A semi-physical platform detection and grasping robot arm

Abstract

The present invention discloses a semi-physical platform detection and grasping mechanical arm, belonging to the technical field of mechanical arms. Detection information receiving unit; the upper end of the base is movably connected with an arm support, the upper end of the arm support is movably connected with a support tray, the upper end of the support tray is movably connected with an arm seat, one side of the arm seat is movably connected with a lower arm, both sides of the lower arm are movably connected with upper arms, the two upper arms are movably connected with a swing arm 1, the front end of the swing arm 1 is movably connected with a turntable 2, and the front end of the turntable 2 is movably connected with a swing arm 2; the clamping rod is arranged at the groove at the front end of the swing arm 2, the lower end of the clamping rod is movably connected with a shift seat, the lower end of the shift seat is movably connected with a clamping claw seat, and both sides of the clamping claw seat are movably connected with clamping claws. The present invention solves the problem that the existing mechanical arm cannot flexibly change the grasping angle to complete the placement, folding and moving operations in the sandbox. The present invention can use the mechanical arm to automatically change the sandbox target, and complete the placement, folding and moving of some added or moved target models in the sandbox.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a semi-physical platform detection and grasping mechanical arm. Background Art

[0002] The robotic arm is a high-precision machine arm that corresponds to small-batch production methods and improves production efficiency. The robotic arm is currently the most widely used automated mechanical device in the field of robotic technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military and space exploration. It can correspond to various tasks such as UV irradiation, part placement, screw locking and circuit board cutting. Although the shapes of robotic arms are different, they all have one common feature, which is the ability to accept instructions and accurately locate a certain point in three-dimensional space to perform operations.

[0003] A Chinese patent with publication number CN202320133840.X discloses a mechanical automated grasping robot arm, including a mounting block, a driving motor, a driving screw, a clamping plate, an auxiliary grasping mechanism and a protective structure. A driving cavity is provided in the mounting block, and the driving motor is arranged in the driving cavity. A support plate is provided in the driving cavity. Both ends of the driving screw are rotatably arranged between the inner side wall of the driving cavity and the support plate. The power output of the driving motor is connected to the driving screw. Two sets of thread groups are provided on the driving screw, and the two sets of threads are arranged in opposite directions. A limiting slide groove is provided at the bottom of the mounting block, and two sets of stiffening plates are provided. This patent designs the field of grasping robot arm technology, and specifically provides a mechanical automated grasping robot arm with a reasonable and simple structure, stable and reliable grasping, and good protection function for grasping.

[0004] The above patent discloses a method of grabbing a workpiece by driving a motor, a screw and a clamping plate. The auxiliary gripping structure can assist in further stably clamping the workpiece, thereby improving the stability of the gripping. The protective structure can protect the workpiece after the gripping is completed, thereby improving the protection of the gripping robot arm to the workpiece. However, it is currently necessary to use a sand table to construct a semi-physical simulation module for hot military areas to provide combat commanders with training in command capabilities such as military deployment, combat plan formulation, organization of coordinated actions, and implementation of tactical exercises. However, the robot arm used on the sand table cannot flexibly change the gripping angle to complete the placement, folding and moving operations in the sand table. Summary of the invention

[0005] The purpose of the present invention is to provide a semi-physical platform detection and grasping robot arm, which adopts a six-axis joint robot structure and has six degrees of freedom, namely rotation, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation. The material at each joint is made of high-strength aluminum, which ensures the high strength, high speed, high precision and high stability of the machine, and solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a semi-physical platform detection and grasping mechanical arm, comprising:

[0007] The base has an arm support movably connected to the upper end, the arm support has a support tray movably connected to the upper end, the support tray has an arm seat movably connected to the upper end, one side of the arm seat is movably connected to the lower arm, both sides of the lower arm are movably connected to the upper arms, the two upper arms are movably connected to a swing arm 1, the front end of the swing arm 1 is movably connected to a turntable 2, and the front end of the turntable 2 is movably connected to a swing arm 2;

[0008] The clamping rod is arranged at the groove at the front end of the second swing arm. The lower end of the clamping rod is movably connected with a shift seat, the lower end of the shift seat is movably connected with a clamping claw seat, and both sides of the clamping claw seat are movably connected with clamping claws.

