Movable multifunctional manipulator and test block conveying device

Abstract

The utility model discloses a movable multifunctional mechanical arm and a test block transporting device.The movable multifunctional mechanical arm comprises a support, an AGV, a multi-axis arm, a mounting disc clamping hook and a suction cup, a through hole is formed in the bottom of the support, the AGV is arranged in the through hole and can move the support, the multi-axis arm is rotatably arranged on the support, and the suction cup is arranged on the mounting disc clamping hook; the mounting disc is rotatably arranged on the multi-axis arm, and the suction cups and the clamping hooks are arranged on the mounting disc at intervals in the circumferential direction; a movable base part is formed by the support and the AGV, so that the coverage range of the manipulator can be expanded, and the working area of the manipulator can be increased; a clamping hook and a suction cup are arranged at the working end of the multi-axis arm at the same time, so that the manipulator can carry a test block through the suction cup and can open and close a drawer through the clamping hook; the test block conveying device further comprises a test block bracket used for loading the test block, so that the test block bracket moves along with the manipulator, and the manipulator can conveniently take and place the test block.

Description

Technical Field

[0001] The present application relates to the technical field of test block handling equipment, and in particular to a movable multifunctional manipulator and a test block transport device. Background Art

[0002] Cube test blocks, also known as concrete test blocks, are test structures used to reflect the quality of concrete structures. The compressive strength and impermeability of the test blocks are key indicators of the quality of concrete construction in a project.

[0003] In traditional automated workshops, each testing equipment or storage device is equipped with at least one set of robots to facilitate the transportation of test blocks. Since the robots are only used to grab test blocks, at least two sets of robots are often required in drawer-type storage devices, one set for opening and closing drawers and the other for taking and placing test blocks. This makes the layout cost of the workshop high and the space crowded. Summary of the invention

[0004] The purpose of the present application is to overcome the deficiencies in the prior art and to provide a movable multifunctional manipulator and a test block transport device.

[0005] To achieve the above technical objectives, the present application provides a movable multifunctional manipulator, including: a support, a bottom of the support is provided with a through hole; an AGV trolley, which is arranged in the through hole and can move the support; a multi-axis arm, which is rotatably arranged on the support; a mounting plate, which is rotatably arranged on the multi-axis arm; a hook, which is arranged on the mounting plate and is used to open and close the drawer; a suction cup, the suction cup and the hook are arranged on the mounting plate at intervals along the circumferential direction, and the suction cup is used to absorb the test block; when working, the AGV trolley moves, and the manipulator can go to different workstations to work; the drawer can be opened by the hook and the manipulator, and the test block in the drawer can be taken out or the test block can be placed in the drawer by the suction cup and the manipulator.

[0006] Furthermore, a roller is provided at the bottom of the support.

[0007] Furthermore, the roller is elastically arranged at the bottom of the support.

[0008] Furthermore, a counterweight cavity is provided on the support, and the weight of the support can be changed by adding or removing counterweight blocks in the counterweight cavity.

[0009] Furthermore, the multi-axis arm includes: a first arm, which is rotatably arranged on a support through a first rotating shaft, and the first rotating shaft is extended in a vertical direction; a first driving member, which is used to drive the first arm to rotate around the first rotating shaft; a second arm, which is rotatably arranged on the first arm through a second rotating shaft, and the second rotating shaft is extended in a first horizontal direction, and the first horizontal direction is perpendicular to the vertical direction; a second driving member, which is used to drive the second arm to rotate around the second rotating shaft; a third arm, which is rotatably arranged on the second arm through a third rotating shaft, and the third rotating shaft is extended in the first horizontal direction; a third driving member, which is used to drive the third arm to rotate around the third rotating shaft; a fourth arm, which is rotatably arranged on the second arm through a third rotating shaft, and the third rotating shaft is extended in the first horizontal direction; It is rotatably arranged on the third arm, and the fourth rotating shaft extends along the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; the fourth driving member is used to drive the fourth arm to rotate around the fourth rotating shaft; the fifth arm is rotatably arranged on the fourth arm through the fifth rotating shaft, and the fifth rotating shaft extends along the first horizontal direction; the fifth driving member is used to drive the fifth arm to rotate around the fifth rotating shaft; wherein, the mounting plate is rotatably on the fifth arm through the sixth rotating shaft, and the sixth rotating shaft extends along the second horizontal direction; the multi-axis arm also includes a sixth driving member, and the sixth driving member is used to drive the mounting plate to rotate around the sixth rotating shaft to facilitate the replacement of the hook or suction cup for operation.

