Multidirectional robot arm

Abstract

The invention relates to the technical field of manipulators, in particular to a multidirectional manipulator which comprises a base, a vertically-mounted supporting plate is fixedly arranged on the edge of the upper side face of the base, a fixing plate is slidably arranged on the vertical side face of the supporting plate, and a driving part for driving the fixing plate to slide up and down is fixedly arranged on the vertical side face of the supporting plate. A first connecting rod is fixedly arranged on the bottom side of the fixing plate in the horizontal direction. The end, away from the fixing plate, of the first connecting rod is rotationally connected with a second connecting rod and fixedly provided with a first power piece driving the second connecting rod to rotate along the horizontal plane. The end, away from the first connecting rod, of the second connecting rod is rotationally connected with a third connecting rod, a second power piece driving the third connecting rod to rotate along the horizontal plane is fixedly arranged, a clamping piece is installed on the bottom side of the end, away from the second connecting rod, of the third connecting rod, and the clamping piece can rotate to the side face, away from the fixing plate, of the supporting plate along with the third connecting rod. According to the clamping device, the position and posture of the clamping piece can be adjusted in the vertical direction, and the clamping piece can horizontally and freely rotate around the supporting plate by 360 degrees.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and in particular to a multi-directional manipulator. Background Art

[0002] Under the background of the deep reconstruction of the manufacturing system by Industry 4.0 and intelligent manufacturing technologies, modern assembly lines are accelerating their transformation towards a "high-density integration, high-dynamic response, high-mix production" mode. Taking a precision electronic component assembly line as an example, a single production line needs to be compatible with the flexible switching of more than 15 types of workpieces such as micro connectors and special-shaped circuit boards. The changeover cycle is required to be compressed within 10 minutes, and the assembly accuracy needs to be continuously stabilized within the range of ±0.015 mm. Such transformative requirements pose a subversive challenge to the motion freedom and spatial adaptability of the core execution equipment - the manipulator, and its motion ability directly restricts the flexibility level and production efficiency boundary of the intelligent manufacturing system.

[0003] Currently, most mainstream manipulators adopt a columnar support structure, and its typical architecture consists of a fixed base, a vertically installed support arm, and an end effector. Taking the manipulator applied in a new energy vehicle battery module assembly line as an example, its support arm rigidly connects the drive module and the robotic arm to the side of the base through an L-shaped bracket, and a three-finger pneumatic gripper and a vacuum adsorption composite module are configured at the end. The drive system adopts a combination scheme of a rotary cylinder and a servo motor, which can realize the pitching adjustment of ±160° and the yaw adjustment of ±80° of the robotic arm in the vertical plane, and can meet 75% of the basic process requirements in conventional planar handling scenarios.

[0004] However, when the production line is upgraded to a circular workstation layout or needs to perform cross-region collaborative operations, this structure exposes a fatal flaw: the rigid space obstacle formed by the support arm and the pipeline restricts the horizontal rotation freedom of the robotic arm within the range of ±100°, resulting in the inability to achieve the 360° omnidirectional operation requirement; it cannot meet the usage requirements and there is room for improvement. Summary of the Invention

[0005] The purpose of this application is to provide a multi-directional manipulator to solve the problem that the rotation angle of the manipulator in the above related technologies cannot meet the usage requirements of the production line with a circular workstation layout.

[0006] A multi-directional manipulator provided by this application adopts the following technical solutions: A multi-directional robotic arm, comprising a base. Along the edge of the upper side of the base, a vertically installed support plate is fixedly provided. On the vertical side of the support plate, a fixed plate is slidably arranged, and a driving member for driving the fixed plate to slide up and down is fixedly provided. Along the horizontal direction, a first connecting rod is fixedly provided on the bottom side of the fixed plate; at the end of the first connecting rod away from the fixed plate, a second connecting rod is rotatably connected, and a first power member for driving the second connecting rod to rotate along the horizontal plane is fixedly provided; at the end of the second connecting rod away from the first connecting rod, a third connecting rod is rotatably connected, and a second power member for driving the third connecting rod to rotate along the horizontal plane is fixedly provided. At the bottom side of the end of the third connecting rod away from the second connecting rod, a clamping member is installed, and the clamping member can rotate with the third connecting rod to the side of the support plate away from the fixed plate.

