Two-in-one manipulator

Abstract

The utility model discloses a two-in-one manipulator which comprises a main arm, the main arm is provided with at least one first clamping arm and at least one second clamping arm, the first clamping arm is at least provided with a first clamping part and a second clamping part, and the second clamping arm is at least provided with a third clamping part and a fourth clamping part; the first clamping part corresponds to the third clamping part to form a first clamping structure, and the second clamping part corresponds to the fourth clamping part to form a second clamping structure. Through the arrangement of the first clamping structure and the second clamping structure, the first clamping structure can clamp / put down one workpiece, or the second clamping structure can clamp / put down the other workpiece, so that the clamping of various different types of workpieces can be realized, the two-in-one function of the manipulator is realized, the complexity of replacing a clamping arm in the midway is reduced, and the universality is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, in particular to a two-in-one manipulator. Background Art

[0002] In cell staining and slide making equipment, various types of workpieces are usually used, such as sample bottles, centrifuge tube transfer racks, slide making chambers and glass slides. Each workpiece is then transferred to the corresponding workstation manually or by a robot to complete the corresponding experimental process.

[0003] The manual transfer of different types of workpieces is inefficient and difficult to meet actual needs. The use of robots to transfer different types of workpieces has large differences in appearance between the workpieces. For example, the sample bottle and the centrifuge tube transfer rack have completely different geometric shapes, and the preparation chamber and the glass slide also have completely different geometric shapes. Therefore, in the prior art, different robots are usually designed according to the geometric shapes of each workpiece, but their versatility is low, which increases the specificity, quantity and specifications of the equipment robots to a certain extent, thereby increasing the production cost. Summary of the invention

[0004] The purpose of the utility model is to provide a two-in-one manipulator, which can realize the clamping of a variety of different types of workpieces, reduce the tediousness of changing clamping arms in the middle, and improve versatility.

[0005] The technical solutions to achieve the above objectives include the following:

[0006] Two-in-one robot, including:

[0007] Main boom;

[0008] The main arm is provided with at least one first clamping arm and at least one second clamping arm, the first clamping arm is provided with at least a first clamping portion and a second clamping portion, and the second clamping arm is provided with at least a third clamping portion and a fourth clamping portion;

[0009] The first clamping portion corresponds to the third clamping portion and forms a first clamping structure, and the second clamping portion corresponds to the fourth clamping portion and forms a second clamping structure.

[0010] In some embodiments, the first clamping structure is closer to the main arm than the second clamping structure, and a distance between the first clamping portion and the third clamping portion is smaller than a distance between the second clamping portion and the fourth clamping portion.

[0011] In some embodiments, the first clamping portion and the third clamping portion both include: a first abutting surface, the first abutting surface is an arc surface, and a plurality of tooth blocks are arranged on the first abutting surface.

[0012] In some embodiments, the first clamping portion and the third clamping portion each include: a first abutting surface, an upper plane and a lower plane; the upper plane is arranged on the upper side of the first abutting surface, and the lower plane is arranged on the lower side of the first abutting surface.

[0013] In some embodiments, the second clamping portion and the fourth clamping portion both include a recessed groove, and the four sides of the recessed groove are draft bevels.

[0014] In some embodiments, the second clamping portion and the fourth clamping portion both include: a V-shaped groove, and the bottom of the V-shaped groove is a plane.

[0015] In some embodiments, the second clamping portion and the fourth clamping portion both include: a second abutting surface, and the second abutting surface is an arc surface.

[0016] In some embodiments, the first abutting surface is also an arc surface, and the arc length of the first abutting surface is greater than the arc length of the second abutting surface.

[0017] In some embodiments, a first limit block is disposed on the first clamping arm, and a second limit block is disposed on the second clamping arm. The first limit block is closer to the main arm than the first clamping portion, and the second limit block is closer to the main arm than the third clamping portion.

[0018] In some embodiments, the first clamping arm includes: a first slider and a first arm body; the second clamping arm includes: a second slider and a second arm body; the first slider and the second slider are both slidably arranged on the main arm, the first arm body is provided with a first positioning groove, the second arm body is provided with a second positioning groove, the first positioning groove is plugged into the first slider, the second positioning groove is plugged into the second slider, the first slider is fixedly connected to the first arm body by a first screw, and the second slider is fixedly connected to the second arm body by a second screw.

