Intelligent multifunctional high-speed mute servo manipulator

Abstract

The invention discloses an intelligent multifunctional high-speed mute servo manipulator, and relates to the technical field of manipulators, the intelligent multifunctional high-speed mute servo manipulator comprises a fixed base, a bottom rotating disc is arranged on the upper surface of the fixed base, a connecting arm is arranged above the bottom rotating disc, the connecting arm is divided into two sections, and a rotating shaft body is arranged at the joint of the two sections; a clamping mechanism is arranged at the tail end of the connecting arm, a rotating shaft body is also arranged between the connecting arm and the clamping mechanism, the clamping mechanism comprises a clamping jaw assembly and a switching assembly, the clamping jaw assembly comprises a clamping shell, a servo motor is arranged in the clamping shell, a movable meshing toothed bar is further arranged in the clamping shell, and the rotating shaft body is arranged on the rotating shaft body. And the switching assembly comprises four overturning plate bodies, and the four overturning plate bodies are arranged on the four side surfaces of the clamping shell correspondingly. In the scheme, by arranging the clamping mechanism, various clamping modes can be switched according to the characteristics of the objects, and the clamping stability, safety and universality of the mechanical arm to various objects are improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to an intelligent multifunctional high-speed silent servo manipulator. Background Art

[0002] With the continuous advancement of industrial technology and the rapid development of intelligent manufacturing, the importance of robots as core equipment in automated production lines has become increasingly prominent. In modern industrial production, robots are widely used in various links such as material handling, assembly, and testing, greatly improving production efficiency and product quality. Especially in precision manufacturing, electronics, medicine, food and other industries, higher requirements are placed on the accuracy, speed, flexibility and intelligence of robots. The products in these industries often have various shapes, different materials, and fine sizes. Robots are required to accurately and quickly complete operations such as clamping, handling, and placement, while avoiding any damage to the products.

[0003] The design of the gripper assembly of traditional robots is often relatively simple, and most of them use grippers of fixed shape and hardness, which are difficult to adapt to objects of different shapes, materials and characteristics. For objects with smooth surfaces or fragile surfaces, traditional grippers may cause damage to the objects due to improper control of the clamping force, and for objects with irregular shapes, they may be unstable due to improper selection of clamping points. In terms of switching the clamping method, traditional robots usually require manual intervention or complex mechanical structures to achieve it, which is not only inefficient, but also difficult to adapt to rapidly changing production needs. For example, when the clamping method needs to be switched to adapt to the characteristics of different objects, the traditional robot may need to stop for adjustment, which seriously affects the continuity and stability of the production line. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent multifunctional high-speed silent servo manipulator to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an intelligent multifunctional high-speed silent servo manipulator, comprising:

[0006] A fixed base, the upper surface of the fixed base is provided with a bottom rotating disk, the top of the bottom rotating disk is provided with a connecting arm, the connecting arm is divided into two sections, a rotating shaft is provided at the connection between the two sections, a clamping mechanism is provided at the end of the connecting arm, and a rotating shaft is also provided between the connecting arm and the clamping mechanism, the clamping mechanism includes a clamping claw assembly and a switching assembly, the clamping claw assembly includes: a clamping shell, a servo motor is provided inside the clamping shell, a movable meshing gear rod is also provided inside the clamping shell, an end limiting plate is provided at the end of the meshing gear rod, a positioning camera is provided on one side surface of the end limiting plate, a threaded hole is provided on the side surface of the meshing gear rod close to the servo motor, an meshing threaded rod meshing with the threaded hole is provided on the output end of the servo motor, and two vertical clamping claws and two horizontal clamping claws are also provided inside the clamping shell;

[0007] The switching assembly includes: four flip plates, which are respectively arranged on the four side surfaces of the clamping shell, a small control motor is arranged at the connection between the flip plate and the clamping shell, a bearing plate is arranged on the upper side surface of the flip plate, and a buffer pad is arranged on one side surface of the bearing plate.