[0009] Preferably, the base is rectangular, and support feet are provided at the four corners of the base rectangle for support. A circular slide groove is provided on the upper surface of the base, and an L-shaped rotating rod is movably connected in the slide groove. A support seat is provided in the base, and a drive motor is provided in the support seat. The rotating rod at the upper end of the drive motor is fixedly connected to one side of the rotating rod, and the upper end of the rotating rod is movably connected to the arm support.

[0010] Preferably, a turntable 1 is movably connected to the upper end of the support tray, a drive motor 2 is provided in the arm support, and the upper end is movably connected to the turntable 1 through the support tray, a drive motor 3 is provided in the arm base for driving the lower arm to rotate, a drive motor 4 is provided on one side of the lower arm, and both sides of the drive motor 4 are movably connected to the two upper arms through the lower arm for driving the upper arms to rotate.

[0011] Preferably, a driving member is provided on one side of one of the upper arms, and a driving motor five is provided in the driving member for driving the swing arm one to rotate, and a driving motor six is ​​provided in the swing arm one for rotating the turntable two, and a hydraulic cylinder is provided in the turntable two, and a driving rod at the front end of the hydraulic cylinder is fixedly connected to the swing arm two for controlling the length of the swing arm two, and an electric rotating rod one for driving the clamping rod is provided in the groove of the swing arm two, and high-strength aluminum is used at the joints connecting the turntable one, the lower arm, the upper arm, the swing arm one, the swing arm two and the clamping rod.

[0012] Preferably, the gripping rod is provided with two electric rotating rods, the lower ends of the two electric rotating rods are movably connected to the shift seat, the lower end of the shift seat is provided with two sliding grooves, the shift seat is provided with two symmetrical micro motors, a transmission belt is provided between the rotating rods at the front ends of the two micro motors, and the outer surface of the transmission belt is provided with teeth.

[0013] Preferably, a slider is provided at the upper end of the clamping jaw seat, and the slider is movably connected to the second slide groove. A plurality of gears are provided in the groove in the slider, and all of them are engaged with the tooth patterns of the transmission belt. An opening is provided at the lower end of the clamping jaw seat, and the two clamping jaws are installed in the opening. An electric rotating rod three for rotation is provided at the upper inner ends of the two clamping jaws, and anti-slip pads are provided at the inner clamping positions of the two clamping jaws.

[0014] Preferably, it further includes a detection information receiving unit, and the detection information receiving unit includes:

[0015] Platform positioning module for:

[0016] Receive the current position of the sandbox, the direction and distance to be moved from the detection system, obtain the precise position of the sandbox, and calculate whether the robot arm needs to be rotated to face the direction of the sandbox;

[0017] Position matching unit, used to:

[0018] Measure the distance between the robot arm, the gripper and the sandbox, and calculate the swing curve of each rocker and the gripper gripping data by measuring the distance data between the robot arm and the sandbox.

[0019] Preferably, the position matching unit includes:

[0020] Angle measurement module for:

[0021] Measure the angle between the robot arm and the current position of the sandbox, set the swing angles of the robot arm's lower arm, upper arm, swing arm 1, swing arm 2 and gripper rod, and accurately drive motor 1, drive motor 2, drive motor 3, drive motor 4, drive motor 5 and drive motor 6 angle rotation data;

[0022] Length measurement module for:

[0023] Measure the distance data between the robotic arm and the sand table gripper, and determine by measuring the distance data that the hydraulic cylinder pushes the gripper forward to get closer to the sand table.

[0024] Preferably, the position matching unit controls the robot arm motion control unit via a wireless connection.

[0025] Preferably, the overall motion control unit comprises:

[0026] Arm base drive control for:

[0027] Based on the angle data in the angle measurement module of the position matching unit, control the rotation angle of the turntable;

[0028] Rotary linkage module for:

[0029] Based on the angle data in the angle measurement module of the position matching unit, the rotation angles of the lower arm, the upper arm, the swing arm 1, the swing arm 2 and the gripping rod are controlled;

[0030] Telescopic linkage module, used for:

[0031] Based on the distance data in the length measurement module of the position matching unit, the rotating rod of the base and the arm support are controlled to move, and the hydraulic cylinder controls the forward extension distance of the swing arm 2;

[0032] Gripper grab linkage module for:

[0033] Based on the specific data of the gripping of the clamping jaws and the sand table obtained by the angle measurement module and the length measurement module, the shift seat is driven to rotate and the two clamping jaws are driven to move inward or outward.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The turntable 1, the lower arm, the upper arm, the swing arm 1, the swing arm 2 and the gripping rod of the present invention enable the robot arm to rotate and adjust the angle from six angles and have six degrees of freedom, so that the robot arm can change from various angles to grab the sand table that needs to be replaced or the target model that needs to be added or moved to complete the placement, folding and movement in the sand table.