[0019] In some embodiments, the first clamping arm includes: a first slider and a first arm body; the second clamping arm includes: a second slider and a second arm body; the first slider and the second slider are both slidably set on the main arm, the first arm body is provided with a first positioning pin, and the second arm body is provided with a second positioning pin. The first slider is provided with a first positioning hole, and the second slider is provided with a second positioning hole. The first positioning pin is inserted into the first positioning hole, and the second positioning pin is inserted into the second positioning hole. The first slider is fixedly connected to the first arm body by a first screw, and the second slider is fixedly connected to the second arm body by a second screw.

[0020] The technical solution provided by the utility model has the following advantages and effects: through the setting of the first clamping structure and the second clamping structure, the first clamping structure can clamp / put down a workpiece, or the second clamping structure can clamp / put down another workpiece, thereby being able to clamp a variety of different types of workpieces, realizing the two-in-one function of the manipulator, reducing the tediousness of changing the clamping arm in the middle, and improving versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein show specific examples of the technical solutions described in the present utility model, and together with the specific implementation methods constitute a part of the specification, and are used to explain the technical solutions, principles and effects of the present utility model.

[0022] Unless otherwise specified or defined, the same reference numerals in different drawings represent the same or similar technical features, and the same or similar technical features may also be represented by different reference numerals.

[0023] Figure 1 This is a schematic diagram of the structure of clamping a first workpiece in Embodiment 1 of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure of clamping the second workpiece in the first embodiment of the utility model

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of the first arm body of the first embodiment of the utility model;

[0026] Figure 4 It is a three-dimensional structural schematic diagram of the first arm body of the first embodiment of the utility model from another angle;

[0027] Figure 5 This is a schematic diagram of the structure of clamping the first workpiece in the second embodiment of the utility model;

[0028] Figure 6 This is a schematic diagram of the structure of clamping a second workpiece in the second embodiment of the utility model;

[0029] Figure 7 It is a three-dimensional structural schematic diagram of the main arm, the first slider and the second slider in the second embodiment of the utility model;

[0030] Figure 8 This is a schematic diagram of the three-dimensional structure of the first arm body of the second embodiment of the utility model;

[0031] Fig. 9 This is a schematic diagram of the three-dimensional structure of the first arm of the second embodiment of the utility model from another angle;

[0032] Fig.10 This is a schematic diagram of the structure of clamping the first workpiece in the third embodiment of the utility model;

[0033] Fig.11 This is a schematic diagram of the explosion structure of the third embodiment of the utility model;

[0034] Fig.12 It is a schematic diagram of the three-dimensional structure of the first arm body of the third embodiment of the utility model.

[0035] Description of reference numerals:

[0036] E10, main arm; E11, first shell; E12, second shell; E13, connecting block; E131, slide groove; E20, first clamping arm; E21, first arm body; E211, first arc plate; E212, second arc plate; E213, first convex strip; E22, first slider; E221, first positioning hole; E23, first clamping part; E24, second clamping part; E25, first positioning groove; E251, first positioning surface; E252, second positioning surface; E26, first limit block; E261, first locking screw; E27, first screw; E28, first Locating pin; E29, first avoidance groove; E30, second clamping arm; E31, second arm body; E311, third arc plate; E312, fourth arc plate; E313, second convex strip; E32, second slider; E321, second locating hole; E33, third clamping part; E34, fourth clamping part; E35, second limit block; E40, first abutting surface; E41, toothed block; E42, upper plane; E43, lower plane; E50, countersunk groove; E51, draft bevel; E60, V-groove; E70, second abutting surface; E80, first workpiece; E90, second workpiece. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0038] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0039] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] It should be noted that when a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there can be a central component; when an component is considered to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time; when an component is considered to be "installed on" another component, it can be directly installed on the other component or there can be a central component at the same time. When an component is considered to be "set on" another component, it can be directly set on the other component or there can be a central component at the same time.

[0041] Embodiment 1

[0042] like Figure 1 and Figure 2 As shown, the first embodiment of the present invention provides a two-in-one manipulator, comprising:

[0043] Main boom E10;

[0044] The main arm E10 is provided with at least one first clamping arm E20 and at least one second clamping arm E30, the first clamping arm E20 is provided with at least a first clamping portion E23 and a second clamping portion E24, and the second clamping arm E30 is provided with at least a third clamping portion E33 and a fourth clamping portion E34;

[0045] The first clamping portion E23 corresponds to the third clamping portion E33 and forms a first clamping structure, and the second clamping portion E24 corresponds to the fourth clamping portion E34 and forms a second clamping structure.