[0008] Furthermore, the two vertical clamping claws are respectively arranged on the upper and lower sides of the meshing gear rod, and the two transverse clamping claws are respectively arranged on the left and right sides of the meshing gear rod. One side surface of the vertical clamping claw and the transverse clamping claw are both provided with hollow clamping pads, and the internal structure of the vertical clamping claw and the transverse clamping claw are the same.

[0009] Furthermore, a plurality of internal support plates are arranged inside the vertical clamping claw, a liftable lifting plate body is also arranged inside the vertical clamping claw, a filling protrusion is arranged on the bottom surface of the lifting plate body, and a small telescopic motor is arranged between the internal upper surface of the vertical clamping claw and the upper surface of the lifting plate body.

[0010] Furthermore, a connecting rod is provided on one side surface of the vertical clamping claw, and a vertical meshing disk is provided on the other end of the connecting rod, and the vertical meshing disk meshes with the upper and lower surfaces of the meshing gear rod, and a rotating shaft is provided on both side surfaces of the vertical meshing disk, and a retreat block is provided on one side surface of the rotating shaft, and a connecting spring is provided on the upper surface of the retreat block, and the connecting spring is connected to the side surface inside the clamping shell, and the inner side surface of the clamping shell is also provided with a slideway for facilitating the sliding of the retreat block.

[0011] Furthermore, a connecting disc seat is provided on one side surface of the transverse clamping claw, a transverse engaging disc meshing with the side surface of the meshing tooth rod is provided on the upper surface of the connecting disc seat, a bottom sliding block is provided on the bottom surface of the connecting disc seat, a retreat disc body is provided below the bottom sliding block, the retreat disc body is fixedly mounted on the inner side surface of the clamping shell, a groove is provided on the upper surface of the retreat disc body for facilitating the sliding of the bottom sliding block, a telescopic spring is provided between the bottom sliding block and the inner side surface of the groove, an end rotating disc is provided on the upper surface of the clamping shell, and a connecting movable seat is provided on the upper surface of the end rotating disc.

[0012] Furthermore, a rotatable telescopic arm is provided on the upper surface of the connecting movable seat, an internal hydraulic rod is provided inside the telescopic arm, an axis is provided between the connecting movable seat and the telescopic arm, a driving motor is also provided on one side surface of the connecting movable seat, and the output shaft end of the driving motor is connected to the axis.

[0013] Furthermore, four sliding grooves are provided on the side surface of the clamping shell, a slidable sliding protrusion is provided inside the sliding groove, a vacuum pump is provided on one side surface of the sliding protrusion, and a suction port is provided on the bottom surface of the vacuum pump.

[0014] Furthermore, a mounting base is provided on the upper surface of the vacuum pump, an electric telescopic rod is provided on the upper surface of the mounting base, a bonding plate is also provided on the upper surface of the mounting base, and a fixed plate body matching with the bonding plate is provided on the side surface of the connecting movable seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. In this scheme, by providing a clamping claw assembly, two vertical clamping claws and two horizontal clamping claws, the manipulator can clamp objects from multiple angles. Whether it is a regular or irregular shaped object, it can be stably clamped by the coordinated action of the four clamping claws, which greatly improves the adaptability of the manipulator to objects of different shapes. The retreat protection mechanism can effectively prevent the clamping claws from exerting excessive clamping pressure on the surface of the object, prevent the object from being deformed, and protect the quality of the clamped object. The manipulator can perform adaptive clamping according to the characteristics of different objects, thereby improving the versatility and reliability of the manipulator.

[0017] 2. In this scheme, by providing a switching component, through four flip plates, vacuum pumps and other components, the clamping mode can be automatically adjusted according to the characteristics of the clamped object, the flip plate can be controlled to flip downward according to the characteristics of the clamped object, and the load-bearing plates are assembled into a load-bearing platform so that the object can be placed on the platform for movement. The vacuum adsorption method can provide more reliable clamping force for objects with smooth surfaces, avoiding the slipping problem that may occur in traditional clamping methods. The flexible switching of multiple clamping methods enables the manipulator to cope with objects with various characteristics, greatly improving the working efficiency and scope of application of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the clamping mechanism of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the clamping jaw assembly of the present invention;

[0021] Figure 4 It is a schematic diagram of the vertical clamping claw structure of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the lateral clamping claw of the present invention;

[0023] Figure 6 It is a schematic diagram of the internal structure of the vertical clamping claw of the present invention;

[0024] Figure 7 It is a schematic diagram of the internal structure of the telescopic arm of the present invention;

[0025] Figure 8 It is a schematic diagram of the switching component structure of the present invention.