[0007] By adopting the above technical solution, the fixed plate can slide up and down. Cooperating with the multi-joint horizontal rotation mechanism composed of three groups of connecting rods and two groups of power members, the clamping member can not only adjust its position and pose in the vertical direction, but also freely rotate 360° horizontally around the support plate, and can rotate to the other side of the support plate, greatly expanding the working space and flexibility of the robotic arm, enabling it to easily adapt to complex scenarios such as annular workstation layouts and cross-region collaborative operations, and effectively meeting the stringent requirements for the movement freedom and space adaptability of robotic arms in precision electronic component assembly lines and the like.

[0008] Optionally, the clamping member includes a first motor fixedly provided on the bottom side of the third connecting rod, and an electric gripper rotatably connected coaxially with the output shaft of the first motor.

[0009] By adopting the above technical solution, the first motor provides precise rotational driving force for the electric gripper, enabling the electric gripper not only to perform basic opening and closing grasping actions, but also to flexibly adjust the grasping angle according to actual needs. At the same time, the electric gripper itself has characteristics such as fast response speed and adjustable clamping force. Cooperating with the angle adjustment function of the first motor, it further enhances the adaptability of the robotic arm to different working conditions, ensuring efficient and precise grasping of various workpieces in complex production environments such as annular workstation layouts.

[0010] Optionally, a cross plate is slidably arranged on the upper side of the base, and a driving source for driving the cross plate to slide reciprocally towards the direction close to the support plate is installed. On the side of the cross plate facing the base, a cleaning cotton capable of abutting against the upper side of the base is fixedly provided.

[0011] By adopting the above technical solution, a cross plate is slidably arranged on the upper side of the base and a driving source is installed to drive the cross plate to slide reciprocally towards the direction close to the support plate, and a cleaning cotton fixedly provided on the side of the cross plate facing the base abuts against the upper side of the base, which can clean the upper side of the base in real time and automatically during the operation of the robotic arm. The cleaning cotton can effectively remove various pollutants, maintain the cleanliness of the base surface, reduce mechanical wear, and ensure the smooth operation of each component of the robotic arm. At the same time, the cleaning process does not require frequent manual intervention, saving labor costs and improving the equipment maintenance efficiency.

[0012] Optionally, extension blocks facing the base are fixedly provided at both ends of the horizontal plate, a dovetail slide rail is fixedly provided on the base, and a dovetail slide groove is provided on the extension block for the dovetail slide rail to pass through; the driving source includes a second motor fixedly provided on the upper side of the base, a first screw rod coaxially fixedly connected to the output shaft of the second motor, and a first screw hole is provided on the extension block for the first screw rod to be screwed into.

[0013] By adopting the above technical solution, the motor-screw drive structure composed of the second motor and the first screw can accurately convert the rotational motion of the motor into the linear motion of the cross plate. It not only has high transmission efficiency and fast response speed, but also can achieve flexible control of the sliding speed and stroke of the cross plate by precisely controlling the motor speed and direction, thereby meeting the requirements for cleaning intensity and range under different working conditions.

[0014] Optionally, connecting plates are hinged on two opposite vertical side surfaces of the base, and the two connecting plates are symmetrically arranged on two opposite side surfaces of the support plate. The side surfaces of the base are provided with adjusting parts for rotationally adjusting and fixing the connecting plates. An extension plate is vertically fixed on the side surface of the connecting plate away from the base, and a plurality of mounting through holes are provided on the extension plate. When the connecting plate is rotated to a vertical downward rotation, the bottom side of the extension plate is flush with the bottom side surface of the base, and the sides of the two extension plates close to each other can abut against each other when the two connecting plates are rotated to a vertical upward rotation.

[0015] By adopting the above technical solution, when the connecting plate is rotated to vertically downward, the bottom side of the extension plate is flush with the bottom side of the base. At this time, the bolts can be used to penetrate the installation holes on the extension plate to firmly fix the robot arm on the ground, which significantly enhances the stability of the equipment installation, effectively resists the displacement or shaking of the equipment caused by vibration, external force impact, etc. during the production process, and ensures the precise operation of the robot arm. In the equipment transportation scenario, the two connecting plates are rotated to vertically upward, and the sides of the two extension plates close to each other can abut against each other, forming an effective protection for the connecting rod assembly and other components in the storage state, avoiding damage to the equipment due to collision, extrusion, etc. during transportation. In addition, this adjustable connecting plate and extension plate design does not require the addition of complex protective structures, saves equipment space and costs, takes into account the equipment operation stability and transportation safety, and improves the practicality and adaptability of the robot arm at different stages.