[0046] Specifically, in this embodiment, the main arm E10 includes: a first shell E11, a second shell E12 and a connecting block E13, the second shell E12 is rotatably connected to the first shell E11, the connecting block E13 is fixedly connected to the second shell E12, the first clamping arm E20 and the second clamping arm E30 are slidably arranged on the connecting block E13, a driving motor is arranged in the first shell E11, a transmission assembly is arranged in the second shell E12, the output end of the driving motor passes through the first shell E11 and the second shell E12 and then is connected to the input end of the transmission assembly, the output end of the transmission assembly passes through the second shell The body E12 and the connecting block E13 are connected with the first clamping arm E20 and the second clamping arm E30. The transmission component can adopt the worm gear, gear connecting rod and other components in the prior art, which are not limited here. The transmission component is driven by the driving motor to move, and the transmission component drives the first clamping arm E20 and the second clamping arm E30 to open and close, so that the first clamping structure can clamp / put down the first workpiece E80, or the second clamping structure can clamp / put down the second workpiece E90, so that two different types of workpieces can be clamped, the two-in-one function of the robot can be realized, the tediousness of changing the clamping arm in the middle is reduced, and the versatility is improved.

[0047] Furthermore, the first clamping structure is closer to the main arm E10 than the second clamping structure, and the distance between the first clamping portion E23 and the third clamping portion E33 is greater than the distance between the second clamping portion E24 and the fourth clamping portion E34.

[0048] Specifically, in this embodiment, the first clamping structure is closer to the main arm E10 than the second clamping structure, and the distance between the first clamping part E23 and the third clamping part E33 is smaller than the distance between the second clamping part E24 and the fourth clamping part E34, so as to prevent the second clamping structure from affecting the clamping of the first workpiece E80 by the first clamping structure, and after the second clamping structure clamps the second workpiece E90, the first clamping structure can also play an axial limiting role on the second workpiece E90, so as to prevent the second workpiece E90 from axial slippage and causing failure of the insertion station.

[0049] Furthermore, if Figure 3 As shown, the first clamping portion E23 and the third clamping portion E33 both include: a first abutting surface E40, the first abutting surface E40 is an arc surface, and a plurality of tooth blocks E41 are provided on the first abutting surface E40.

[0050] Specifically, in this embodiment, the first abutting surface E40 of the first clamping portion E23 is arranged on the first clamping arm E20, the first abutting surface E40 of the third clamping portion E33 is arranged on the second clamping arm E30, a plurality of toothed blocks E41 are evenly arranged, the first workpiece E80 is a sample bottle, a plurality of evenly arranged toothed bars are arranged on the side wall of the bottle cap of the sample bottle, and toothed grooves are formed between adjacent toothed bars. The first abutting surface E40 is an arc surface, and a plurality of toothed blocks E41 are arranged on the first abutting surface E40. When the first clamping structure clamps the sample bottle, the plurality of toothed blocks E41 are arranged on the side wall of the bottle cap of the sample bottle. E41 is inserted into the corresponding toothed groove, so that the sample bottle is automatically centered and aligned to ensure the accuracy of the clamping and transfer to the next workstation. In addition, after the first clamping arm E20 and the second clamping arm E30 clamp the bottle cap of the sample bottle, the driving motor can drive the second shell E12 to rotate, and the second shell E12 drives the connecting block E13, the first clamping arm E20 and the second clamping arm E30 to rotate to complete the opening and screwing operations. When the first workpiece E80 is rotated to open and screw the cap, the friction force can be increased by the setting of the toothed block E41 to prevent the screw cap from slipping and causing the opening and screwing operations to fail.

[0051] Furthermore, the second clamping portion E24 and the fourth clamping portion E34 both include a recessed groove E50, and four side surfaces of the recessed groove E50 are draft bevels E51.

