylinder one, 5-pressure block, 6-visual sensor, 201-telescopic cylinder two, 202-connecting block one, 203-strong film, 204-thin film, 205-motor one, 206-connecting block two, 207-cleaning block, 208-ring, 209-spring, 2010-pipeline, 2011-telescopic cylinder three, 2012-connecting block three, 2013-pressure block, 2014-motor two, 2015-gear, 2016-rack, 91-cavity one, 92-cavity two, 93-round hole. DETAILED DESCRIPTION

[0019] The following descriptions are merely preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

[0020] Example 1 A multifunctional manipulator 1, such as Figure 1-Figure 4 As shown, it includes a manipulator 1, a support frame 2 and an electric suction cup 3; the movable end of the manipulator 1 is connected to the support frame 2, and the support frame 2 is set to an alloy material; four electric suction cups 3 are fixedly connected to the support frame 2; it also includes a telescopic cylinder 4, a pressure block 5 and a visual sensor 6; four telescopic cylinders 4 are bolted to the support frame 2; each telescopic end of the telescopic cylinder 4 is fixedly connected to a pressure block 5; the support frame 2 is installed with a visual sensor 6.

[0021] It also includes auxiliary components; the support frame 2 is connected with auxiliary components; the auxiliary components include a telescopic cylinder 201, a connecting block 202, a strong rubber sheet 203 and a limit component; four telescopic cylinders 201 are bolted to the support frame 2; the telescopic end of each telescopic cylinder 201 is fixedly connected with a connecting block 202, and the connecting block 202 is set to an alloy material; each connecting block 202 is bonded with a group of strong rubber sheets 203, the lower side of the strong rubber sheets 203 is set as a bonding surface, and the upper side surface of the strong rubber sheets 203 is set as a smooth surface, and each group of strong rubber sheets 203 is stacked, and the holes on the wooden board are covered by the strong rubber sheets 203; the connecting block 202 is connected with a limit component, and the limit component is used to press and limit the strong rubber sheets 203.

[0022] It also includes a film sheet 204; each strong adhesive sheet 203 is fixedly connected with four film sheets 204 in a ring array.

[0023] The working principle of the above embodiment is as follows: When grabbing a wooden board, the visual sensor 6 is first used to observe the wooden board to determine whether there are any nails remaining on the wooden board. If the visual sensor 6 observes that there are any nails remaining at the position of the wooden board to be sucked, the support frame 2 and the parts thereon are controlled by the manipulator 1 to move, so that the pressing block 5 moves to the position where the nails remain on the wooden board. The position of the wooden board to be sucked should be set in the middle of the wooden board to ensure the stability of the wooden board during suction and transportation. Then, the telescopic cylinder 4 is started, and the telescopic cylinder 4 drives the pressing block 5 to move downward to contact the nail head, and then the pressing block 5 continues to move downward to press the nail head into the wooden board. , then the telescopic cylinder 4 drives the pressure block 5 to move upward back to its original position, and then the manipulator 1 controls the movement of the support frame 2 and the parts thereon to make the electric suction cup 3 move to just above the position where the wooden board is to be sucked, and then the manipulator 1 drives the support frame 2 and the parts thereon to move downward, pressing the electric suction cup 3 to the position where the wooden board is to be sucked, and then the electric suction cup 3 sucks the wooden board tightly, and then the manipulator 1 controls the movement of the support frame 2 and the parts thereon to carry the wooden board, thereby avoiding the problem that when the electric suction cup 3 is sucked on the wooden board, the nails remaining on the wooden board will pierce the electric suction cup 3, causing damage to the electric suction cup 3.