[0010] Further, the second arm is formed by 3D printing, and the second arm is arranged in an intertwined vein shape; and / or, the fourth arm is provided with a plurality of weight-reducing holes; and / or, the fifth arm is formed by 3D printing, and the fifth arm is arranged in an intertwined vein shape.

[0011] Furthermore, the movable multifunctional manipulator also includes a clamping claw, and the clamping claw, the hook and the suction cup are arranged on the mounting plate at intervals along the circumferential direction; when the mounting plate is rotated, the clamping claw, the hook or the suction cup can be replaced to perform the operation.

[0012] The present application also provides a test block transport device, comprising the above-mentioned movable multifunctional manipulator, and also comprising a test block bracket, wherein the test block bracket is used for loading the test block.

[0013] Furthermore, the test block bracket is detachably connected to the support, so that the test block bracket is connected to the support, and when the AGV moves the manipulator, the test block bracket can move with the support.

[0014] Furthermore, a detection mechanism is provided on the test block bracket, and the detection mechanism is used to confirm the load condition of the test block on the test block bracket.

[0015] The present application provides a movable multifunctional manipulator and a test block transport device, wherein the movable multifunctional manipulator comprises a support, an AGV trolley, a multi-axis arm, a mounting plate hook and a suction cup, a through hole is provided at the bottom of the support, the AGV trolley is arranged in the through hole and can move the support, the multi-axis arm is rotatably arranged on the support, the mounting plate is rotatably arranged on the multi-axis arm, and the suction cup and the hook are arranged on the mounting plate at intervals along the circumferential direction; the movable base part is formed by the support and the AGV trolley, which can not only expand the coverage of the manipulator, but also facilitate the manipulator to more The multi-axis arm can be used to transfer test blocks and increase the working area of ​​the robot, which is beneficial to saving costs, saving space and improving work efficiency. By arranging hooks and suction cups at the working end of the multi-axis arm, the robot can not only carry the test blocks through the suction cups, but also open and close the drawers through the hooks, thereby further optimizing the functionality of the robot and making it more suitable for multi-project operations in the automated workshop. The test block transport device also includes a test block bracket for loading test blocks, so that the test block bracket moves with the robot, and the robot can easily pick up and place the test blocks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a test block transport device provided in this application;

[0017] Figure 2 A schematic diagram of the structure of a movable multifunctional manipulator provided for this application;

[0018] Figure 3 A schematic diagram of the structure of another movable multifunctional manipulator provided for this application. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0020] The present application provides a movable multifunctional manipulator, including a base part and a working part, wherein the base part is movable, and the working part is arranged on the base part and used for carrying test blocks and other operations. Under the movement of the base part, the manipulator can shuttle in the workshop and go to any workstation to assist related equipment in operation.

[0021] The base part includes: a support 10 , a bottom of which is provided with a through hole; and an AGV trolley 20 , which is arranged in the through hole and can move the support 10 .

[0022] For details, please refer to Figure 1 and Figure 2 In the illustrated embodiment, the main body of the support 10 is roughly in the shape of a rectangular box, and a through hole is provided at the bottom of the support 10 that runs through the front and back. When the AGV trolley 20 is in the through hole, the AGV trolley 20 can carry the support 10. When the AGV trolley 20 moves with the support 10, the manipulator can move.