[0052] Specifically, in the present embodiment, the groove E50 of the second clamping part E24 is provided on the first clamping part E23, the groove E50 of the fourth clamping part E34 is provided on the fourth clamping part E34, the second workpiece E90 is a centrifuge tube transfer rack, and the four side surfaces of the groove E50 are all draft bevels E51, that is, the upper, lower, left and right four side surfaces of the groove E50 gradually incline toward the outside from the bottom of the groove E50, so that the second abutment mechanism can be compatible with the position accuracy error of the centrifuge tube transfer rack, ensuring that each clamping is stable and reliable.

[0053] Furthermore, if Figure 1 and Figure 4 As shown, a first limit block E26 is provided on the first clamping arm E20, and a second limit block E35 is provided on the second clamping arm E30. The first limit block E26 is closer to the main arm E10 than the first clamping part E23, and the second limit block E35 is closer to the main arm E10 than the third clamping part E33.

[0054] Specifically, in the present embodiment, the first limit block E26 is fixed to the first clamping arm E20 by the first locking screw E261, and the second limit block E35 is fixed to the second clamping arm E30 by the second locking screw. The first limit block E26 corresponds to the second limit block E35. The first limit block E26 is closer to the main arm E10 than the first clamping part E23, and the second limit block E35 is closer to the main arm E10 than the third clamping part E33. When the first workpiece E80 is transferred and inserted into the next workstation, the first limit block E26 and the second limit block E35 can abut against the top end of the first workpiece E80, thereby playing an axial limiting role on the first workpiece E80, thereby preventing the first workpiece E80 from axial slippage and causing failure of insertion into the workstation.

[0055] Furthermore, if Figure 2 and Figure 3 As shown, the first clamping arm E20 includes: a first slider E22 and a first arm body E21; the second clamping arm E30 includes: a second slider E32 and a second arm body E31; the first slider E22 and the second slider E32 are both slidably arranged on the main arm E10, the first arm body E21 is provided with a first positioning groove E25, the second arm body E31 is provided with a second positioning groove, the first positioning groove E25 is plugged into the first slider E22, the second positioning groove is plugged into the second slider E32, the first slider E22 is fixedly connected to the first arm body E21 by a first screw E27, and the second slider E32 is fixedly connected to the second arm body E31 by a second screw.

[0056] Specifically, in the present embodiment, a slide groove E131 is provided on the connecting block E13, and the first slider E22 and the second slider E32 are both slidably arranged in the slide groove E131. A first positioning block is arranged on both sides of the first arm body E21, and a second positioning block is arranged on the first arm body E21 below the first positioning block to form a first positioning groove E25. The inner side surface of the first positioning block is a first positioning surface E251, and the inner side surface of the second positioning block is a second positioning surface E252. A third positioning block is arranged on both sides of the second arm body E31, and a fourth positioning block is arranged on the second arm body E31 below the third positioning block to form a second positioning groove. The inner side surfaces of the three positioning blocks are the third positioning surface, and the inner side surface of the fourth positioning block is the fourth positioning surface. After the first slider E22 is inserted into the first positioning groove E25, the first positioning surface E251 and the second positioning surface E252 are limited to prevent the first arm body E21 and the first slider E22 from being offset, which facilitates the first screw E27 to lock and fix the first arm body E21 and the first slider E22. After the second slider E32 is inserted into the second positioning groove, the third positioning surface and the fourth positioning surface are limited to prevent the second arm body E31 and the second slider E32 from being offset, which facilitates the second screw to lock and fix the first arm body E21 and the first slider E22.

[0057] Embodiment 2

[0058] like Figure 5-9 As shown, the difference from the first embodiment is that the first clamping part E23 and the third clamping part E33 both include: a first abutting surface E40, an upper plane E42 and a lower plane E43; the upper plane E42 is arranged on the upper side of the first abutting surface E40, and the lower plane E43 is arranged on the lower side of the first abutting surface E40.