[0026] In the figure: 1. fixed base; 2. bottom rotating disk; 3. connecting arm; 4. rotating shaft; 5. telescopic arm; 6. fixed plate; 7. clamping shell; 8. flip plate; 9. horizontal clamping claw; 10. electric telescopic rod; 11. vacuum pump; 12. suction port; 13. bearing plate; 14. buffer cushion; 15. clamping cushion; 16. vertical clamping claw; 17. end limit plate; 18. positioning camera; 19. meshing gear rod; 20. servo motor; 21. meshing threaded rod; 22. connecting rod Connecting rod; 23, vertical meshing disk; 24, retreat block; 25, connecting spring; 26, horizontal meshing disk; 27, connecting disk seat; 28, retreat disk body; 29, bottom sliding block; 30, telescopic spring; 31, internal support plate; 32, small telescopic motor; 33, lifting plate body; 34, filling protrusion; 35, sliding groove; 36, internal hydraulic rod; 37, driving motor; 38, connecting movable seat; 39, end rotating disk; 40, bonding plate; 41, sliding protrusion; 42, mounting base plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example 1: Please refer to Figures 1 to 8 , an intelligent multifunctional high-speed silent servo manipulator, comprising:

[0029] A fixed base 1 is provided with a bottom rotating disk 2 on the upper surface of the fixed base 1, a connecting arm 3 is provided above the bottom rotating disk 2, the connecting arm 3 is divided into two sections, a rotating shaft 4 is provided at the connection between the two sections, a clamping mechanism is provided at the end of the connecting arm 3, a rotating shaft 4 is also provided between the connecting arm 3 and the clamping mechanism, the clamping mechanism includes a clamping claw assembly and a switching assembly, the clamping claw assembly includes: a clamping shell 7, a servo motor 20 is provided inside the clamping shell 7, a movable meshing gear rod 19 is also provided inside the clamping shell 7, an end limiting plate 17 is provided at the end of the meshing gear rod 19, a positioning camera 18 is provided on one side surface of the end limiting plate 17, a threaded hole is provided on the side surface of the meshing gear rod 19 close to the servo motor 20, and the servo motor The output end of the machine 20 is provided with an engaging threaded rod 21 engaged with the threaded hole, and the interior of the clamping shell 7 is also provided with two vertical clamping claws 16 and two horizontal clamping claws 9, the two vertical clamping claws 16 are respectively arranged on the upper and lower sides of the engaging toothed rod 19, and the two horizontal clamping claws 9 are respectively arranged on the left and right sides of the engaging toothed rod 19, and the vertical clamping claws 16 and the horizontal clamping claws 9 are provided with hollow clamping cushions 15 on one side surface, and the vertical clamping claws 16 and the horizontal clamping claws 9 have the same internal structure, and the vertical clamping claws 16 are provided with a plurality of internal support plates 31, and the vertical clamping claws 16 are also provided with a lifting plate body 33 that can be lifted and lowered, and the bottom surface of the lifting plate body 33 is provided with a filling protrusion 34, and the internal upper surface of the vertical clamping claw 16 is connected to the lifting plate body 33. A small telescopic motor 32 is arranged between the upper surfaces of the plate body 33, a connecting support rod 22 is arranged on one side surface of the vertical clamping claw 16, and a vertical meshing disk 23 is arranged at the other end of the connecting support rod 22. The vertical meshing disk 23 meshes with the upper and lower surfaces of the meshing gear rod 19, and a rotating shaft is arranged on both side surfaces of the vertical meshing disk 23. A retreat block 24 is arranged on one side surface of the rotating shaft, and a connecting spring 25 is arranged on the upper surface of the retreat block 24. The connecting spring 25 is connected to the side surface inside the clamping shell 7. The inner side surface of the clamping shell 7 is also provided with a slideway for facilitating the sliding of the retreat block 24. A connecting disk seat 27 is arranged on one side surface of the horizontal clamping claw 9, and a horizontal meshing disk 26 meshing with the side surface of the meshing gear rod 19 is arranged on the upper surface of the connecting disk seat 27. A bottom sliding block 29 is provided on the bottom surface of the connecting disk seat 27, and a retreat disk body 28 is provided below the bottom sliding block 29. The retreat disk body 28 is fixedly installed on the inner side surface of the clamping shell 7. A groove is provided on the upper surface of the retreat disk body 28 for facilitating the sliding of the bottom sliding block 29. A telescopic spring 30 is provided between the bottom sliding block 29 and the inner side surface of the groove. An end rotating disk 39 is provided on the upper surface of the clamping shell 7. A connecting movable seat 38 is provided on the upper surface of the end rotating disk 39. A rotatable telescopic arm 5 is provided on the upper surface of the connecting movable seat 38. An internal hydraulic rod 36 is provided inside the telescopic arm 5. An axle is provided between the connecting movable seat 38 and the telescopic arm 5. A driving motor 37 is also provided on one side surface of the connecting movable seat 38.The output shaft end of the driving motor 37 is connected to the shaft body;

