Intelligent manipulator

Abstract

The invention provides an intelligent manipulator, and relates to the technical field of manipulators, the intelligent manipulator comprises a base and a mechanical claw, a moving seat is arranged below the base, the moving seat and the base are connected through an electric lifting mechanism, a plurality of first hinge seats are arranged on the periphery of the moving seat, one end of the mechanical claw is hinged to the first hinge seats, and a plurality of second hinge seats are arranged on the periphery of the base; a connecting rod is arranged between the mechanical claw and the base, one end of the connecting rod is hinged to the second hinge base, the other end of the connecting rod is hinged to the bent portion of the mechanical claw, and an air pipe is arranged on the side, away from the base, of the movable base. According to the part carrying device, the upper surfaces of parts can be adsorbed through the vacuum suction cups, the parts are doubly fixed under clamping of the mechanical claws, the stability of the parts is improved, the parts are prevented from shifting or falling in the carrying process, and the stable carrying effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an intelligent manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of a human arm and is used to grab, move objects or operate tools according to a fixed program. The manipulator can replace heavy labor of humans to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0003] A Chinese patent with authorization announcement number CN116690627B discloses a mechanical gripper and an excitation method thereof, wherein the mechanical gripper includes a base, a first finger and a second finger, and the mechanical gripper also includes an ultrasonic motor and a screw; a first piezoelectric sheet group and a second piezoelectric sheet group are arranged at both ends of an elastic substrate, and the first piezoelectric sheet group and the second piezoelectric sheet group each include four piezoelectric sheets evenly distributed on the four side walls of the elastic substrate; the first finger is hinged to the positioning clamp through a first connecting rod, and the second finger is hinged to the positioning clamp through a second connecting rod. The mechanical gripper of the present application can solve the problems of the existing electric mechanical gripper using a servo electromagnetic motor with an integrated reducer as a power source, which has a complex structure, multiple mechanisms, large size, low precision, slow response and no self-locking function, and can achieve the effect of simple structure, few mechanisms, small size, high precision, fast response and self-locking function.

[0004] The above-mentioned mechanical gripper can clamp objects by cooperating with the first finger and the second finger. However, the mechanical gripper has only two clamping points during the clamping process. It is not firm enough when clamping certain cylindrical or irregular parts. The parts are prone to shaking or even falling during the clamping movement, and the stability is poor. Summary of the invention

[0005] The present invention provides an intelligent manipulator to solve the technical problems that the current mechanical clamp has only two clamping points during the clamping process, is not firm enough when clamping certain cylindrical or irregular parts, and the parts are prone to shaking or even falling during the clamping movement, and have poor stability.

[0006] In order to solve the above technical problems, the present invention discloses an intelligent manipulator, comprising: a base and a mechanical claw, a movable base is arranged under the base, the movable base and the base are connected by an electric lifting mechanism, a plurality of first hinged seats are arranged on the periphery of the movable base, one end of the mechanical claw is hingedly connected to the first hinged seat, a plurality of second hinged seats are arranged on the periphery of the base, a connecting rod is arranged between the mechanical claw and the base, one end of the connecting rod is hingedly connected to the second hinged seat, and the other end of the connecting rod is hingedly connected to the bending part of the mechanical claw, an air pipe is arranged on the side of the movable base away from the base, and a vacuum suction cup is arranged on the end of the air pipe away from the movable base.

[0007] Preferably, at least four first articulated seats are provided, the mechanical claws correspond to the first articulated seats one by one, and the first articulated seats are distributed in a circular array about the center of the moving seat.

[0008] Preferably, a hook bent inwardly is provided at one end of the mechanical claw away from the movable seat.

[0009] Preferably, a slot is provided on the side of the mechanical claw close to the trachea.

[0010] Preferably, a pressure sensor is arranged in the card slot, and a controller is arranged on the base, and the controller is electrically connected to the pressure sensor and the electric lifting mechanism respectively.

[0011] Preferably, the side walls of the upper end of the trachea are respectively connected to an exhaust hose and an air intake hose, a first valve is provided on the exhaust hose, and the end of the exhaust hose away from the trachea is connected to the vacuum pump, a second valve is provided on the air intake hose, and the end of the air intake hose away from the trachea is connected to the air pump.