[0059] Specifically, in this embodiment, the main arm E10 includes: a first shell body E11 and a connecting block E13, the connecting block E13 is fixedly connected to the first shell body E11, the first clamping arm E20 and the second clamping arm E30 are slidably arranged on the connecting block E13, the first shell body E11 is provided with a driving motor and a transmission assembly, the output end of the driving motor is connected to the input end of the transmission assembly, the output end of the transmission assembly passes through the first shell body E11 and the connecting block E13 and is connected to the first clamping arm E20 and the second clamping arm E30, the first abutting surface E40 is an arc surface, the upper plane E42 of the first clamping portion E23 is the bottom surface of the first limit block E26, the second clamping portion E24 is the bottom surface of the second limit block E35, and the first limit block E 26 is formed by the front side of the first clamping arm E20 extending outward, the second limit block E35 is formed by the front side of the second clamping arm E30 extending outward, the first workpiece E80 is a film making bin, and through the setting of the first abutting surface E40, the upper plane E42 and the lower plane E43, when the film making bin is clamped, the first abutting surface E40 which is an arc surface cooperates with the arc surface of the film making bin to automatically center and clamp to realize positioning, clamping and transfer. When the film making bin is inserted into the work station, the upper plane E42 directly acts on the top plane of the film making bin to prevent the film making bin from axially slipping during the insertion process, resulting in insertion failure. When the film making bin is taken out, the lower plane E43 supports the shoulder surface of the film making bin to prevent the film making bin from axially slipping, resulting in failure to take out the film making bin.

[0060] Furthermore, if Figure 8 As shown, the second clamping portion E24 and the fourth clamping portion E34 both include: a V-shaped groove E60, and the bottom of the V-shaped groove E60 is a plane.

[0061] Specifically, in the present embodiment, the V-groove E60 of the second clamping part E24 is arranged on the first clamping arm E20, the V-groove E60 of the fourth clamping part E34 is arranged on the second clamping arm E30, and the second workpiece E90 is a glass slide. When the paddle is clamped, under the guidance of the V-groove E60, the glass slide automatically moves to the center until the side of the glass slide is aligned with the bottom plane of the V-groove E60, thereby eliminating the positioning accuracy error of the glass slide and avoiding the glass slide being crushed due to poor positioning accuracy during the clamping process. After the side of the glass slide is aligned with the bottom plane of the V-groove E60, the driving motor receives the clamping force feedback and stops clamping, thereby realizing the clamping transfer of the glass slide.

[0062] Furthermore, if Figure 7 and Figure 8As shown, a first positioning pin E28 is provided on the first arm body E21, a second positioning pin is provided on the second arm body E31, a first positioning hole E221 is provided on the first slider E22, a second positioning hole E321 is provided on the second slider E32, the first positioning pin E28 is inserted into the first positioning hole E221, the second positioning pin is inserted into the second positioning hole E321, the first slider E22 is fixedly connected to the first arm body E21 by a first screw E27, and the second slider E32 is fixedly connected to the second arm body E31 by a second screw.

[0063] Specifically, in this embodiment, the first positioning pin E28 cooperates with the first positioning hole E221 to facilitate fixing the first slider E22 to the first arm E21 by the first screw E27, and the second positioning pin cooperates with the second positioning hole E321 to facilitate fixing the second slider E32 to the second arm E31 by the second screw. Figure 8 As shown, in this embodiment, a first avoidance groove E29 is provided on the back side of the first arm body E21, so that the rod of the first screw E27 passes through the first arm body E21 from the side wall of the first avoidance groove E29 and is fixedly connected to the first slider E22, and the head of the first screw E27 is located in the first avoidance groove E29, and a second avoidance groove is provided on the back side of the second arm body E31, so that the rod of the second screw passes through the second arm body E31 from the side wall of the second avoidance groove and is fixedly connected to the second slider E32, and the head of the second screw is located in the second avoidance groove. The provision of the first avoidance groove E29 and the second avoidance groove not only facilitates the installation and disassembly of the first screw E27 and the second screw, but also can protect the first screw E27 and the second screw, respectively.

[0064] Embodiment 3

[0065] like Figure 10-12 As shown, the difference from the first embodiment is that the second clamping portion E24 and the fourth clamping portion E34 both include: a second abutting surface E70, and the second abutting surface E70 is an arc surface.