[0016] Optionally, a limiting notch is provided on the side of the transverse plate facing the support plate, and the transverse plate can slide to the side of the connecting plate away from the support plate when the connecting plate rotates to a vertical upward state, and the side of the connecting plate away from the support plate can be inserted into the limiting notch.

[0017] By adopting the above technical solution, the clamping fit between the limit notch and the connecting plate forms a stable mechanical constraint. During transportation, it can effectively limit the accidental shaking or loosening of the connecting plate due to vibration, bumps, etc., prevent the extension plate from colliding with other components due to the displacement of the connecting plate, and ensure the integrity of the equipment structure.

[0018] Optionally, a vertical rod is slidably provided in the vertical direction on the vertical side surface of the base away from the support plate, and a control member for driving the vertical rod to move downward and an elastic extrusion member for driving the vertical rod to move upward are provided on the outside of the base, and a limiting protrusion is fixedly provided at the end of the vertical rod; a locking block is fixedly provided on the side surface of the connecting plate away from the support plate, and the locking block is located below the limiting protrusion when the connecting plate rotates to a vertical downward state, and the limiting protrusion can be tightly pressed against the upper side surface of the locking block in this state under the action of the control member.

[0019] By adopting the above technical solution, when the equipment is installed and fixed, when the connecting plate rotates to the vertical downward state, the locking block is located below the limiting protrusion. At this time, the vertical rod is driven downward by the control member, so that the limiting protrusion is pressed against the upper side of the locking block. This mechanical pressing method forms a reliable locking structure, which greatly enhances the stability of the connecting plate installation, thereby ensuring the overall stability of the robot arm fixed and installed by the extension plate, effectively resisting vibrations and external force impacts during the production process, and ensuring the precise operation of the robot arm. When the equipment needs to be adjusted or disassembled, the elastic extrusion member can drive the vertical rod to move upward, so that the limiting protrusion is separated from the locking block, and the locking state is released. The operation is convenient and does not require complex tools, which improves the efficiency of equipment maintenance and adjustment.

[0020] Optionally, the control member is a control protrusion fixed on the side of the horizontal plate away from the support plate, and a guiding slope is provided on the upper edge of the vertical rod. When the control protrusion slides with the horizontal plate, it can squeeze the vertical rod downward along the guiding slope.

[0021] By adopting the above technical solution, when the horizontal plate performs normal sliding action, the control protrusion will squeeze the vertical rod downward along the guiding slope of the upper edge of the vertical rod, so that the vertical rod moves down to complete the locking of the connecting plate. The whole process does not require manual operation of the control parts alone, and the linkage of the cleaning action and the locking action is realized, which greatly simplifies the operation process and improves production efficiency. In addition, the design of the guiding slope plays a good guiding role, so that the contact and extrusion process between the control protrusion and the vertical rod is smooth and accurate, avoiding component damage caused by rigid collision and extending the service life of the equipment.

[0022] Optionally, a support rod is fixedly provided at the lower end of the vertical rod, and the lower end of the support rod is flush with the bottom side surface of the base when the bottom side of the limiting protrusion abuts against the upper side of the locking block.

[0023] By adopting the above technical solution, after the device is installed and fixed, when the bottom side of the limit bump abuts against the upper side of the locking block to complete the locking of the connecting plate, the lower end of the support rod fixedly arranged at the lower end of the vertical rod is exactly flush with the bottom side of the base. At this time, the support rod and the base jointly form a multi-point support structure, effectively dispersing the pressure and vibration generated during the operation of the robot arm due to operations such as grasping and moving workpieces, greatly enhancing the overall stability of the device, reducing the risks of device shaking and tilting caused by single-point stress or vibration, and ensuring the accuracy and stability of the robot arm operation.

[0024] Optionally, an elastic pad is fixedly arranged at the lower end of the support rod.

[0025] By adopting the above technical solution, in terms of shock absorption and buffering, when the robot arm is operating, actions such as grasping workpieces and quickly starting and stopping will generate continuous vibration and impact force. The elastic pad at the lower end of the support rod can effectively absorb and disperse these energies by virtue of its own flexibility, greatly weakening the mechanical vibration, preventing the vibration from being transmitted to the precision components inside the base, ensuring the accurate operation of core components such as sensors and motors, reducing problems such as measurement errors and mechanical wear caused by vibration, and extending the service life of the device.