[0012] Preferably, a connecting pipe is arranged in the trachea, an internal thread is arranged on the inner wall of the trachea, an external thread is arranged on the outer wall of the connecting pipe, the outer wall of the connecting pipe is threadedly connected to the inner wall of the trachea, a straight groove is arranged on the bottom wall of the connecting pipe, an annular protrusion is arranged on the inner wall of the bottom of the connecting pipe, a connecting pipe is slidably arranged above the annular protrusion, a mounting hole is arranged on the side wall of the lower end of the connecting pipe, an elastic rope is arranged in the mounting hole, one end of the elastic rope is connected to the inner wall of the mounting hole, and the other end of the elastic rope is connected to the upper surface of the annular protrusion, a partition is arranged in the connecting pipe, and the partition divides the connecting pipe from top to bottom into a first cavity and a second cavity, a plurality of filter holes are arranged near the side wall of the lower end of the connecting pipe, the filter holes penetrate the side wall of the connecting pipe, and one end of the filter holes is connected to the inside of the second cavity.

[0013] Preferably, a movable plate is slidably arranged in the first cavity, a sliding column is arranged on the lower surface of the movable plate, the sliding column and the movable plate are integrally formed, the lower end of the sliding column passes through the partition and extends into the second cavity, a first elastic member is sleeved on the outside of the sliding column, the lower end of the first elastic member is connected to the bottom wall of the first cavity, the upper end of the first elastic member is connected to the contact plate, the contact plate is arranged on the outside of the sliding column, a first air hole is arranged near the upper end of the sliding column, the upper end of the first air hole passes through the movable plate and is connected to the inside of the first cavity, the lower end of the first air hole is connected to a first connecting hole, the first connecting hole is located between the second cavity and the first cavity, a cleaning plate is arranged in the second cavity, the center of the cleaning plate is slidably connected to the outer wall of the sliding column, the outer periphery of the cleaning plate is slidably connected to the inner wall of the second cavity, a second elastic member is arranged in the second cavity, one end of the second elastic member is connected to the upper surface of the cleaning plate, and the other end of the second elastic member is connected to the top wall of the second cavity.

[0014] Preferably, a second air hole is provided at the lower end of the sliding column, the lower end of the second air hole is connected to the interior of the second cavity, second connecting holes are provided on both sides of the second air hole, and one end of the second connecting hole is connected to the interior of the second cavity.

[0015] Preferably, a driving plate is provided outside the sliding column, and the center of the driving plate is slidably connected to the outer wall of the sliding column, connecting rods are symmetrically provided on both sides of the driving plate, one end of the connecting rod is hingedly connected to the outer wall of the driving plate, and the other end of the connecting rod is hingedly connected to one end of the driving rod, the driving rod extends away from one end of the connecting rod into the sliding cavity, the sliding cavity is provided on the outer wall of the connecting tube, a pressure block is slidably provided in the sliding cavity, and an inward inclined surface is provided on one end of the pressure block away from the driving rod, a third elastic member is provided on the outer wall of the driving rod, one end of the third elastic member is connected to the inner wall of the sliding cavity, and the other end of the third elastic member is connected to the side wall of the pressure block.

[0016] The technical solution of the present invention has the following advantages: The present invention provides an intelligent manipulator, which relates to the technical field of manipulators, including a base and a mechanical claw, a movable base is arranged below the base, the movable base is connected to the base through an electric lifting mechanism, a plurality of first hinged seats are arranged on the periphery of the movable base, one end of the mechanical claw is hingedly connected to the first hinged seat, a plurality of second hinged seats are arranged on the periphery of the base, a connecting rod is arranged between the mechanical claw and the base, one end of the connecting rod is hingedly connected to the second hinged seat, and the other end of the connecting rod is hingedly connected to the bending part of the mechanical claw, an air pipe is arranged on the side of the movable base away from the base, and a vacuum suction cup is arranged on the end of the air pipe away from the movable base. In the present invention, the upper surface of the part can be adsorbed by the vacuum suction cup, and the part can be doubly fixed under the clamping of the mechanical claw, thereby improving the stability of the part, avoiding displacement or falling of the part during the handling process, and achieving the effect of stable handling.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the devices particularly pointed out in the written description and the drawings of the description.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an intelligent manipulator of the present invention;

[0021] Figure 2 This is a schematic diagram of the internal structure of the air pipe when the vacuum pump and the air pump are not started in the present invention;

[0022] Figure 3 For the present invention Figure 2 A magnified view of the structure at center;

[0023] Figure 4This is a schematic diagram of the internal structure of the air pipe when the vacuum pump in the present invention is started;

[0024] Figure 5 For the present invention Figure 4 A magnified view of the structure at B in the middle;

[0025] Figure 6 This is a schematic diagram of the internal structure of the air pipe when the air pump in the present invention is started;

[0026] Figure 7 For the present invention Figure 6 Enlarged view of the structure at point C in the middle.