[0024] After the nail passes through the wooden board, a circular long hole will be formed on the wooden board. The inner diameter of the circular long hole is equal to the outer diameter of the nail. After the pressure block 5 presses the nail into the wooden board, the head of the nail is in the shape of a cone, which makes it impossible for the head of the nail to fill the circular long hole. When the electric suction cup 3 is pressed on the wooden board, if the edge of the electric suction cup 3 is aligned with the circular long hole, the inner cavity of the electric suction cup 3 is connected to the external environment through the circular long hole, resulting in suction failure. Therefore, after the pressure block 5 presses the nail into the wooden board, the support frame 2 and the parts thereon are driven by the manipulator 1 to move, so that the super glue 203 moves to the top of the position to be sucked on the wooden board, and then the telescopic cylinder 201 drives the connecting block 1 202 to move downward, and the connecting block 1 202 drives the super glue 203 group to move downward, so that the lower side of the bottom super glue 203 fits the upper side of the wooden board, and then the telescopic cylinder 201 drives the connecting block 1 202 to move upward back to its original position. The roughness of the surface is much greater than the roughness of the upper side of the strong glue 203, so that the bonding force between the lowest strong glue 203 and the wooden board is much greater than the bonding force between the two lowest strong glues 203, so that the lowest strong glue 203 is torn off and adhered to the wooden board. At the same time, the strong glue 203 other than the lowest is pressed by the limiting component, so that only one strong glue 203 can be torn off each time it is bonded. At this time, the circular long hole is covered by the strong glue 203, and then the manipulator 1 controls the electric suction cup 3 to move to the top of the position to be sucked on the wooden board, and then the manipulator 1 controls the electric suction cup 3 to move downward, presses the electric suction cup 3 on the strong glue 203, and then sucks the strong glue 203, and then carries out the transportation operation on the wooden board, thereby avoiding the problem of suction failure caused by the inner cavity of the electric suction cup 3 being connected with the external environment through the circular long hole, resulting in the risk of detachment when the wooden board is transported.

[0025] When the wooden board is subsequently subjected to surface treatment, the strong film 203 can be torn off manually according to the surface treatment requirements. For wooden boards with low surface treatment requirements, the strong film 203 can be retained. During the process of tearing off the strong film 203, the glue layer between the strong film 203 and the wooden board is first heated and softened, and then the film 204 is pinched to tear off the strong film 203, which is conducive to improving the convenience of manual operation.

[0026] According to the above working principle, we know that the present invention has the following effects: The heads of the nails that pass through the wooden board are pressed into the inside of the wooden board by the pressing block 5, and the wooden board is sucked tightly by the electric suction cup 3, and the wooden board is transported in cooperation with the manipulator 1, thereby avoiding the problem of the electric suction cup 3 being damaged due to the electric suction cup 3 pressing the heads of the nails that pass through the wooden board. At the same time, the circular long hole on the wooden board is covered by the strong plastic film 203, and then the suction and transportation operation is performed, thereby avoiding the problem of suction failure caused by the inner cavity of the electric suction cup 3 being connected to the external environment through the circular long hole. At the same time, manually pinching the film sheet 204 and then tearing off the strong plastic film 203 is beneficial to improving the convenience of manual operation. At the same time, the device can grab wooden boards of various specifications and other plate-like objects, and has strong functionality.

[0027] Example 2 On the basis of Example 1, Figure 3 As shown, a cleaning component is also included; a cleaning component is connected to the connecting block 1 202; the cleaning component includes a motor 1 205, a connecting block 206 and a cleaning block 207; each connecting block 1 202 is connected to a motor 1 205; each output end of the motor 1 205 is fixedly connected to a connecting block 206, and the connecting block 206 is made of plastic; each connecting block 206 is fixedly connected to a cleaning block 207, the interior of the cleaning block 207 is set as a water-absorbing sponge, and the outer side of the cleaning block 207 is set as a hard microporous fiber structure, and the glue marks remaining on the side of the super glue 203 are cleaned by the cleaning block 207.

[0028] It also includes a dustproof component; a dustproof component is connected to the connecting block 202; the dustproof component includes a ring 208 and a spring 209; each connecting block 202 is slidably connected to a ring 208, and the strong rubber sheet 203 is covered by the connecting block 202, the connecting block 206 and the ring 208 to prevent the dust in the air from being contaminated by the strong rubber sheet 203 that has not been used for a long time; each ring 208 is fixedly connected to four springs 209, and the spring 209 is fixedly connected to the corresponding connecting block 202; the ring 208 is bolted to the corresponding motor 205; a cavity 91 is formed between each adjacent connecting block 202, the connecting block 206 and the ring 208.