[0026] In summary, the present application includes the following beneficial technical effects: The clamping member can not only adjust its position and pose in the vertical direction, but also rotate freely 360° horizontally around the support plate, and can rotate to the other side of the support plate, greatly expanding the working space and flexibility of the robot arm, enabling it to easily adapt to complex scenarios such as circular workstation layouts and cross-region collaborative operations, and effectively meeting the strict requirements for the motion freedom and space adaptability of the robot arm in precision electronic component assembly lines and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0028] Figure 1 is the overall structural schematic diagram of Embodiment 1 of the present application; Figure 2 is the cross-sectional structural schematic diagram showing the installation and cooperation of the lifting assembly in Embodiment 1 of the present application; Figure 3 is the structural schematic diagram showing the installation and cooperation of the clamping member in Embodiment 1 of the present application; Figure 4 is the overall structural schematic diagram of Embodiment 2 of the present application; Figure 5It is a schematic diagram of a partial sectional view showing the installation and cooperation of the cleaning component in Embodiment 2 of the present application; Figure 6 It is a schematic diagram showing the installation and cooperation of the connecting plate in Embodiment 2 of the present application; Figure 7 It is a schematic diagram of a partial sectional view showing the installation and cooperation of the connecting plate and the cross plate in Embodiment 2 of the present application; Figure 8 It is a schematic diagram of a partial sectional view showing the installation and cooperation of the control member and the vertical rod in Embodiment 2 of the present application.

[0029] In the figure, 1 is the base; 11 is the support plate; 12 is the dovetail slide rail; 13 is the hinge seat; 2 is the lifting assembly; 21 is the fixing plate; 22 is the driving member; 221 is the driving motor; 222 is the driving screw; 3 is the connecting rod assembly; 31 is the first connecting rod; 32 is the second connecting rod; 33 is the third connecting rod; 34 is the first power member; 35 is the second power member; 4 is the clamping member; 41 is the first motor; 42 is the electric gripper; 5 is the cleaning component; 51 is the cross plate; 511 is the extension block; 5111 is the dovetail chute; 512 is the limit notch; 52 is the driving source; 521 is the second motor; 522 is the first screw; 53 is the cleaning cotton; 6 is the connecting plate; 61 is the extension plate; 611 is the installation through hole; 62 is the locking block; 7 is the vertical rod; 71 is the limit convex block; 72 is the guiding inclined surface; 73 is the support rod; 74 is the elastic pad; 8 is the control member; 81 is the control convex block; 9 is the elastic pressing member; 91 is the first spring; 92 is the baffle; 93 is the guiding block. Detailed implementation manners

[0030] The following further elaborates on the present application in conjunction with all the drawings.

[0031] Embodiment 1: Refer to Figure 1 , Figure 2 and Figure 3 , a multi-directional robotic arm includes a base 1, a vertically installed support plate 11 is fixedly provided on the upper side edge of the base 1, a lifting assembly 2 is provided on the vertical side surface of the support plate 11, wherein the lifting assembly 2 includes a fixing plate 21 slidably disposed on the vertical side surface of the support plate 11, a driving member 22 fixedly provided on the support plate 11 and driving the fixing plate 21 to slide up and down, a connecting rod assembly 3 capable of automatically rotating along the horizontal plane is installed on the side surface of the fixing plate 21, and a clamping member 4 for clamping workpieces is installed on the connecting rod assembly 3; When the robotic arm operates, the driving member 22 drives the fixing plate 21, the connecting rod assembly 3 and the clamping member 4 to move up and down integrally, the connecting rod assembly 3 drives the clamping member 4 to freely rotate and adjust in the horizontal plane, and the clamping member 4 can rotate with the connecting rod assembly 3 to the side surface of the support plate 11 away from the fixing plate 21, so as to realize the clamping of workpieces within the circumferential range by the robotic arm.