[0023] In one embodiment, the AGV trolley 20 is fixedly connected to the support 10, and the two cannot be separated from each other to perform other operations.

[0024] In another embodiment, the AGV trolley 20 and the support 10 are both independent structures, and the AGV trolley 20 can enter the through hole, lift up the support 10, and also leave the support 10 through the through hole.

[0025] Specifically, a lifting device is provided on the AGV 20. When the lifting device is in a retracted state, the AGV 20 is at a low height and can enter the through hole; when the AGV 20 is in the through hole, the lifting device extends and can lift the support 10; after the support 10 is lifted by the AGV 20, the AGV 20 can move with the support 10; after the support 10 is moved to the required workstation, the lifting device is retracted again, and the AGV 20 can leave the support 10 to perform other operations.

[0026] When the AGV 20 can leave the support 10 and work independently, there are multiple sets of manipulators in the workshop, and one AGV 20 can move multiple supports 10 one after another. For example, there are two sets of manipulators in the workshop. After the AGV 20 lifts one set of manipulators and moves it to the required workstation, the AGV 20 can leave the set of manipulators and move to the other set of manipulators. In this way, the AGV 20 can be used more intelligently in the workshop to meet more diverse handling needs.

[0027] The working part includes: a multi-axis arm 30, which is rotatably arranged on the support 10; a mounting plate 41, which is rotatably arranged on the multi-axis arm 30; a hook 42, which is arranged on the mounting plate 41 and is used to open and close the drawer; a suction cup 43, and the suction cup 43 and the hook 42 are arranged on the mounting plate 41 at intervals along the circumferential direction, and the suction cup 43 is used to suck the test block; when working, the AGV trolley 20 moves, and the manipulator can go to different workstations to work; the manipulator can open the drawer through the hook 42, and can take out the test block in the drawer or put the test block into the drawer through the suction cup 43.

[0028] The multi-axis arm 30 can drive the mounting plate 41 and the hook 42 and the suction cup 43 thereon to perform multi-directional three-dimensional movement within the arm span range through the cooperation of the arm and the axis. During operation, the hook 42 or the suction cup 43 can be replaced by rotating the mounting plate 41 to perform operation.

[0029] For details, please refer to Figure 1 and Figure 2 In the illustrated embodiment, the multi-axis arm 30 adopts a six-axis arm with a long arm span, precise fixed point, and wide coverage. The connection end of the multi-axis arm 30 is rotatably arranged on the support 10, and a mounting plate 41 is arranged on the working end; a hook 42 and a suction cup 43 are arranged on the mounting plate 41, and the hook 42 and the suction cup 43 are arranged opposite to each other along a straight line. When the suction cup 43 is at the bottom, it can absorb the test block, and the suction cup 43 can transfer the test block in conjunction with the movement of the multi-axis arm 30, and can turn the test block over and adjust the angle in conjunction with the rotation of the multi-axis arm 30. The hook portion of the hook 42 is arranged in an L shape away from the mounting plate 41. When the multi-axis arm 30 rotates the mounting plate 41 until the hook portion of the hook 42 faces the drawer, the hook portion of the hook 42 can be buckled into the handle of the drawer in coordination with the movement of the multi-axis arm 30, and then the drawer is pulled open. After the drawer is opened, the multi-axis arm 30 can control the suction cup 43 to send the test block into the drawer, or take out the suction cup in the drawer; after the suction cup 43 completes the transfer of the test block, the multi-axis arm 30 controls the hook 42 again so that the hook portion of the hook 42 faces the drawer, and pushes the hook 42 horizontally. After the hook portion of the hook 42 is against the surface of the drawer, the drawer can be pushed back into the storage box, thereby closing the drawer.