[0029] It also includes a pipe 2010; a cavity 92 is opened on the inner side of each connecting block 206; a plurality of circular holes 93 are opened at the position of each connecting block 206 in contact with the cleaning block 207, and the circular holes 93 are connected to the corresponding cavity 92; each connecting block 206 is connected and welded with a pipe 2010, and the alcohol solution is transported to the cavity 92 through the pipe 2010.

[0030] The working principle of the above embodiment is as follows: In the process of bonding the film sheet 204 to the wooden board described in Example 1: When the bottom film sheet 204 is torn off from the film sheet 204 above it, a small amount of glue layer on the film sheet 204 above it will be torn off, resulting in glue marks remaining on the side of the film sheet 204 adhered to the wooden board, which in turn causes the glue marks to be contaminated on the electric suction cup 3, causing interference with the subsequent suction and transportation operation. Therefore, before the bonding operation, start the motor 205, and the motor 205 drives the connecting block 206 and the cleaning block 207 to rotate 180 degrees, so that the connecting block 206 and the cleaning block 207 are away from the bottom of the film sheet 204. After the connecting block 1 202 drives the strong adhesive film 203 to move downward and the strong adhesive film 203 is bonded to the wooden board, the connecting block 1 202 and the parts thereon are driven by the telescopic cylinder 201 to move upward back to the original position, and then the motor 1 205 drives the connecting block 206 and the cleaning block 207 to rotate back to the original position, and the telescopic cylinder 201 drives the connecting block 1 202 and the parts thereon to move downward again The cleaning block 207 is moved to make the cleaning block 207 contact the upper side of the super glue 203. The cleaning block 207 absorbs alcohol solution, and the cleaning block 207 is set to a hard material. The motor 1 205 drives the connecting block 206 and the cleaning block 207 to rotate back and forth in a small range. The cleaning block 207 uses alcohol to clean the glue marks remaining on the upper side of the super glue 203, thereby avoiding the problem that the glue marks are contaminated on the electric suction cup 3 and interfere with the suction and transportation operation. It should be noted that after the cleaning block 207 cleans the upper side of the super glue 203, the alcohol remaining on the upper side of the super glue 203 will be volatilized by contacting with the outside air, and the alcohol absorbed in the cleaning block 207 flows out to the upper side of the super glue 203 through the micropores on the lower side of the cleaning block 207. The alcohol is restricted by the micropores on the lower side of the cleaning block 207 to avoid a large amount of alcohol remaining on the upper side of the super glue 203, which affects the suction and tightening of the electric suction cup 3 and the upper side of the super glue 203.

[0031] After the motor 1 205 drives the connecting block 206 and the cleaning block 207 away from the bottom of the film 204, the telescopic cylinder 201 drives the connecting block 1 202 and the parts thereon to move downward, so that the cleaning block 207 contacts the wooden board, and the wooden board blocks and limits the cleaning block 207, so that the motor 1 205, the connecting block 206, the cleaning block 207 and the ring 208 remain stationary, while the connecting block 1 202 slides downward on the inner side of the ring 208, and the connecting block 1 202 stretches the spring 209 and drives the super glue 203 to move downward, so that the super glue 203 is adhered to the wooden board, and then the telescopic cylinder The second 201 drives the connection block 1 202 and the parts thereon to move upward back to the original position, so that the spring 209 rebounds and drives the ring 208 and the parts thereon to move back to the original position, and then the motor 1 205 drives the connection block 206 and the cleaning block 207 to move back to the original position, and the super film 203 is re-wrapped in the cavity 1 91. In the normal state, the super film 203 can be wrapped by the cooperation of the connection block 1 202, the connection block 206 and the ring 208 to prevent dust in the air from adhering to the lower side of the super film 203 to reduce its adhesion ability, thereby avoiding interference with the suction and transportation operation.

[0032] First, the external infusion tube is manually connected to the pipeline 2010. After the cleaning block 207 is used many times, the alcohol solution absorbed inside the cleaning block 207 gradually decreases. At this time, the alcohol solution is transported to the pipeline 2010 through the external infusion tube, and the alcohol solution flows into the cavity 2 92 through the pipeline 2010, and then is absorbed into the cleaning block 207 through the circular hole 93, completing the automatic rehydration operation.