[0030] When in use, the fixed base 1 serves as the base of the manipulator, and the bottom rotating disk 2 realizes 360° rotation through the high-precision servo control motor arranged inside the fixed base 1, providing the manipulator with omnidirectional positioning capability in the horizontal plane. When performing clamping work, the staff can rotate the equipment in the specified direction according to the pre-edited control command, so as to complete the clamping of objects and move the objects with them and place them on other tables. When performing clamping work, first, the clamping mechanism locks the clamped objects within the clamping range through the positioning camera 18 on the side surface of the end limiting plate 17, and then, after locking the clamped object, after the data processor processes the information, it controls the drive motor 37 to rotate by sending a signal to move the clamping claw assembly to the top of the object. The internal hydraulic rod 36 inside the telescopic arm 5 can extend the clamping range, so that the equipment can cover a larger clamping range. After the clamping claw assembly locks the clamped object, the object is observed by the positioning camera 18. When the clamped object in the clamping range has different physical properties, the switching component can be driven according to the different clamping methods to change the clamping method of the clamping claw assembly. The data processor determines the clamped object by the different appearances and drives the switching component differently according to the corresponding objects. When clamping normal hard objects, after the clamping claw assembly locks the object, the clamping claw assembly is driven to descend through the connecting arm 3, and the object is located between the two horizontal clamping claws 9 and the two vertical clamping claws 16 of the clamping assembly. After that, the servo motor 20 rotates after being driven by the signal of the data processor, and drives the meshing gear rod 19 to rise through the meshing action of the meshing threaded rod 21 and the meshing hole on the side surface of the meshing gear rod 19. When the meshing gear rod 19 rises, the vertical meshing disk 23 at one end of the vertical clamping claw 16 and the horizontal meshing disk 26 at one end of the horizontal clamping claw 9 rotate along with the meshing center with the surface of the meshing gear rod 19, and clamp the four surfaces of the object. When the surface shape of the object is irregular, when the vertical clamping claw 16 and the horizontal clamping claw 9 are rotating inward to produce a clamping effect, when the clamping claws on one side have not yet produced a clamping effect on the surface of the object and the other three sides have been in contact with the surface of the object, the vertical meshing disk 23 ... inward to produce a clamping effect, the vertical meshing disk 23 and the horizontal meshing disk 26 at one end of the horizontal clamping claw 9 rotate inward to produce a clamping effect, and the vertical meshing disk 23 and the horizontal meshing disk 26 at one end of the horizontal clamping claw 9 rotate inward to produce a clamping effect. During the movement of the engagement gear rod 19, the clamping jaws that have been in contact with the surface of the object will retreat to a certain extent while continuing to mesh with the engagement gear rod 19, so that the clamping jaws will not produce a large clamping pressure on the surface of the object and cause deformation of the object, while the clamping jaws that have not yet been in contact with the surface of the object will continue to rotate until they are in contact with the surface of the object. The retreat movement method of the vertical clamping jaw 16 is slightly different from that of the horizontal clamping jaw 9. When the vertical clamping jaw 16 retreats, after the vertical clamping jaw 16 is in contact with the surface of the object, the vertical meshing disk 23 cannot rotate through the meshing effect with the meshing gear rod 19. At this time, when the meshing gear rod 19 moves, the vertical meshing disk 23 that cannot move will be pushed outward by the meshing gear rod 19.After the connecting spring 25 is compressed, it moves upward, so that the vertical meshing disc 23 avoids being stuck with the meshing gear rod 19. After avoiding the meshing effect, it is restored to the meshing state with the meshing gear rod 19 through the action of the connecting spring 25. When the horizontal clamping claw 9 is retreating, the horizontal meshing disc 26 is pushed to the side surface by the meshing gear rod 19, so that the bottom sliding block 29 slides on the upper surface of the retreating disc body 28, and after avoiding the meshing effect, it is restored to the meshing state with the meshing gear rod 19 through the action of the telescopic spring 30.