[0066] Specifically, in the present embodiment, the main arm E10 comprises: a first shell body E11 and a connecting block E13, wherein the connecting block E13 is rotatably connected to the first shell body E11, a first clamping arm E20 and a second clamping arm E30 are slidably arranged on the connecting block E13, a driving motor and a transmission assembly are arranged in the first shell body E11, an output end of the driving motor is connected to an input end of the transmission assembly, and an output end of the transmission assembly is connected to the first clamping arm E20 and the second clamping arm E30 after passing through the first shell body E11 and the connecting block E13, after the first clamping arm E20 and the second clamping arm E30 clamp the bottle cap of the sample bottle, the driving motor can drive the connecting block E13, the first clamping arm E20 and the second clamping arm E30 to rotate, so as to complete the operation of opening and screwing the cap, and two sliding grooves E131 are arranged on the connecting block E13, the first sliding block E22 and the second The slider E32 is slidably arranged in the two slide grooves E131 respectively, and the first arm body E21 includes: a first arc plate E211 and a second arc plate E212, the top of the first arc plate E211 is extended with a first protrusion and a first protrusion E213, the second arc plate E212 is arranged at the bottom end of the first arc plate E211, the first protrusion is the first limit block E26, and the first protrusion E213 is fixedly connected to the first slider E22, and the second arm body E31 includes: a third arc plate E311 and a fourth arc plate E312, the top of the third arc plate E311 is extended with a second protrusion and a second protrusion E313, the fourth arc plate E312 is arranged at the bottom end of the third arc plate E311, the second protrusion is the second limit block E35, and the second protrusion E313 is fixedly connected to the second slider E32. The inner arc surface of the first arc plate E211 and the inner arc surface of the third arc plate E311 are both the first abutment surface E40, the inner arc surface of the second arc plate E212 and the inner arc surface of the fourth arc plate E312 are both the second abutment surface E70, and the second workpiece E90 is a membrane tube. When the second workpiece E90 is clamped, the second abutment surface E70 gradually approaches the second workpiece E90 until the side surface of the second workpiece E90 is fit and positioned with the second abutment surface E70, and the driving motor receives clamping force feedback and stops clamping, thereby realizing the clamping transfer of the second workpiece E90.

[0067] Furthermore, the first abutting surface E40 is also an arc surface, and the arc length of the first abutting surface E40 is greater than the arc length of the second abutting surface E70, that is, the arc length of the first arc plate E211 is greater than the arc length of the second arc plate E212, and the arc length of the third arc plate E311 is greater than the arc length of the fourth arc plate E312.

[0068] In actual applications, the diameter of the sample bottle is larger than the diameter of the film tube. The arc length of the first abutting surface E40 is greater than the arc length of the second abutting surface E70, that is, the arc length of the second abutting surface E70 is reduced. When the first clamping arm E20 and the second clamping arm E30 clamp the film tube, they are closer to each other, so as to clamp the film tube with a smaller diameter.

[0069] Furthermore, the curvature of the first abutting surface E40 is smaller than that of the second abutting surface E70, that is, the curvature of the first arc plate E211 is smaller than that of the second arc plate E212, and the curvature of the third arc plate E311 is smaller than that of the fourth arc plate E312. When the thickness of the first arc plate E211 is not less than that of the second arc plate E212, and the thickness of the third arc plate E311 is not less than that of the fourth arc plate E312, the curvature of the first abutting surface E40 is smaller than that of the second abutting surface E70, so that a clearance groove is formed, thereby making it easier to clamp the first workpiece E80. When clamping the membrane tube, the bottom surface of the clearance groove abuts against the limiting membrane tube to prevent the membrane tube from sliding upward and causing failure of the insertion station.

[0070] Furthermore, the thickness of the first arc plate E211 is greater than that of the second arc plate E212, and the thickness of the third arc plate E311 is greater than that of the fourth arc plate E312. While deepening the give way groove, it can prevent the second arc plate E212 and the fourth arc plate E312 from protruding from the outside of the first arc plate E211 and the outside of the third arc plate E311 respectively, thereby reducing the space occupied by the first arm body E21 and the second arm body E31.

[0071] Furthermore, if Fig.11 and Fig.12 As shown, at least one first positioning pin E28 is provided on the first arm body E21, at least one second positioning pin is provided on the second arm body E31, at least one first positioning hole E221 is provided on the first slider E22, at least one second positioning hole E321 is provided on the second slider E32, the first positioning pin E28 is inserted into the first positioning hole E221, the second positioning pin is inserted into the second positioning hole E321, the first slider E22 is fixedly connected to the first arm body E21 by a first screw E27, and the second slider E32 is fixedly connected to the second arm body E31 by a second screw.