[0036] 2. The turntable 1, lower arm, upper arm, swing arm 1, swing arm 2 and clamping rod of the present invention are made of high-strength aluminum, which ensures the high strength, high speed, high precision and high stability of the machine, prolongs the service life of the mechanical arm, and is not easily affected by the surrounding environment to produce rust spots that affect the flexibility of rotation at each joint;

[0037] 3. The base of the present invention has a rotating rod and a slide groove arranged therein, which can move the arm support located above to a position close to the sand table, thereby increasing the structural flexibility of the mechanical arm;

[0038] 4. The clamping jaw seat and the shifting seat of the present invention can change the angle at which the front clamping jaw tightens the sand table, and the anti-slip pad on the inner side of the clamping jaw can increase the friction between the sand table and the added target model, thereby improving the gripping force of the clamping jaw;

[0039] 5. The overall control system of the robot arm of the present invention can detect the position of the sandbox and the target model on the semi-physical platform, and calculate the angle and distance of the target in combination with the position matching unit, and form a grasping drive line scheme, so that the robot arm can automatically complete the clamping operation of the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A three-dimensional diagram of the appearance structure of the mechanical arm of the present invention;

[0041] Figure 2It is a schematic diagram of the internal transmission structure of the mechanical arm of the present invention;

[0042] Figure 3 It is a schematic diagram of the structure of the clamping rod of the present invention;

[0043] Figure 4 It is a schematic diagram of the gripping and clamping driving structure of the present invention;

[0044] Figure 5 It is a schematic diagram of the base structure of the present invention;

[0045] Figure 6 It is a schematic diagram of the cross-sectional structure of the base of the present invention;

[0046] Figure 7 It is a schematic diagram of the overall control system of the robotic arm of the present invention.

[0047] In the figure: 1. base; 101. support foot; 102. slideway 1; 103. rotating rod; 104. support seat; 105. drive motor 1; 2. arm support; 201. drive motor 2; 3. support tray; 301. turntable 1; 4. arm seat; 401. drive motor 3; 5. lower arm; 501. drive motor 4; 6. upper arm; 601. drive member; 602. drive motor 5; 7. swing arm 1; 701 , driving motor six; 8, turntable two; 801, hydraulic cylinder; 9, swing arm two; 901, electric rotating rod one; 10, clamping rod; 1001, shift seat; 1002, electric rotating rod two; 1003, slide slot two; 1004, micro motor; 1005, transmission belt; 1006, slider; 1007, gear; 11, clamping claw seat; 1101, clamping claw; 1102, opening; 1103, electric rotating rod three. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In order to solve the existing problems, this embodiment provides the following technical solutions:

[0050] A semi-physical platform detection and grasping mechanical arm comprises a base 1, an arm support 2 is movably connected to the upper end of the base 1, a support tray 3 is movably connected to the upper end of the arm support 2, an arm seat 4 is movably connected to the upper end of the support tray 3, a lower arm 5 is movably connected to one side of the arm seat 4, upper arms 6 are movably connected to both sides of the lower arm 5, swing arms 1 7 are movably connected inside the two upper arms 6, a turntable 2 8 is movably connected to the front end of the swing arm 1 7, a swing arm 2 9 is movably connected to the front end of the turntable 2 8, a turntable 1 301 is movably connected to the upper end of the support tray 3, a drive motor 2 201 is provided inside the arm support 2, and the upper end is movably connected to the turntable 1 301 through the support tray 3, a drive motor 3 401 is provided inside the arm seat 4 for driving the lower arm 5 to rotate, a drive motor 4 501 is provided inside one side of the lower arm 5, and both sides of the drive motor 4 501 are movably connected to the two upper arms 6 through the lower arm 5 for driving the upper arms 6 to rotate The upper arm 6 is provided with a driving member 601 on one side, and a driving motor 602 is provided in the driving member 601 for driving the swing arm 7 to rotate. The driving motor 601 is provided in the swing arm 7 for rotating the turntable 8. A hydraulic cylinder 801 is provided in the turntable 8. The driving rod at the front end of the hydraulic cylinder 801 is fixedly connected to the swing arm 9 for controlling the length of the swing arm 9. An electric rotating rod 901 for driving the clamping rod 10 is provided in the groove of the swing arm 9; the clamping rod 10 is arranged at the groove at the front end of the swing arm 9, and a shift seat 1001 is movably connected to the lower end of the clamping rod 10, and a clamping claw seat 11 is movably connected to the lower end of the shift seat 1001, and clamping claws 1101 are movably connected to both sides of the clamping claw seat 11. The joints of the turntable 301, the lower arm 5, the upper arm 6, the swing arm 7, the swing arm 9 and the clamping rod 10 are made of high-strength aluminum, such as Figure 1 and Figure 2 As shown, the turntable 301, the lower arm 5, the upper arm 6, the swing arm 7, the swing arm 9 and the clamping rod 10 enable the robot arm to rotate and adjust the angle from six angles and have six degrees of freedom. Each joint is made of high-strength aluminum to ensure the high strength, high speed, high precision and high stability of the machine.