[0031] The switching assembly includes: four flip plates 8, which are respectively arranged on the four side surfaces of the clamping shell 7, a small control motor is arranged at the connection between the flip plate 8 and the clamping shell 7, a bearing plate 13 is arranged on the upper side surface of the flip plate 8, a buffer pad 14 is arranged on the side surface of the bearing plate 13, four sliding grooves 35 are also opened on the side surface of the clamping shell 7, a slidable sliding protrusion 41 is arranged inside the sliding groove 35, a vacuum pump 11 is arranged on one side surface of the sliding protrusion 41, a suction port 12 is arranged on the bottom surface of the vacuum pump 11, a mounting substrate 42 is arranged on the upper surface of the vacuum pump 11, an electric telescopic rod 10 is arranged on the upper surface of the mounting substrate 42, a bonding plate 40 is also arranged on the upper surface of the mounting substrate 42, and a fixed plate 6 matched with the bonding plate 40 is arranged on the side surface connected to the movable seat 38;

[0032] When the switching component is in use, it adjusts the clamping mode according to the different characteristics of the clamped object, and automatically starts the corresponding components under the signal drive of the data processor. When clamping a hard object, the lifting plate body 33 inside the vertical clamping claw 16 and the horizontal clamping claw 9 will descend under the action of the small telescopic motor 32 and enter the interior of the clamping pad 15, so that the clamping pad 15 becomes hard due to the filling inside. Because the surface of the clamping pad 15 has a strong friction force, when there is filling inside, the hard clamping claw can clamp the hard object more easily. When the clamping surface is more easily damaged, the lifting plate body 33 rises with the action of the small telescopic motor 32, so that the clamping pad 15 becomes hollow. When the clamping claw is clamping, the clamping pad 15 can be deformed and play the role of a buffer pad. When the clamping method of the object is different, such as when the clamped object is deformed after being clamped for a certain period of time, the clamping claw After the object is clamped and lifted off the ground, the four flip plates 8 on the side surface of the clamping shell 7 are flipped downward by the action of a small control motor, and are assembled into a bearing platform on the bottom surface of the object through four bearing plates 13. Then the clamping claws are released, and the object is placed on the bearing platform for movement, and the buffer pad 14 can produce a strong buffering effect when the clamped object is placed. When it is necessary to clamp an object with a relatively smooth surface such as glass, the electric telescopic rod 10 above the mounting base plate 42 is extended, and under the reaction of the electric telescopic rod 10 and the bottom surface of the fixed plate body 6, the sliding protrusion 41 is driven to slide downward inside the sliding groove 35, thereby driving the bonding plate 40 and the vacuum pump 11 to descend, and finally making the position of the suction port 12 lower than the position of the clamping claws. Then, the surface of the object is adsorbed by vacuum adsorption through the vacuum pump 11. If the size of the object is appropriate, the bearing platform can be formed by driving the flip plate 8 to protect the bottom surface of the object.