[0027] In the figure: 1, base; 2, mechanical claw; 3, moving seat; 4, electric lifting mechanism; 5, first hinge seat; 6, second hinge seat; 7, connecting rod; 8, air pipe; 9, vacuum suction cup; 10, hook; 11, slot; 12, exhaust hose; 13, air intake hose; 14, connecting pipe; 15, slot; 16, connecting pipe; 17, mounting hole; 18, elastic rope; 19, partition; 20, first cavity; 21, second cavity; 22, filter hole; 23, moving plate; 24, sliding column; 25, first elastic member; 26, contact plate; 27, first air hole; 28, first connecting hole; 29, cleaning plate; 30, second elastic member; 31, second air hole; 32, second connecting hole; 33, driving plate; 34, connecting rod; 35, driving rod; 36, sliding cavity; 37, pressing block; 38, third elastic member. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0029] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] Example 1

[0031] The embodiment of the present invention provides an intelligent manipulator, such as Figure 1-Figure 7As shown, it includes: a base 1 and a mechanical claw 2, a moving base 3 is arranged below the base 1, the moving base 3 is connected to the base 1 through an electric lifting mechanism 4, a plurality of first hinge seats 5 are arranged on the periphery of the moving base 3, one end of the mechanical claw 2 is hingedly connected to the first hinge seat 5, a plurality of second hinge seats 6 are arranged on the periphery of the base 1, a connecting rod 7 is arranged between the mechanical claw 2 and the base 1, one end of the connecting rod 7 is hingedly connected to the second hinge seat 6, and the other end of the connecting rod 7 is hingedly connected to the bending part of the mechanical claw 2, an air pipe 8 is arranged on the side of the moving base 3 away from the base 1, and a vacuum suction cup 9 is arranged on the end of the air pipe 8 away from the moving base 3.

[0032] The working principle and beneficial effects of the above technical solution are as follows: when using a manipulator to transport parts, first adsorb the vacuum suction cup 9 on the upper surface of the part, and then start the electric lifting mechanism 4. The electric lifting mechanism 4 can use an electric telescopic rod. The electric lifting mechanism 4 can drive the moving seat 3 to move in the direction of the base 1, and the moving seat 3 drives the mechanical claw 2 to rotate. The mechanical claw 2 clamps the outside of the part away from the end of the moving seat 3, and generates negative pressure through the vacuum suction cup 9, which is tightly attached to the clamped part, so that fast clamping can be achieved, and the parts are doubly fixed under the clamping of multiple mechanical claws 2, which improves the stability of the clamped parts and avoids the clamped parts from shifting or falling during the transportation process, so as to achieve the effect of stable transportation, improve safety, and ensure the quality of the parts; whether it is a cylindrical or irregularly shaped part, as long as the center of the upper surface of the part is a plane, it can be adsorbed and adhered to by the vacuum suction cup 9, thereby improving the adaptability of the manipulator.

[0033] Example 2

[0034] On the basis of the above-mentioned embodiment 1, Figure 1 As shown, at least four first articulated seats 5 are provided, the mechanical claws 2 correspond to the first articulated seats 5 one by one, and the first articulated seats 5 are distributed in a circular array about the center of the moving seat 3 .

[0035] The working principle and beneficial effects of the above technical solution are as follows: at least four mechanical claws 2 are provided, and the four mechanical claws 2 can provide four contact points, thereby grasping parts more stably, reducing shaking and errors during the grasping process, and improving the grasping accuracy and stability.

[0036] Example 3

[0037] On the basis of Example 1 or 2, Figure 1 As shown, a hook 10 bent inwardly is provided at one end of the mechanical claw 2 away from the moving base 3 .