[0030] In summary, the movable multifunctional manipulator provided in the present application, through the support 10 and the AGV trolley 20, forms a movable base part, which can not only expand the coverage of the manipulator to facilitate the manipulator to perform operations such as test block transfer to more locations, but also increase the working area of ​​the manipulator. For example, a test area and a storage area are arranged in the workshop, and the test blocks are subjected to quality inspection in the test area. The test blocks detected as qualified enter the storage area for maintenance. In traditional workshops, manipulators need to be configured in both the test area and the storage area to facilitate the transportation of test blocks. Since the manipulator provided in the present application is movable, when working, the AGV trolley 20 can drive the manipulator to different areas to work, thereby saving both cost and space. When two or more groups of manipulators are arranged in the workshop, if some areas are busy, the manipulators can be moved to allow multiple groups of manipulators to cooperate in the busy areas, thereby improving work efficiency. In addition, the movable multifunctional manipulator provided in the present application also arranges a hook 42 and a suction cup 43 at the working end of the multi-axis arm 30 at the same time, so that the manipulator can not only transport the test block through the suction cup 43, but also open and close the drawer through the hook 42, thereby further optimizing the functionality of the manipulator and making the manipulator more suitable for multi-project operations in an automated workshop.

[0031] Optionally, rollers are provided at the bottom of the support 10 .

[0032] At this time, if necessary, the worker can push the support 10 and manually cause the manipulator to move, thereby enhancing the autonomous operability of the manipulator.

[0033] In one embodiment, when the AGV trolley 20 carries the support 10, the rollers of the support 10 are rollably located on the ground. In this way, when the AGV trolley 20 carries the support 10 and moves, the rollers can assist the AGV trolley 20 and the support 10 to move by rolling, thereby enhancing the movement stability of the support 10.

[0034] Optionally, at least two rows of rollers are provided at the bottom of the support 10, and the at least two rows of rollers are provided on both sides of the perforation, and each row includes at least two rollers. Adding rollers can improve the balance and reliability of the roller support support 10.

[0035] Optionally, the roller is elastically arranged at the bottom of the support 10 .

[0036] For example, the roller is elastically connected to the support 10 via an elastic structure such as a spring or a spring sheet.

[0037] When the AGV trolley 20 and the support 10 are both independent structures and the support 10 is not lifted up, the elastic structure is in a compressed state, and the distance between the roller and the bottom surface of the support 10 is small; when the AGV trolley 20 lifts up the support 10, the elastic structure stretches, and the distance between the roller and the bottom surface of the support 10 becomes larger, the roller can continue to rest against the ground, and the elastic force of the elastic structure can also press the roller, thereby ensuring the friction between the roller and the ground.

[0038] Optionally, a counterweight cavity is provided on the support 10 , and the weight of the support 10 can be changed by adding or removing counterweight blocks in the counterweight cavity.

[0039] The counterweight cavity can be arranged in the support 10, or it can be arranged on one side of the support 10 and open to the outside. The counterweight block can be a standard counterweight structure (such as 1kg, 5kg, 10kg weights produced in conjunction with the support), or it can be anything that can increase the weight of the support 10.

[0040] When the manipulator needs to grab a heavy object, a counterweight block can be placed in the counterweight cavity to increase the weight of the support 10, thereby ensuring the stability of the base of the manipulator. When the manipulator grabs an ordinary object, the counterweight block in the counterweight cavity can be removed to reduce the weight of the support 10, so as to reduce the load of the AGV 20.