[0051] In this embodiment, if Figure 5 and Figure 6 As shown, the base 1 is rectangular, and support feet 101 are provided at the four corners of the rectangle of the base 1 for support. A circular slide groove 102 is opened on the upper surface of the base 1, and an L-shaped rotating rod 103 is movably connected in the slide groove 102. A support seat 104 is arranged in the base 1, and a driving motor 105 is arranged in the support seat 104. The rotating rod at the upper end of the driving motor 105 is fixedly connected to one side of the rotating rod 103, and the upper end of the rotating rod 103 is movably connected to the arm support 2. The rotating rod 103 located in the base 1 can drive the arm support 2 to move along the slide groove 102 based on the driving motor 105, so that the arm support 2 is close to the sand table.

[0052] In the embodiment, Figure 3 and Figure 4As shown, the gripping rod 10 is provided with an electric rotating rod 1002, the lower end of the electric rotating rod 1002 is movably connected to the shift seat 1001, the lower end of the shift seat 1001 is provided with a second slide groove 1003, the shift seat 1001 is provided with two symmetrical micro motors 1004, a transmission belt 1005 is provided between the rotating rods at the front ends of the two micro motors 1004, and the outer surface of the transmission belt 1005 is provided with a tooth pattern, the upper end of the clamping claw seat 11 is provided with a slider 1006, the slider 1006 is movably connected to the second slide groove 1003, a plurality of gears 1007 are provided in the groove of the slider 1006, and all of them are meshed with the tooth pattern of the transmission belt 1005, and the lower end of the clamping claw seat 11 is provided with an opening 1102, The two clamping jaws 1101 are both installed in the opening 1102, and the upper ends of the two clamping jaws 1101 are each provided with an electric rotating rod three 1103 for rotation, and the inner clamping parts of the two clamping jaws 1101 are each provided with anti-slip pads, and the two electric rotating rods three 1103 located in the shift seat 1001 can move with the transmission belt 1005 with teeth on the surface, and make the gear 1007 meshing with the teeth move together, so that the two clamping jaws 1101 below can fine-tune the moving position according to the actual clamping needs, and the two clamping jaws 1101 located at the opening 1102 below the clamping jaw seat 11 can be clamped toward the middle based on the drive of the electric rotating rod three 1103, thereby clamping the sand table and the target model.

[0053] In this embodiment, if Figure 7 As shown, the detection information receiving unit includes: a platform positioning module, which is used to receive the current position of the sand table and the direction and position distance information that need to be moved from the detection system, and obtain the precise position of the sand table, and calculate whether it is necessary to rotate the robotic arm to face the direction of the sand table; a position matching unit, which is used to measure the distance between the robotic arm, the gripper 1101 and the sand table, and calculate the swing curve of each rocker and the gripping data of the gripper 1101 by measuring the distance data between the sand table.

[0054] In this embodiment, the position matching unit includes: an angle measurement module, which is used to: measure the evaluation of the current position angle between the robot arm and the sandbox, set the swing angles of the lower arm 5, upper arm 6, swing arm one 7, swing arm two 9 and clamping rod 10 of the robot arm, and accurately drive motor one 105, drive motor two 201, drive motor three 401, drive motor four 501, drive motor five 602 and drive motor six 701 angle rotation data, and accurately calculate the angle rotation data of each motor; a length measurement module, which is used to: measure the distance data between the robot arm and the sandbox clamp, and determine by measuring the distance data that the hydraulic cylinder 801 pushes the clamp 1101 forward to approach the sandbox.