[0072] Specifically, in the present embodiment, the first positioning groove E25 is provided at the top of the first convex strip E213, the first positioning pin E28 is arranged at the bottom of the first positioning groove E25, the second positioning groove is provided at the top of the second convex strip E313, and the second positioning pin is arranged at the bottom of the second positioning groove. Through the cooperation of the first positioning pin E28 and the first positioning hole E221, it is convenient to fix the first convex strip E213 and the first slider E22 by the first screw E27, and through the cooperation of the second positioning pin and the second positioning hole E321, it is convenient to fix the second convex strip E313 and the second slider E32 by the second screw.

[0073] When quoting drawing descriptions, new features that appear are described; in order to avoid repeated quotations of drawings resulting in less concise descriptions, features that have been described clearly will not be quoted in the drawings one by one.

[0074] The purpose of the above embodiments is to exemplarily reproduce and deduce the technical solution of the utility model, and to fully describe the technical solution, purpose and effect of the utility model. Its purpose is to make the public understand the disclosed content of the utility model more thoroughly and comprehensively, and it does not limit the protection scope of the utility model.

[0075] The above embodiments are not exhaustive enumerations based on the present invention, and there may be multiple other implementations not listed. Any replacement and improvement made without violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. Two-in-one robot, characterized in that: include: Main boom; The main arm is provided with at least one first clamping arm and at least one second clamping arm, the first clamping arm is provided with at least a first clamping portion and a second clamping portion, and the second clamping arm is provided with at least a third clamping portion and a fourth clamping portion; The first clamping portion corresponds to the third clamping portion and forms a first clamping structure, and the second clamping portion corresponds to the fourth clamping portion and forms a second clamping structure.

2. The two-in-one robot according to claim 1, characterized in that: The first clamping structure is closer to the main arm than the second clamping structure, and the distance between the first clamping portion and the third clamping portion is smaller than the distance between the second clamping portion and the fourth clamping portion.

3. The two-in-one robot according to claim 1, characterized in that: The first clamping part and the third clamping part both include: a first abutting surface, the first abutting surface is an arc surface, and a plurality of tooth blocks are arranged on the first abutting surface.

4. The two-in-one robot according to claim 1, characterized in that: The first clamping portion and the third clamping portion each include: a first abutting surface, an upper plane and a lower plane; the upper plane is arranged on the upper side of the first abutting surface, and the lower plane is arranged on the lower side of the first abutting surface.

5. The two-in-one robot according to claim 1, characterized in that: The second clamping part and the fourth clamping part both include a recessed groove, and the four side surfaces of the recessed groove are all draft slopes.

6. The two-in-one robot according to claim 1, characterized in that: The second clamping portion and the fourth clamping portion both include a V-shaped groove, and the bottom of the V-shaped groove is a plane.

7. The two-in-one robot as claimed in claim 3, characterized in that: The second clamping portion and the fourth clamping portion both include a second abutting surface, and the second abutting surface is an arc surface.

8. The two-in-one robot according to claim 7, characterized in that: The arc length of the first abutting surface is greater than the arc length of the second abutting surface.

9. The two-in-one robot according to any one of claims 1 to 8, characterized in that: The first clamping arm is provided with a first limit block, and the second clamping arm is provided with a second limit block. The first limit block is closer to the main arm than the first clamping portion, and the second limit block is closer to the main arm than the third clamping portion.

10. The two-in-one robot according to any one of claims 1 to 8, characterized in that: The first clamping arm includes: a first slider and a first arm body; the second clamping arm includes: a second slider and a second arm body; the first slider and the second slider are both slidably arranged on the main arm, the first arm body is provided with a first positioning groove, the second arm body is provided with a second positioning groove, the first positioning groove is plugged into the first slider, the second positioning groove is plugged into the second slider, the first slider is fixedly connected to the first arm body by a first screw, and the second slider is fixedly connected to the second arm body by a second screw.

11. The two-in-one robot according to any one of claims 1 to 8, characterized in that: The first clamping arm includes: a first slider and a first arm body; the second clamping arm includes: a second slider and a second arm body; the first slider and the second slider are both slidably set on the main arm, the first arm body is provided with a first positioning pin, and the second arm body is provided with a second positioning pin. The first slider is provided with a first positioning hole, and the second slider is provided with a second positioning hole. The first positioning pin is inserted into the first positioning hole, and the second positioning pin is inserted into the second positioning hole. The first slider is fixedly connected to the first arm body by a first screw, and the second slider is fixedly connected to the second arm body by a second screw.

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