[0041] In a specific embodiment, the multi-axis arm 30 includes: a first arm 31, which is rotatably arranged on the support 10 through a first rotating shaft, and the first rotating shaft is extended in the vertical direction; a first driving member 32a, which is used to drive the first arm 31 to rotate around the first rotating shaft; a second arm 33, which is rotatably arranged on the first arm 31 through a second rotating shaft, and the second rotating shaft is extended in a first horizontal direction, and the first horizontal direction is perpendicular to the vertical direction; a second driving member 32b, which is used to drive the second arm 33 to rotate around the second rotating shaft; a third arm 34, which is rotatably arranged on the second arm 33 through a third rotating shaft, and the third rotating shaft is extended in the first horizontal direction; a third driving member 32c, which is used to drive the third arm 34 to rotate around the third rotating shaft; a fourth arm 35, which is rotatably arranged on the second arm 33 through a third rotating shaft, and the third rotating shaft is extended in the first horizontal direction. It is rotatably arranged on the third arm 34, and the fourth rotating shaft is extended along the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; the fourth driving member 32d is used to drive the fourth arm 35 to rotate around the fourth rotating shaft; the fifth arm 36 is rotatably arranged on the fourth arm 35 through the fifth rotating shaft, and the fifth rotating shaft is extended along the first horizontal direction; the fifth driving member 32e is used to drive the fifth arm 36 to rotate around the fifth rotating shaft; wherein, the mounting plate 41 is rotatably on the fifth arm 36 through the sixth rotating shaft, and the sixth rotating shaft is extended along the second horizontal direction; the multi-axis arm 30 also includes a sixth driving member 32f, and the sixth driving member 32f is used to drive the mounting plate 41 to rotate around the sixth rotating shaft, so as to facilitate the replacement of the hook 42 or the suction cup 43 for operation.

[0042] For details, please refer to Figure 2In the illustrated embodiment, the first arm 31 is driven to rotate around the first rotation axis by the first driving member 32a, and the mounting plate 41 and the hook 42 and the suction cup 43 thereon can rotate 360° in the horizontal plane; the second arm 33 is driven to rotate around the second rotation axis by the second driving member 32b, and the mounting plate 41 and the hook 42 and the suction cup 43 thereon can rotate 360° in the vertical plane; the first arm 31 and the second arm 33 cooperate, and the mounting plate 41 and the hook 42 and the suction cup 43 thereon can move on a semicircular path; the third arm 34 is driven to rotate around the third rotation axis by the third driving member 32c, and the mounting plate 41 and the hook 42 and the suction cup 43 thereon can make a circular motion at any point of the semicircular path, which can increase the movement area of ​​the hook 42 and the suction cup 43 outwardly and increase the hook 42 inwardly. and the landing point of the suction cup 43; since the second horizontal direction is perpendicular to the first horizontal direction, the fourth arm 35 is driven to rotate around the fourth rotation axis by the fourth driving member 32d, and the mounting plate 41 and the hook 42 and the suction cup 43 thereon can make circular motion in the other direction at any point of the semicircular path, and on the basis of continuing to increase the movement area and landing point of the mounting plate 41 outward and inward, the direction of the hook 42 and the suction cup 43 can also be adjusted; the fifth arm 36 is driven to rotate around the fifth rotation axis by the fifth driving member 32e, and the movement area of ​​the mounting plate 41 can be further increased outward and inward, and the working landing point of the hook 42 and the suction cup 43 can be accurately determined; the mounting plate 41 is directly driven to rotate around the sixth rotation axis by the sixth driving member 32f, and the direction of the hook 42 and the suction cup 43 can be quickly adjusted to facilitate the two to work independently or in coordination.

[0043] Among them, the first driving member 32a, the second driving member 32b, the third driving member 32c, the fourth driving member 32d, the fifth driving member 32e and the sixth driving member 32f can all be rotating driving components such as motors.

[0044] Optionally, the second arm 33 is formed by 3D printing, and the second arm 33 is configured to be in an intertwined vein shape.

[0045] Optionally, the fifth arm 36 is formed by 3D printing, and the fifth arm 36 is configured to be in an intertwined vein shape.