[0033] The working principle of the present invention is:

[0034] When in use, the fixed base 1 serves as the base of the manipulator, and the bottom rotating disk 2 realizes 360° rotation through the high-precision servo control motor arranged inside the fixed base 1, providing the manipulator with omnidirectional positioning capability in the horizontal plane. When performing clamping work, the staff can rotate the equipment in the specified direction according to the control command edited in advance, so as to complete the clamping of objects and move the objects with them and place them on other tables. When performing clamping work, first, the clamping mechanism locks the clamped objects within the clamping range through the positioning camera 18 on the side surface of the end limiting plate 17. Then, after locking the clamped objects, after the data processor processes the information, it controls the drive motor 37 to rotate by sending a signal. When the clamped objects within the clamping range have different physical properties, the switching component can be driven according to different clamping methods, so that the clamping claw component changes the clamping method. The data processor determines the clamped objects by the different appearances, and drives the switching component differently according to the corresponding objects.

[0035] When the switching component is in use, it adjusts the clamping mode according to the different characteristics of the clamped object, and automatically starts the corresponding components under the signal drive of the data processor. When clamping a hard object, the lifting plate body 33 inside the vertical clamping claw 16 and the horizontal clamping claw 9 will descend under the action of the small telescopic motor 32 and enter the inside of the clamping cushion 15, so that the hard object can be clamped more easily. When the clamping surface is more likely to damage the object, the lifting plate body 33 will rise with the action of the small telescopic motor 32, so that the clamping cushion 15 becomes hollow. When the clamping claw is clamping, the clamping cushion 15 can be deformed and play the role of a buffer pad. Under certain circumstances, if the clamped object is deformed after being clamped for a certain period of time, the object is clamped off the ground by the clamping claws, and the four flip plates 8 on the side surface of the clamping shell 7 are flipped downward under the action of a small control motor, and the four bearing plates 13 are assembled into a bearing platform on the bottom surface of the object. Then the clamping claws are released, and the object is placed on the bearing platform for movement. When it is necessary to clamp an object with a relatively smooth surface such as glass, the electric telescopic rod 10 above the mounting base plate 42 is extended to drive the laminating plate 40 and the vacuum pump 11 to descend, and finally the position of the suction port 12 is lower than the position of the clamping claws, and then the surface of the object is adsorbed by vacuum adsorption by the vacuum pump 11;

[0036] When clamping a normal hard object, after the clamping jaw assembly locks the object, the clamping jaw assembly is driven to descend through the connecting arm 3, and the object is located between the two horizontal clamping jaws 9 and the two vertical clamping jaws 16 of the clamping assembly. Subsequently, the servo motor 20 rotates after being driven by the signal of the data processor, and the meshing threaded rod 21 is meshed with the meshing hole on the side surface of the meshing gear rod 19, driving the meshing gear rod 19 to rise. When the meshing gear rod 19 rises, the vertical meshing disk 23 at one end of the vertical clamping jaw 16 and the horizontal meshing disk 26 at one end of the horizontal clamping jaw 9 are meshed with the surface of the meshing gear rod 19. The two jaws 16 and 19 rotate about the center of each other and clamp the four surfaces of the object. When the surface shape of the object is irregular, when the vertical clamping jaws 16 and the horizontal clamping jaws 9 rotate inward to produce a clamping effect, when the clamping jaws on one side have not yet produced a clamping effect on the surface of the object and the other three sides have been in contact with the surface of the object, during the movement of the meshing gear rod 19, the clamping jaws that have been in contact with the surface of the object will retreat to a certain extent while continuing to mesh with the meshing gear rod 19, so that the clamping jaws will not produce a large clamping pressure on the surface of the object and cause deformation of the object.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent multifunctional high-speed silent servo manipulator, characterized in that: include: A fixed base, the upper surface of the fixed base is provided with a bottom rotating disk, the top of the bottom rotating disk is provided with a connecting arm, the connecting arm is divided into two sections, a rotating shaft is provided at the connection between the two sections, a clamping mechanism is provided at the end of the connecting arm, and a rotating shaft is also provided between the connecting arm and the clamping mechanism, the clamping mechanism includes a clamping claw assembly and a switching assembly, the clamping claw assembly includes: a clamping shell, a servo motor is provided inside the clamping shell, a movable meshing gear rod is also provided inside the clamping shell, an end limiting plate is provided at the end of the meshing gear rod, a positioning camera is provided on one side surface of the end limiting plate, a threaded hole is provided on the side surface of the meshing gear rod close to the servo motor, an meshing threaded rod meshing with the threaded hole is provided on the output end of the servo motor, and two vertical clamping claws and two horizontal clamping claws are also provided inside the clamping shell; The switching assembly includes: four flip plates, which are respectively arranged on the four side surfaces of the clamping shell, a small control motor is arranged at the connection between the flip plate and the clamping shell, a bearing plate is arranged on the upper side surface of the flip plate, and a buffer pad is arranged on one side surface of the bearing plate.