[0055] In this embodiment, the position matching unit controls the overall motion control unit of the robot arm through a wireless connection. The overall motion control unit includes: an arm seat drive control, which is used to control the rotation angle of the turntable 301 based on the angle data in the angle measurement module of the position matching unit; a rotation linkage module, which is used to control the rotation angle of the lower arm 5, the upper arm 6, the swing arm 1 7, the swing arm 2 9 and the clamping rod 10 based on the angle data in the angle measurement module of the position matching unit; a telescopic linkage module, which is used to control the movement position of the rotating rod 103 of the base 1 together with the arm support 2 and the forward extension distance of the swing arm 2 9 controlled by the hydraulic cylinder 801 based on the distance data in the length measurement module of the position matching unit; a clamp grabbing linkage module, which is used to drive the shift seat 1001 to rotate and the two clamps 1101 to move inward or outward based on the specific grabbing data of the clamp 1101 and the sand table obtained by the angle measurement module and the length measurement module.

[0056] Working principle: Based on the detection information receiving unit, the current position of the sand table or target model and the direction and position distance information to be moved are received from the detection system, and the precise position is obtained. Then, the position matching unit calculates the angle and distance data between the position of the sand table or target model and the robotic arm, sets the swing angle of each joint of the robotic arm, and measures the distance data to determine the distance of the hydraulic cylinder 801 pushing the clamp 1101 forward to approach the sand table, thereby driving the rotating rod 103 located in the base 1 to drive the arm support 2 to move along the slide 102 based on the driving motor 105, so that the arm support 2 is close to the sand table, and then drives the motor 2 201 in turn to make the tray 3 and the robotic arm above turn to the direction of the sand table or target model, and drives the driving motor 3 401, driving motor 4 501, driving motor 5 602, driving motor 6 701 and electric rotating rod 1 901 at each joint together with the lower arm 5, upper arm 6, swing arm 1 7, swing arm 2 9 and grab clamp under the action of the motion control unit. The driving motor 6 701 controls the swing arm 2 9 to rotate the front end clamping rod 10 to adjust the angle, and drives the hydraulic cylinder 801 to push forward to make the front end of the clamping rod 10 close to the sand table or the target model. When the clamping rod 10 moves to the vicinity of the sand table or the target model, the shift seat 1001 set at the front end adjusts the angle based on the electric rotating rod 2 1002, and the clamping claw grabbing linkage module can drive the two electric rotating rods 3 110 located in the shift seat 1001 to adjust the angle. 3 rotates, and the transmission belt 1005 moves along it, so that the teeth on the surface of the transmission belt 1005 and the meshing gear 1007 roll along the moving direction, so that the slider 1006 follows the second slide groove 1003 to make the two clamping claws 1101 fine-tune the position according to the need of clamping, and the two clamping claws 1101 can be driven to clamp towards the middle based on the drive of the electric rotating rod 3 1103, and the anti-skid pad on the inner side of the clamping claw 1101 is used to clamp the sand table and the target module, and the robot arm takes it away, places it and moves it.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A semi-physical platform detection and grasping robot arm, comprising: A base (1), the upper end of which is movably connected to an arm support (2), the upper end of which is movably connected to a support tray (3), the upper end of which is movably connected to an arm seat (4), one side of which is movably connected to a lower arm (5), both sides of which are movably connected to upper arms (6), the two upper arms (6) are movably connected to a first swing arm (7), the front end of which is movably connected to a second turntable (8), and the front end of which is movably connected to a second swing arm (9); A clamping rod (10) is arranged in a groove at the front end of the second swing arm (9), the lower end of the clamping rod (10) is movably connected to a shift seat (1001), the lower end of the shift seat (1001) is movably connected to a clamping claw seat (11), and both sides of the clamping claw seat (11) are movably connected to clamping claws (1101); The base (1) is rectangular, and support feet (101) for support are provided at the four corners of the rectangular base (1). A circular slide groove (102) is provided on the upper surface of the base (1), and an L-shaped rotating rod (103) is movably connected in the slide groove (102). A support seat (104) is provided in the base (1), and a driving motor (105) is provided in the support seat (104). The rotating rod at the upper end of the driving motor (105) is fixedly connected to one side of the rotating rod (103), and the upper end of the rotating rod (103) is movably connected to the arm support (2). A turntable (301) is movably connected to the upper end of the support tray (3), and a driving motor (201) is provided in the arm support (2), and the upper end is movably connected to the turntable (301) through the support tray (3). A driving motor (3) (401) is provided in the arm support (4) for driving the lower arm (5) to rotate, and a driving motor (401) is provided on one side of the lower arm (5). (501), both sides of the driving motor 4 (501) are movably connected to the two upper arms (6) through the lower arm (5), and are used to drive the upper arms (6) to rotate, one of the upper arms (6) is provided with a driving member (601), and the driving member (601) is provided with a driving motor 5 (602) for driving the swing arm 1 (7) to rotate, and the driving swing arm 1 (7) is provided with a driving motor 6 (701) for rotating the turntable 2 (8), and the turntable 2 (8) is provided with a hydraulic cylinder (801), and the driving rod at the front end of the hydraulic cylinder (801) is fixedly connected to the swing arm 2 (9), and is used to control the length of the swing arm 2 (9), and the groove of the swing arm 2 (9) is provided with an electric rotating rod 1 (901) for driving the clamping rod (10), and the joints of the turntable 1 (301), the lower arm (5), the upper arm (6), the swing arm 1 (7), the swing arm 2 (9) and the clamping rod (10) are made of high-strength aluminum; The gripping rod (10) is provided with an electric rotating rod (1002) at its lower end, the electric rotating rod (1002) is movably connected to the shift seat (1001), the shift seat (1001) is provided with a second slide groove (1003) at its lower end, the shift seat (1001) is provided with two symmetrical micro motors (1004), a transmission belt (1005) is provided between the rotating rods at the front ends of the two micro motors (1004), and the outer surface of the transmission belt (1005) is provided with a tooth pattern, the upper end of the clamping claw seat (11) is provided with a slider (1003) 06), the slider (1006) is movably connected to the second slide groove (1003), a plurality of gears (1007) are provided at the groove in the slider (1006), and all of them are meshed with the tooth pattern of the transmission belt (1005), an opening (1102) is provided at the lower end of the clamping jaw seat (11), and the two clamping jaws (1101) are installed in the opening (1102), and the upper ends of the two clamping jaws (1101) are provided with an electric rotating rod three (1103) for rotation, and the inner clamping parts of the two clamping jaws (1101) are provided with anti-slip pads; The semi-physical platform detection and grasping mechanical arm also includes a detection information receiving unit, and the detection information receiving unit includes: Platform positioning module for: Receive the current position of the sandbox, the direction and distance to be moved from the detection system, obtain the precise position of the sandbox, and calculate whether the robot arm needs to be rotated to face the direction of the sandbox; Position matching unit, used to: Measuring the distance between the robot arm, the gripper (1101) and the sand table, and calculating the swing curve of each rocker and the gripper (1101) gripping data by determining the distance data between the robot arm and the sand table; The position matching unit comprises: Angle measurement module for: Measure the angle between the robot arm and the current position of the sand table, set the swing angle of the lower arm (5), upper arm (6), swing arm one (7), swing arm two (9) and gripper rod (10) of the robot arm, and accurately drive the angle rotation data of motor one (105), drive motor two (201), drive motor three (401), drive motor four (501), drive motor five (602) and drive motor six (701); Length measurement module for: Measuring the distance data between the mechanical arm and the gripper and the sand table, and determining that the hydraulic cylinder (801) pushes the gripper (1101) forward to approach the sand table by measuring the distance data; The position matching unit controls the robot arm motion control unit via a wireless connection; The overall motion control unit comprises: Arm base drive control for: Based on the angle data in the angle measurement module of the position matching unit, control the rotation angle of the turntable 1 (301); Rotary linkage module for: Based on the angle data in the angle measurement module of the position matching unit, the rotation angles of the lower arm (5), the upper arm (6), the swing arm one (7), the swing arm two (9) and the clamping rod (10) are controlled; Telescopic linkage module, used for: Based on the distance data in the length measurement module of the position matching unit, the rotating rod (103) of the base (1) and the arm support (2) are controlled to move, and the hydraulic cylinder (801) controls the forward extension distance of the swing arm 2 (9); Gripper grab linkage module for: Based on the specific data of the gripping of the clamping jaws (1101) and the sand table acquired by the angle measurement module and the length measurement module, the shifting seat (1001) is driven to rotate and the two clamping jaws (1101) are driven to move inward or outward.

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