[0046] For details, please refer to Figure 2 In the illustrated embodiment, the second arm 33 and the fifth arm 36 are both formed by 3D printing. The second arm 33 and the fifth arm 36 both include a plurality of vein structures of varying thicknesses, which are irregularly intertwined, similar to the meridians of the human body. The intertwined vein shape has good support strength, while reducing material and weight. The multi-gap form is also conducive to the installation of cables for electrical appliances such as motors.

[0047] More specifically, before printing, the second arm 33 and the fifth arm 36 are drawn using relevant software; materials for preparing the second arm 33 and the fifth arm 36 (such as metal, polymer synthetic materials, etc.) are selected and placed in the 3D printer; the 3D printer is connected to a computer, and the computer controls the 3D printer to stack the materials layer by layer, and finally the second arm 33 and the fifth arm 36 are turned from blueprints into real objects.

[0048] 3D printing can save materials and quickly prepare the second arm 33 and the fifth arm 36 of the required configuration, which is simple to manufacture and low in cost. Especially when the design is non-standard and the production quantity is small, if the mold is prepared separately, it will be time-consuming, labor-intensive and expensive. 3D printing can conveniently and quickly complete the design and preparation of the product.

[0049] Optionally, a plurality of weight-reducing holes are provided on the fourth arm 35 .

[0050] The weight-reducing hole can reduce the weight of the fourth arm 35 without affecting the structural strength of the fourth arm 35, thereby reducing the driving load of the manipulator. At the same time, the weight-reducing hole can also be used to pass cables of electrical appliances such as motors.

[0051] Optionally, the movable multifunctional manipulator provided in the present application also includes a clamp 44, and the clamp 44, hook 42 and suction cup 43 are arranged on the mounting plate 41 at intervals along the circumferential direction; when the mounting plate 41 is rotated, the clamp 44, hook 42 or suction cup 43 can be replaced to perform operation.

[0052] For details, please refer to Figure 3 In the illustrated embodiment, a clamping claw 44, a hook 42 and a suction cup 43 are provided on the mounting plate 41, and the clamping claw 44, the hook 42 and the suction cup 43 are arranged at equal intervals along the circumferential direction.

[0053] When carrying the test block, the test block can be sucked up by the suction cup 43, or clamped by the clamping claw 44; when the test block needs to be rotated or the angle of the test block needs to be changed, the test block is preferably clamped by the clamping claw 44, which applies force to both sides of the test block and has good force stability. When the drawer is provided with a protruding handle, the drawer can also be opened and closed by the clamping claw 44.

[0054] Adding a gripper to the working end of the manipulator can increase the functionality of the manipulator and improve the applicability of the manipulator.

[0055] In other embodiments, other functional mechanisms such as a CCD camera, a photoelectric detection, and a weight detection may be added to the mounting plate 41 to meet more diverse work needs.

[0056] The present application also provides a test block transport device, comprising the above-mentioned movable multifunctional manipulator, and also comprising a test block bracket 50, wherein the test block bracket 50 is used for loading the test block.

[0057] When transferring the test blocks downstream, the test blocks to be transferred are first collected by the test block bracket 50, so that the test blocks are stacked on the test block bracket 50, and one test block bracket 50 can carry multiple test blocks. Then, the test block bracket 50 is moved to the working station with the manipulator, and the manipulator can grab the test blocks on the test block bracket 50 one by one and transfer them to the testing device or storage device.

[0058] Optionally, the test block bracket 50 is independently provided, and the AGV trolley 20 can carry the test block bracket 50 .

[0059] At this time, the test block bracket 50 can be set in the form of a support 10, and the bottom of the test block bracket 50 has a through hole for the AGV trolley 20 to enter and exit. After the AGV trolley 20 enters the through hole, it can lift the test block bracket 50. After the test block bracket 50 is lifted, the AGV trolley 20 can move with the test block bracket 50.

[0060] Optionally, the test block bracket 50 is detachably connected to the support 10 ; so that the test block bracket 50 is connected to the support 10 , when the AGV trolley 20 moves the manipulator, the test block bracket 50 can move with the support 10 .