[0032] Reference Figure 1 and Figure 2 As shown in Figure 2 , the connecting rod assembly 3 includes a first connecting rod 31 fixedly arranged on the bottom side of the fixed plate 21 in the horizontal direction; a second connecting rod 32 is rotatably connected to the end of the first connecting rod 31 away from the fixed plate 21, and a first power member 34 for driving the second connecting rod 32 to rotate in the horizontal plane is fixedly arranged; a third connecting rod 33 is rotatably connected to the end of the second connecting rod 32 away from the first connecting rod 31, and a second power member 35 for driving the third connecting rod 33 to rotate in the horizontal plane is fixedly arranged; The clamping member 4 is installed on the bottom side of the end of the third connecting rod 33 away from the second connecting rod 32; the clamping member 4 includes a first motor 41 fixedly arranged on the bottom side of the third connecting rod 33 and an electric gripper 42 rotatably connected to the output shaft of the first motor 41 coaxially; and the first power member 34 and the second power member 35 are respectively a combined structure of two sets of servo motors and speed reducers fixedly arranged on the first connecting rod 31 and the second connecting rod 32, which will not be elaborated here.

[0033] Reference Figure 2 As shown in Figure 2 , the fixed plate 21 is slidably installed on the vertical side surface of the support plate 11 through a combined structure of a slider and a slide rail; the driving member 22 includes a driving motor fixed in the base 1 in the vertical direction and a driving screw rod 222 penetrating through the upper side surface of the base 1 in the vertical direction. A driving screw hole for the driving screw rod 222 to penetrate is opened on the fixed plate 21, so as to drive the up and down sliding adjustment of the fixed plate 21 through the motor screw rod structure.

[0034] The implementation principle of the embodiment of the present application is as follows: During the application of this robotic arm, the driving member 22 drives the fixed plate 21 to slide up and down, realizing the pose adjustment of the clamping member 4 in the vertical direction; a multi-joint horizontal rotation mechanism is jointly composed of three groups of connecting rods and two sets of servo motor - speed reducer combinations, enabling the clamping member 4 to perform a 360° horizontal rotation adjustment around the support plate 11 and can rotate to the other side of the support plate 11. Finally, the electric gripper 42 completes the grasping operation of the workpiece within the circumferential range, realizing the coverage of three-dimensional space movement.

[0035] Embodiment 2: Reference Figure 4 and Figure 5 As shown in Figure 5 , the difference between the embodiment of the present application and Embodiment 1 is that a cleaning component 5 is installed above the base 1, and the cleaning component 5 includes a cross plate 51 slidably arranged on the upper side surface of the base 1 and a driving source 52 installed on the base 1. The driving source 52 is used to drive the cross plate 51 to slide reciprocally in the direction close to the support plate 11; On the side of the horizontal plate 51 facing the base 1, a cleaning cotton 53 that can abut against the upper side of the base 1 is fixedly provided; at both ends of the horizontal plate 51, extension blocks 511 facing the base 1 are fixedly provided. On the base 1, two dovetail slide rails 12 are fixedly provided, and on the extension blocks 511, dovetail chutes 5111 through which the dovetail slide rails 12 pass are provided. The drive source 52 includes a second motor 521 fixedly provided on the upper side of the base 1 and a first screw rod 522 fixedly connected coaxially with the output shaft of the second motor 521. On the extension block 511, a first screw hole into which the first screw rod 522 is screwed is provided; in this way, the cleaning cotton 53 is driven by the motor screw rod structure to clean the upper side of the base 1.

[0036] Refer to Figure 4 and Figure 6 Referring to and On two opposite vertical sides of the base 1, connecting plates 6 are hinged. The two connecting plates 6 are symmetrically arranged on the opposite side surfaces of the support plate 11. On the side surface of the connecting plate 6 far from the base 1, an extension plate 61 is vertically fixedly provided. On the extension plate 61, a number of mounting through holes 611 are provided; on the vertical side surface of the base 1, a hinge seat 13 rotatably connected to the connecting plate 6 is fixedly provided. On the connecting plate 6, an adjustment through hole is provided, and on the hinge seat 13, an adjustment screw hole coinciding with the adjustment through hole is provided. Among them, on the side surface of the base 1, an adjusting member (not shown in the figure) for rotating and fixing the connecting plate 6 is provided. The adjusting member is an adjusting bolt that passes through the adjustment through hole and is screwed into the adjustment screw hole. By tightening or loosening the adjusting bolt, the rotation angle of the connecting plate 6 can be controlled and adjusted.