[0033] According to the above working principle, we know that the present invention has the following effects: The glue marks remaining on the upper side of the super glue 203 are cleaned by the cleaning block 207, thereby avoiding the problem of interference with the suction and transportation operation caused by the glue marks being contaminated on the electric suction cup 3. At the same time, in the normal state, the super glue 203 can be covered by the connection block 1 202, the connection block 206 and the ring 208 to avoid dust in the air adhering to the lower side of the super glue 203 to reduce its adhesion ability, thereby avoiding interference with the suction and transportation operation.

[0034] Example 3 On the basis of Example 2, Figure 5 and Figure 6As shown, the limit assembly includes a telescopic cylinder three 2011, a connecting block three 2012, a pressing plate 2013 and a driving unit; each connecting block one 202 is bolted with a telescopic cylinder three 2011; the telescopic end of each telescopic cylinder three 2011 is fixedly connected with a connecting block three 2012; each connecting block three 2012 is slidably connected with a pressing plate 2013; the connecting block three 2012 is connected with a driving unit; the driving unit is used to drive the pressing plate 2013 to move horizontally; the length of the film 204 decreases from top to bottom.

[0035] The driving unit includes a motor 2014, a gear 2015 and a rack 2016; each connecting block 3 2012 is bolted with a motor 2014; the output end of each motor 2014 is fixedly connected with a gear 2015; each pressing plate 2013 is welded with a rack 2016, and the rack 2016 is meshed with the corresponding gear 2015.

[0036] The surface of the robot 1 is coated with an anti-corrosion coating.

[0037] The support frame 2 is provided with a plurality of elastic buckles.

[0038] The working principle of the above embodiment is as follows: The specific operation of the limiting assembly described in Example 1 to compress the strong adhesive film 203 is as follows: Before the telescopic cylinder 201 drives the connecting block 1 202 and the super adhesive film 203 downward for bonding, the motor 2014 is started, the motor 2014 drives the gear 2015 to rotate, the gear 2015 drives the rack 2016 to move, the rack 2016 drives the pressing piece 2013 to slide on the connecting block 3 2012, and the pressing piece 2013 moves toward the side away from the center of the connecting block 1 202, so that the end of the pressing piece 2013 is away from the lower side of the lowest film sheet 204, and the end of the pressing piece 2013 is aligned with the second film sheet 204 from the bottom to the top, and then the telescopic cylinder 3 2011 is started, the telescopic cylinder 3 2011 drives the connecting block 3 2012 to move upward, and the connecting block 3 20 12 drives the pressing sheet 2013 to move upward to contact the second film sheet 204 from the bottom to the top, thereby pressing all the film sheets 204 except the bottom one onto the connecting block 1 202, and blocking and limiting all the strong adhesive sheets 203 except the bottom one. At this time, the lower side surface of the connecting block 3 2012 is higher than the lower side surface of the bottom strong adhesive sheet 203, and then, the connecting block 1 202 and the strong adhesive sheet 203 are controlled to move downward by the telescopic cylinder 201, so that the bottom strong adhesive sheet 203 is bonded to the wooden board, and then the telescopic cylinder 201 controls the connecting block 1 202 to move upward, thereby pulling the bottom film sheet 204 away from the film sheet 204 above it, and completing the bonding and sealing operation.

[0039] According to the above working principle, we know that the present invention has the following effects: The strong adhesive sheet 203 is pressed and limited by the pressing sheet 2013, thereby avoiding the problem of laminating and bonding multiple strong adhesive sheets 203 on the wooden board in one bonding operation.

[0040] On the basis of the above technical effects, the present invention also has the following advantages: First, the surface of the robot 1 is coated with an anti-corrosion coating to prevent rust.

[0041] Second, the support frame 2 is provided with a plurality of elastic buckles for clamping electric wires, gas pipes and liquid infusion pipes.

[0042] Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation shall fall within the protection scope of the present invention.