[0061] For example, the test block bracket 50 is connected to the support 10 through a magnet (it can be that both are provided with magnets and are magnetically connected by the attraction of opposite poles, or it can be that one is provided with a magnet and the other is provided with a metal structure). The adsorption effect of the magnet is used to connect the test block bracket 50 to the support 10, and when the support 10 moves, the test block bracket 50 moves with it. By overcoming the adsorption force of the magnet and pulling apart the test block bracket 50 and the support 10, the two can be separated, so that the empty test block bracket 50 can return to the original station to continue to receive the test blocks to be transferred, and the manipulator can perform other operations normally.

[0062] For another example, a hook is provided on one of the test block bracket 50 and the support 10, and a buckle is provided on the other, so that the buckle is buckled into the hook to connect the test block bracket 50 and the support 10; and the buckle is disengaged from the hook to release the connection between the test block bracket 50 and the support 10.

[0063] For another example, a slot is provided on one of the test block bracket 50 and the support 10, and an insert block is provided on the other, so that the test block bracket 50 and the support 10 can be connected by inserting the insert block into the slot; and the connection between the test block bracket 50 and the support 10 can be released by leaving the insert block from the slot.

[0064] The present application does not limit the detachable connection method between the test block bracket 50 and the support 10 .

[0065] The test block bracket 50 is detachably connected to the support 10. When the two are connected together, the test block bracket 50 and the support 10 can be driven to move together by a group of AGV carts 20; when the connection between the two is released, the test block bracket 50 can independently stay at a certain workstation to receive the test block, and the manipulator can go to other workstations to work; when there are multiple groups of test block brackets 50 in the workshop, the connection between the empty test block bracket 50 and the support 10 can be released at any time, and the fully loaded test block bracket 50 can be connected to the support 10, so that the manipulator can always move with the test block bracket 50 carrying the test block to transfer the test block.

[0066] Optionally, a roller is provided at the bottom of the test block bracket 50 .

[0067] At this time, force is applied to the test block bracket 50, and the test block bracket 50 can move along the ground; in this way, the test block bracket 50 only needs to be connected to one side of the support 10, and the support 10 can be used to drive the test block bracket 50 to move.

[0068] Optionally, a detection mechanism is provided on the test block bracket 50 , and the detection mechanism is used to confirm the load condition of the test block on the test block bracket 50 .

[0069] The detection mechanism may use a photoelectric sensor to confirm whether there is a test block on the test block bracket 50 by checking whether the light is blocked; and the number of test blocks on the test block bracket 50 can also be determined based on the degree of light blocking.

[0070] Alternatively, the detection mechanism may use a weight sensor to confirm whether there is a test block on the test block bracket 50 and the number of test blocks on the test block bracket 50 by detecting the weight of the test block bracket 50 .

[0071] Alternatively, the detection mechanism may use a CCD camera to confirm whether there are test blocks on the test block bracket 50 and the number of test blocks on the test block bracket 50 by photographing the test block bracket 50 and comparing it with a picture of the test block bracket 50 loading condition in the system.

[0072] This application does not limit the specific configuration of the detection mechanism.

[0073] By providing the detection mechanism, the load condition of the test blocks on the test block bracket 50 can be understood, so that after the test blocks on the test block bracket 50 are used up, the empty test block bracket 50 can be transferred as soon as possible.

[0074] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A movable multifunctional manipulator, characterized in that: include: A support (10), wherein a bottom of the support (10) is provided with a perforation; An AGV trolley (20), disposed in the through hole and capable of moving the support (10); A multi-axis arm (30) rotatably disposed on the support (10); A mounting plate (41) rotatably disposed on the multi-axis arm (30); A hook (42) is provided on the mounting plate (41) and is used for opening and closing the drawer; a suction cup (43), the suction cup (43) and the hook (42) being arranged on the mounting plate (41) at intervals along a circumferential direction, the suction cup (43) being used to absorb a test block; When working, the AGV trolley (20) moves, and the manipulator can go to different workstations to operate; The drawer can be opened by the hook (42) and the manipulator can be taken out of the drawer or placed in the drawer by the suction cup (43).