[0037] Refer to Figure 6 and Figure 7 Referring to

[0038] Refer to Figure 5And Figure 7 On the vertical side of the base 1 away from the support plate 11, a vertical rod 7 is slidably arranged in the vertical direction. A control member 8 for driving the vertical rod 7 to move downward and an elastic pressing member 9 for driving the vertical rod 7 to move upward are arranged outside the base 1. A limiting convex block 71 is fixedly arranged at the end of the vertical rod 7, and a locking block 62 is fixedly arranged on the side of the connecting plate 6 away from the support plate 11; When the locking block 62 rotates with the connecting plate 6 to the vertically downward state and is located below the limiting convex block 71, at this time, the limiting convex block 71 can overcome the resilience of the elastic pressing member 9 under the action of the control member 8 and abut against the upper side surface of the locking block 62 in this state, so as to limit and fix the connecting plate 6 in the vertically downward state, which is convenient for the staff to fix the extension plate 61 on the ground after passing the screw through the installation through hole 611.

[0039] Refer to Figure 7 And Figure 8 , The control member 8 is a control convex block 81 fixed on the side of the cross plate 51 away from the support plate 11. A guiding inclined surface 72 is arranged on the upper edge of the upper end of the vertical rod 7. When the control convex block 81 slides with the cross plate 51 in the direction away from the support plate 11, it can squeeze the vertical rod 7 downward along the guiding inclined surface 72, so as to realize the automatic limitation of the vertically state connecting plate 6; The elastic pressing member 9 includes a first spring 91, a baffle 92 fixedly arranged on the outer circumference of the vertical rod 7 and a guiding block 93 fixed on the vertical side of the base 1. A guiding hole for the vertical rod 7 to penetrate is arranged on the guiding block 93. The baffle 92 is located above the guiding block 93, and the two ends of the first spring 91 are respectively fixedly connected with the side surfaces of the baffle 92 and the guiding block 93 close to each other.

[0040] Refer to Figure 8 , A support rod 73 is fixedly arranged at the lower end of the vertical rod 7, and an elastic pad 74 made of rubber is fixedly arranged at the lower end of the support rod 73; when the bottom side of the limiting convex block 71 abuts against the upper side of the locking block 62, the elastic pad 74 at the lower end of the support rod 73 is parallel to the bottom side surface of the base 1.

[0041] The implementation principle of the embodiment of the present application is as follows: When the equipment is running, the second motor 521 drives the first screw rod 522 to rotate, so that the cross plate 51 slides along the dovetail slide rail 12, and the cleaning cotton 53 wipes the base 1 to prevent dust accumulation; the connecting plate 6 rotates downward to the vertically downward state, and the extension plate 61 is flush with the bottom side of the base 1 and is fixed to the ground by bolts to enhance stability; the cross plate 51 can continue to slide, so that the control convex block 81 presses down the vertical rod 7, and the limiting convex block 71 abuts against the locking block 62 to complete the temporary locking of the connecting plate 6, which is convenient for subsequent fastening installation; When the device is transported, rotate and fold up the connecting rod assembly 3, and then turn the connecting plate 6 upwards to the vertical state. At this time, the two extension plates 61 are in contact with each other for protection; at this time, the cross plate 51 can slide to the outside of the connecting plate 6, and the limit notch 512 is caught in the edge of the connecting plate 6 away from the support plate 11 to achieve pre-positioning; the vertical rod 7 moves up to release the limit, and the support rod 73 and the elastic pad 74 buffer the vibration to achieve safe transfer in a compact space.

[0042] Unless otherwise defined, the terms or scientific terms used in this application shall have the ordinary meaning understood by those of ordinary skill in the art to which this application belongs. The terms "first", "second", "third" and similar words used in the text of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. The words "a" or "an" and the like do not indicate a quantity limitation, but mean that there is at least one. The words "comprising" or "including" and the like mean that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms "up", "down", "left", "right" and the like are only used to indicate the relative position relationship. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0043] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape and principle of this application shall be covered within the protection scope of this application.

Claims

1. A multi-directional robotic arm, comprising a base (1), a vertically installed support plate (11) is fixedly provided at the edge of the upper side surface of the base (1), a fixed plate (21) is slidably arranged on the vertical side surface of the support plate (11), and a driving member (22) for driving the fixed plate (21) to slide up and down is fixedly provided, and a first connecting rod (31) is fixedly provided along the horizontal direction on the bottom side of the fixed plate (21); characterized in that, The end of the first connecting rod (31) far from the fixed plate (21) is rotatably connected to a second connecting rod (32), and is fixedly provided with a first power member (34) that drives the second connecting rod (32) to rotate along the horizontal plane; The end of the second connecting rod (32) far from the first connecting rod (31) is rotatably connected to a third connecting rod (33), and is fixedly provided with a second power member (35) that drives the third connecting rod (33) to rotate along the horizontal plane. The bottom side of the end of the third connecting rod (33) far from the second connecting rod (32) is provided with a clamping member (4), and the clamping member (4) can rotate with the third connecting rod (33) to the side of the support plate (11) far from the fixed plate (21).