[0038] The working principle and beneficial effects of the above technical solution are as follows: the lower surface of the part can be supported by the hook 10 to prevent the part from slipping between the mechanical claws 2, thereby further improving the stability during the part handling process.

[0039] Example 4

[0040] On the basis of any one of Examples 1-3, Figure 1 As shown, a slot 11 is provided on the side of the mechanical claw 2 close to the air pipe 8 .

[0041] The working principle and beneficial effects of the above technical solution are as follows: a card slot 11 is provided on the inner side of the mechanical claw 2. When the manipulator is used to grasp parts such as gaskets and retaining rings, the edge of the gasket or retaining ring can be stuck in the card slot 11 of the mechanical claw 2 to prevent the parts from falling off, thereby enabling the same manipulator to complete the clamping of different types of automotive parts, thereby improving the applicability of the manipulator.

[0042] Example 5

[0043] On the basis of the fourth embodiment, a pressure sensor is arranged in the card slot 11 , and a controller is arranged on the base 1 . The controller is electrically connected to the pressure sensor and the electric lifting mechanism 4 , respectively.

[0044] The working principle and beneficial effects of the above technical solution are as follows: when the mechanical claw 2 is clamped on the outside of the part, the edge of the part is in the slot 11, and the pressure sensor in the slot 11 can detect the actual pressure of the mechanical claw 2 on the outside of the part. When the actual pressure on the outside of the part reaches the preset pressure range, the controller can control the electric lifting mechanism 4 to stop working, so as to prevent the mechanical claw 2 from clamping the part and ensure the quality of the part. The electric lifting mechanism 4 can stop working automatically and keep the pressure of the mechanical claw 2 on the outside of the part within the preset pressure range, thereby improving the intelligence and automation of the manipulator.

[0045] Example 6

[0046] On the basis of any one of Examples 1-5, Figure 2 As shown, the side walls of the upper end of the air pipe 8 are respectively connected to an exhaust hose 12 and an intake hose 13, a first valve is provided on the exhaust hose 12, and the end of the exhaust hose 12 away from the air pipe 8 is connected to the vacuum pump, a second valve is provided on the intake hose 13, and the end of the intake hose 13 away from the air pipe 8 is connected to the air pump.

[0047] The working principle and beneficial effects of the above technical solution are as follows: when the vacuum suction cup 9 is adsorbed on the surface of the part, the second valve is closed, and the first valve and the vacuum pump are opened. The vacuum pump can extract the air in the vacuum suction cup 9 through the air pipe 8, and negative pressure is generated in the vacuum suction cup 9, so that the vacuum suction cup 9 is tightly attached to the surface of the part, thereby enhancing the adsorption force of the vacuum suction cup 9 and preventing the part from falling during transportation. When the part is transported to the specified position, the electric lifting mechanism 4 is first controlled to extend so that the mechanical claw 2 is separated from the outside of the part, and then the first valve is closed, and the second valve and the air pump are opened. The air pump can transport external air to the vacuum suction cup 9 through the air pipe 8, so that the vacuum suction cup 9 is separated from the surface of the part. When the mechanical claw 2 is released, the vacuum suction cup 9 is still close to the part, thereby avoiding accidental contact with the part when the mechanical claw 2 is released, thereby changing the position of the part, thereby improving the accuracy of the part transportation position.

[0048] Example 7

[0049] On the basis of Example 6, Figure 2-Figure 7 As shown, a connecting pipe 14 is arranged in the trachea 8, an inner thread is arranged on the inner wall of the trachea 8, an outer thread is arranged on the outer wall of the connecting pipe 14, the outer wall of the connecting pipe 14 is threadedly connected to the inner wall of the trachea 8, a straight groove 15 is arranged on the bottom wall of the connecting pipe 14, an annular protrusion is arranged on the inner wall of the bottom of the connecting pipe 14, a connecting pipe 16 is slidably arranged above the annular protrusion, a mounting hole 17 is arranged on the side wall of the lower end of the connecting pipe 16, an elastic rope 18 is arranged in the mounting hole 17, one end of the elastic rope 18 is connected to the inner wall of the mounting hole 17, and the other end of the elastic rope 18 is connected to the upper surface of the annular protrusion, a partition 19 is arranged in the connecting pipe 16, and the partition 19 divides the connecting pipe 16 from top to bottom into a first cavity 20 and a second cavity 21, and a plurality of filter holes 22 are arranged near the side wall of the lower end of the connecting pipe 16, the filter holes 22 penetrate the side wall of the connecting pipe 16, and one end of the filter holes 22 is connected to the inside of the second cavity 21.