Claims

1. A multifunctional manipulator, comprising a manipulator (1); a movable end of the manipulator (1) is connected to a support frame (2); at least four electric suction cups (3) are fixedly connected to the support frame (2); the characteristics are: At least four telescopic cylinders (4) are fixedly connected to the support frame (2); a pressing block (5) is fixedly connected to the telescopic end of each telescopic cylinder (4); and a visual sensor (6) is installed on the support frame (2).

2. A multifunctional manipulator according to claim 1, characterized in that: The invention also comprises an auxiliary component; the auxiliary component is connected to the support frame (2); the auxiliary component comprises a telescopic cylinder 2 (201); at least four telescopic cylinders 2 (201) are fixedly connected to the support frame (2); the telescopic end of each telescopic cylinder 2 (201) is fixedly connected to a connecting block 1 (202); a group of strong rubber sheets (203) are bonded to each connecting block 1 (202); the lower side of the strong rubber sheets (203) is arranged as a bonding surface, the upper side of the strong rubber sheets (203) is arranged as a smooth surface, and each group of strong rubber sheets (203) is arranged in a stacked manner; a limiting component is connected to the connecting block 1 (202), and the limiting component is used to press and limit the strong rubber sheets (203).

3. A multifunctional manipulator according to claim 2, characterized in that: It also includes thin film sheets (204); a plurality of thin film sheets (204) are fixedly connected to each strong adhesive sheet (203).

4. A multifunctional manipulator according to claim 3, characterized in that: The cleaning assembly is also included; the cleaning assembly is connected to the connection block 1 (202); the cleaning assembly includes a motor 1 (205); each connection block 1 (202) is connected to a motor 1 (205); the output end of each motor 1 (205) is fixedly connected to a connection block 2 (206); each connection block 2 (206) is fixedly connected to a cleaning block (207), the interior of the cleaning block (207) is arranged as a water-absorbing sponge, and the exterior of the cleaning block (207) is arranged as a hard microporous fiber structure.

5. A multifunctional manipulator according to claim 4, characterized in that: The invention also includes a dustproof component; the dustproof component is connected to the connecting block 1 (202); the dustproof component includes a circular ring (208); each connecting block 1 (202) is slidably connected to a circular ring (208); each circular ring (208) is fixedly connected to at least four springs (209), and the springs (209) are fixedly connected to the corresponding connecting block 1 (202); the circular ring (208) is fixedly connected to the corresponding motor 1 (205); and a cavity 1 (91) is formed between each adjacent connecting block 1 (202), connecting block 2 (206) and circular ring (208).

6. A multifunctional manipulator according to claim 5, characterized in that: It also includes a pipeline (2010); each connecting block (206) is provided with a second cavity (92) on its inner side; each connecting block (206) is provided with a plurality of circular holes (93) at a position in contact with the cleaning block (207), and the circular holes (93) are connected to the corresponding second cavity (92); each connecting block (206) is connected with a pipeline (2010).

7. The multifunctional manipulator according to claim 6, characterized in that: The limiting component comprises a telescopic cylinder three (2011); each connecting block one (202) is fixedly connected to a telescopic cylinder three (2011); the telescopic end of each telescopic cylinder three (2011) is fixedly connected to a connecting block three (2012); each connecting block three (2012) is slidably connected to a pressing plate (2013); the connecting block three (2012) is connected to a driving unit; the driving unit is used to drive the pressing plate (2013) to move horizontally; the length of the film sheet (204) decreases from top to bottom.

8. The multifunctional manipulator according to claim 7, characterized in that: The driving unit comprises a motor 2 (2014); each connecting block 3 (2012) is fixedly connected to a motor 2 (2014); the output end of each motor 2 (2014) is fixedly connected to a gear (2015); each pressing plate (2013) is fixedly connected to a rack (2016), and the rack (2016) is meshed with the corresponding gear (2015).

9. A multifunctional manipulator according to claim 8, characterized in that: The surface of the manipulator (1) is coated with an anti-corrosion layer.

10. A multifunctional manipulator according to any one of claims 2 to 9, characterized in that: A plurality of elastic buckles are arranged on the support frame (2).

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