2. The movable multifunctional manipulator according to claim 1, characterized in that: The bottom of the support (10) is provided with a roller.

3. The movable multifunctional manipulator according to claim 2, characterized in that: The roller is elastically arranged at the bottom of the support (10).

4. The movable multifunctional manipulator according to claim 1, characterized in that: The support (10) is provided with a counterweight cavity, and the weight of the support (10) can be changed by adding or removing counterweight blocks in the counterweight cavity.

5. The movable multifunctional manipulator according to claim 1, characterized in that: The multi-axis arm (30) comprises: A first arm (31) is rotatably arranged on the support (10) via a first rotating shaft, wherein the first rotating shaft extends in a vertical direction; A first driving member (32a) for driving the first arm (31) to rotate around the first rotating shaft; A second arm (33) is rotatably arranged on the first arm (31) via a second rotating shaft, wherein the second rotating shaft is extended along a first horizontal direction, and the first horizontal direction is perpendicular to the vertical direction; a second driving member (32b), used for driving the second arm (33) to rotate around the second rotation axis; a third arm (34) rotatably disposed on the second arm (33) via a third rotating shaft, the third rotating shaft extending along the first horizontal direction; A third driving member (32c), used for driving the third arm (34) to rotate around the third rotation axis; a fourth arm (35) rotatably disposed on the third arm (34) via a fourth rotating shaft, the fourth rotating shaft extending along a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; a fourth driving member (32d), used for driving the fourth arm (35) to rotate around the fourth rotation axis; a fifth arm (36) rotatably disposed on the fourth arm (35) via a fifth rotating shaft, the fifth rotating shaft extending along the first horizontal direction; a fifth driving member (32e), used for driving the fifth arm (36) to rotate around the fifth rotation axis; Wherein, the mounting plate (41) is rotatably mounted on the fifth arm (36) via a sixth rotating shaft, and the sixth rotating shaft is extended along the second horizontal direction; The multi-axis arm (30) further comprises a sixth driving member (32f), wherein the sixth driving member (32f) is used to drive the mounting plate (41) to rotate around the sixth rotating axis, so as to facilitate replacement of the hook (42) or the suction cup (43) for operation.

6. The movable multifunctional manipulator according to claim 5, characterized in that: The second arm (33) is formed by 3D printing, and the second arm (33) is arranged in an intertwined vein shape; And / or, the fourth arm (35) is provided with a plurality of weight-reducing holes; And / or, the fifth arm (36) is formed by 3D printing, and the fifth arm (36) is arranged in an intertwined vein shape.

7. The movable multifunctional manipulator according to any one of claims 1 to 6, characterized in that: It also includes a clamping claw (44), wherein the clamping claw (44), the hook (42) and the suction cup (43) are arranged on the mounting plate (41) at intervals along the circumferential direction; The mounting plate (41) is rotated so that the clamping claw (44), the hook (42) or the suction cup (43) can be replaced to perform operations.

8. A test block transport device, characterized in that: The movable multifunctional manipulator comprises the movable multifunctional manipulator according to any one of claims 1 to 7, and further comprises a test block bracket (50), wherein the test block bracket (50) is used for loading the test block.

9. The test block transport device according to claim 8, characterized in that: The test block bracket (50) is detachably connected to the support (10); The test block bracket (50) is connected to the support (10), and when the AGV trolley (20) moves the manipulator, the test block bracket (50) can move along with the support (10).

10. The test block transport device according to claim 8, characterized in that: The test block bracket (50) is provided with a detection mechanism, and the detection mechanism is used to confirm the load condition of the test block on the test block bracket (50).

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