[0050] The working principle and beneficial effects of the above technical solution are as follows: the connecting pipe 14 is connected to the internal thread of the air pipe 8 through the external thread, a connecting pipe 16 is arranged in the connecting pipe 14, and a partition 19 is arranged in the connecting pipe 16. When the vacuum pump is working, the vacuum pump extracts the gas in the air pipe 8, which can make the connecting pipe 16 slide on the inner wall of the connecting pipe 14 away from the vacuum suction cup 9, and the elastic rope 18 is stretched. When the filter hole 22 moves to the outside of the connecting pipe 14, the filter hole 22 is connected with the inside of the air pipe 8, and the gas in the vacuum suction cup 9 can enter the connecting pipe 16 through the connecting pipe 14, and then flow into the air pipe 8 after being filtered through the filter hole 22, and be extracted to the outside by the vacuum pump. Since there may be impurities on the surface of the parts, When the vacuum pump is used to extract air, impurities will be sucked into the air pipe 8. Large impurities will block the air pipe 8 and even damage the vacuum pump. Therefore, a plurality of filter holes 22 are provided on the side wall of the connecting pipe 16. The filter holes 22 can intercept impurities in the connecting pipe 16 to prevent the vacuum pump from absorbing more impurities and being damaged, thereby extending the service life of the vacuum pump; a straight groove 15 is provided at the bottom of the connecting pipe 14. When removing the connecting pipe 14, only a straight screwdriver needs to be aligned with the straight groove 15 at the lower end of the connecting pipe 14 to drive the connecting pipe 14 to rotate, thereby taking the connecting pipe 14 out of the air pipe 8 for maintenance of the connecting pipe 14. There is no need to remove the entire air pipe 8, which provides convenience for maintenance.

[0051] Example 8

[0052] On the basis of Example 7, Figure 2-Figure 7 As shown, a moving plate 23 is slidably arranged in the first cavity 20, a sliding column 24 is arranged on the lower surface of the moving plate 23, the sliding column 24 and the moving plate 23 are integrally formed, the lower end of the sliding column 24 passes through the partition 19 and extends into the second cavity 21, a first elastic member 25 is sleeved on the outside of the sliding column 24, the lower end of the first elastic member 25 is connected to the bottom wall of the first cavity 20, the upper end of the first elastic member 25 is connected to the contact plate 26, the contact plate 26 is arranged on the outside of the sliding column 24, a first air hole 27 is arranged near the upper end of the sliding column 24, and the upper end of the first air hole 27 passes through the first air hole 27. The first connecting hole 28 is arranged at the lower end of the first air hole 27, and the first connecting hole 28 is located between the second cavity 21 and the first cavity 20. A cleaning plate 29 is arranged in the second cavity 21, and the center of the cleaning plate 29 is slidably connected to the outer wall of the sliding column 24, and the outer periphery of the cleaning plate 29 is slidably connected to the inner wall of the second cavity 21. A second elastic member 30 is arranged in the second cavity 21, and one end of the second elastic member 30 is connected to the upper surface of the cleaning plate 29, and the other end of the second elastic member 30 is connected to the top wall of the second cavity 21.