2. The intelligent multifunctional high-speed silent servo manipulator according to claim 1 is characterized in that: The two vertical clamping claws are respectively arranged on the upper and lower sides of the meshing gear rod, and the two horizontal clamping claws are respectively arranged on the left and right sides of the meshing gear rod. One side surface of the vertical clamping claw and the horizontal clamping claw are both provided with hollow clamping pads, and the internal structure of the vertical clamping claw and the horizontal clamping claw is the same.

3. The intelligent multifunctional high-speed silent servo manipulator according to claim 2 is characterized in that: A plurality of internal support plates are arranged inside the vertical clamping claw, a lifting plate body that can be raised and lowered is also arranged inside the vertical clamping claw, a filling protrusion is arranged on the bottom surface of the lifting plate body, and a small telescopic motor is arranged between the internal upper surface of the vertical clamping claw and the upper surface of the lifting plate body.

4. The intelligent multifunctional high-speed silent servo manipulator according to claim 3 is characterized by: A connecting rod is provided on one side surface of the vertical clamping claw, and a vertical meshing disk is provided at the other end of the connecting rod. The vertical meshing disk meshes with the upper and lower surfaces of the meshing gear rod. A rotating shaft is provided on both side surfaces of the vertical meshing disk, and a retreat block is provided on one side surface of the rotating shaft. A connecting spring is provided on the upper surface of the retreat block, and the connecting spring is connected to the side surface inside the clamping shell. The inner side surface of the clamping shell is also provided with a slideway for facilitating the sliding of the retreat block.

5. The intelligent multifunctional high-speed silent servo manipulator according to claim 2 is characterized in that: A connecting disc seat is provided on one side surface of the transverse clamping claw, and a transverse engaging disc meshing with the side surface of the meshing tooth rod is provided on the upper surface of the connecting disc seat, and a bottom sliding block is provided on the bottom surface of the connecting disc seat, and a retreat disc body is provided below the bottom sliding block, and the retreat disc body is fixedly mounted on the inner side surface of the clamping shell, and a groove is provided on the upper surface of the retreat disc body to facilitate the sliding of the bottom sliding block, and a telescopic spring is provided between the bottom sliding block and the inner side surface of the groove, and an end rotating disc is provided on the upper surface of the clamping shell, and a connecting movable seat is provided on the upper surface of the end rotating disc.

6. The intelligent multifunctional high-speed silent servo manipulator according to claim 5, characterized in that: A rotatable telescopic arm is arranged on the upper surface of the connecting movable seat, an internal hydraulic rod is arranged inside the telescopic arm, an axis is arranged between the connecting movable seat and the telescopic arm, a driving motor is also arranged on one side surface of the connecting movable seat, and the output shaft end of the driving motor is connected to the axis.

7. The intelligent multifunctional high-speed silent servo manipulator according to claim 6 is characterized by: The side surface of the clamping shell is also provided with four sliding grooves, the interior of the sliding grooves is provided with slidable sliding protrusions, a side surface of the sliding protrusions is provided with a vacuum pump, and the bottom surface of the vacuum pump is provided with a suction port.

8. The intelligent multifunctional high-speed silent servo manipulator according to claim 7 is characterized in that: The upper surface of the vacuum pump is provided with a mounting base plate, the upper surface of the mounting base plate is provided with an electric telescopic rod, the upper surface of the mounting base plate is also provided with a bonding plate, and the side surface of the connecting movable seat is provided with a fixed plate body matched with the bonding plate.

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