2. The multi-directional robotic arm according to claim 1, wherein The clamping member (4) includes a first motor (41) fixedly provided on the bottom side of the third connecting rod (33), and an electric gripper (42) rotatably connected coaxially with the output shaft of the first motor (41).

3. A multi-directional robotic arm according to claim 1, characterized in that, A cross plate (51) is slidably provided on the upper side surface of the base (1), and a driving source (52) is installed to drive the cross plate (51) to reciprocate and slide in the direction close to the support plate (11). A cleaning cotton (53) that can abut against the upper side surface of the base (1) is fixedly provided on the side surface of the cross plate (51) facing the base (1).

4. The multi-directional robot arm according to claim 3, wherein, Extension blocks (511) facing the base (1) are fixedly provided at both ends of the cross plate (51). A dovetail slide rail (12) is fixedly provided on the base (1), and a dovetail chute (5111) for the dovetail slide rail (12) to penetrate is provided on the extension block (511); The driving source (52) includes a second motor (521) fixedly provided on the upper side surface of the base (1), and a first screw rod (522) fixedly connected coaxially with the output shaft of the second motor (521). A first screw hole for the first screw rod (522) to be screwed into is provided on the extension block (511).

5. A multi-directional robotic arm according to claim 3, characterized in that, Connecting plates (6) are hinged on two opposite vertical side surfaces of the base (1), and the two connecting plates (6) are symmetrically arranged on the opposite side surfaces of the support plate (11). An adjusting member for rotating and fixing the connecting plate (6) is provided on the side surface of the base (1); An extension plate (61) is vertically and fixedly provided on the side surface of the connecting plate (6) far from the base (1). A plurality of mounting through holes (611) are provided on the extension plate (61); The bottom side of the extension plate (61) is flush with the bottom side surface of the base (1) when the connecting plate (6) rotates to be vertically downward, and the side surfaces of the two extension plates (61) close to each other can abut when the two connecting plates (6) rotate to be vertically upward.

6. The multi-directional robotic arm according to claim 5, characterized in that, A limiting notch (512) is provided on the side surface of the cross plate (51) facing the support plate (11). The cross plate (51) can slide to the side surface of the connecting plate (6) far from the support plate (11) when the connecting plate (6) rotates to the vertically upward state, and the side surface of the connecting plate (6) far from the support plate (11) can be caught in the limiting notch (512) at this time.

7. The multi-directional robotic arm according to claim 5, characterized in that, A vertical rod (7) is slidably provided along the vertical direction on the vertical side surface of the base (1) far from the support plate (11). A control member (8) for driving the vertical rod (7) to move downward and an elastic pressing member (9) for driving the vertical rod (7) to move upward are provided outside the base (1). A limiting convex block (71) is fixedly provided at the end of the vertical rod (7); A locking block (62) is fixedly arranged on the side of the connecting plate (6) far away from the support plate (11). When the locking block (62) rotates with the connecting plate (6) to a vertically downward state, it is located below the limiting convex block (71), and the limiting convex block (71) can be in tight contact with the upper side surface of the locking block (62) in this state under the action of the control member (8).

8. A multi-directional robotic arm according to claim 7, characterized in that, The control member (8) is a control convex block (81) fixed on the side of the cross plate (51) far away from the support plate (11). A guiding inclined surface (72) is arranged on the upper edge of the vertical rod (7). When the control convex block (81) slides with the cross plate (51), it can squeeze the vertical rod (7) downward along the guiding inclined surface (72).

9. The multi-directional robotic arm according to claim 7, wherein, A support rod (73) is fixedly arranged at the lower end of the vertical rod (7). When the lower end of the support rod (73) is in contact with the upper side of the locking block (62) at the bottom side of the limiting convex block (71), it is flush with the bottom side surface of the base (1).

10. The multi-directional robotic arm according to claim 9, characterized in that, An elastic pad (74) is fixedly arranged at the lower end of the support rod (73).

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