[0053] The working principle and beneficial effects of the above technical solution are as follows: when the vacuum pump is working, as the gas in the air pipe 8 is extracted, the movable plate 23 slides in the first cavity 20 in the direction away from the vacuum suction cup 9, and the movable plate 23 drives the sliding column 24 and the contact plate 26 to slide in the direction away from the vacuum suction cup 9, and the first elastic member 25 is stretched. At the same time, the sliding column 24 drives the connecting pipe 16 to slide in the direction away from the vacuum suction cup 9 through the first elastic member 25, so that the filter hole 22 is connected with the inside of the air pipe 8, so that the air in the vacuum suction cup 9 is filtered and extracted to the outside. When the manipulator moves the part to the specified position, the air pump works alone. As the air pump is started, the air entering the air pipe 8 can push the movable plate 23 and the sliding column 24 to slide in the direction close to the vacuum suction cup 9, and the sliding column 24 is on the partition 19 slides downward, the first connecting hole 28 is gradually connected with the inside of the second cavity 21, the air entering the air pipe 8 can flow into the first connecting hole 28 through the first air hole 27, and flow into the second cavity 21 through the first connecting hole 28, the air entering the second cavity 21 can push the cleaning plate 29 to slide towards the direction close to the vacuum suction cup 9, and the cleaning plate 29 can clean the inner wall of the second cavity 21 when sliding along the inner wall of the second cavity 21, and scrape off the impurities intercepted by the filter hole 22, and the scraped impurities can fall through the lower end of the connecting pipe 16, and the cleaning plate 29 can realize automatic cleaning of the inner wall of the second cavity 21, avoid clogging of the filter hole 22, and ensure the efficiency of the vacuum pump when evacuating, and the cleaning process does not require manual participation, thereby improving the degree of automation and reducing labor intensity.

[0054] Example 9

[0055] On the basis of Example 8, Figure 2-Figure 7 As shown, a second air hole 31 is disposed at the lower end of the sliding column 24 , the lower end of the second air hole 31 is connected to the interior of the second cavity 21 , second connecting holes 32 are disposed on both sides of the second air hole 31 , and one end of the second connecting hole 32 is connected to the interior of the second cavity 21 .

[0056] The working principle and beneficial effects of the above technical solution are as follows: as the cleaning plate 29 slides downward, when the cleaning plate 29 slides below the second connecting hole 32, the second connecting hole 32 is connected to the inside of the second cavity 21 above the cleaning plate 29, and air flows into the second connecting hole 32 through the second cavity 21 above the cleaning plate 29, and flows into the second air hole 31 through the second connecting hole 32, and finally is ejected from the second air hole 31. The ejected air can accelerate the falling of impurities and can provide air for the inside of the vacuum suction cup 9, so that the vacuum suction cup 9 is automatically separated from the surface of the part, further improving the degree of automation of the manipulator, and the air blown out through the second air hole 31 can also blow away impurities that fall on the surface of the part, thereby improving the cleanliness of the surface of the part.

[0057] Example 10

[0058] On the basis of Example 9, Figure 2-Figure 7 As shown, a driving plate 33 is arranged outside the sliding column 24, and the center of the driving plate 33 is slidably connected to the outer wall of the sliding column 24, and connecting rods 34 are symmetrically arranged on both sides of the driving plate 33, one end of the connecting rod 34 is hingedly connected to the outer wall of the driving plate 33, and the other end of the connecting rod 34 is hingedly connected to one end of the driving rod 35, and the driving rod 35 extends away from one end of the connecting rod 34 into a sliding cavity 36, and the sliding cavity 36 is arranged on the outer wall of the connecting tube 14, and a pressure block 37 is slidably arranged in the sliding cavity 36, and an inward inclined surface is arranged on one end of the pressure block 37 away from the driving rod 35, and a third elastic member 38 is arranged on the outer wall of the driving rod 35, and one end of the third elastic member 38 is connected to the inner wall of the sliding cavity 36, and the other end of the third elastic member 38 is connected to the side wall of the pressure block 37.

[0059] The working principle and beneficial effects of the above technical solution are as follows: when the manipulator is not in use, the vacuum pump and the air pump do not start working. At this time, the pressing block 37 contacts the outer wall of the connecting pipe 14, and the connecting pipe 16 cannot slide in the connecting pipe 14, thereby improving the reliability of the connecting pipe 16. The connecting pipe 16 can play a dust-proof role for the air pipe 8, and all dust enters the second cavity 21 and cannot flow into the air pipe 8, thereby preventing external dust from entering the vacuum pump or the air pump, and extending the service life of the vacuum pump and the air pump; when the vacuum pump is working, the moving plate 23 drives the contact plate 26 to move through the sliding column 24. When the contact plate 26 and the driving plate 33 When the lower surface contacts, the contact plate 26 drives the driving plate 33 to move upward, and the driving plate 33 drives the driving rod 35 to slide into the first cavity 20 through the connecting rod 34, and the driving rod 35 drives the pressing block 37 to separate from the inner wall of the connecting tube 14. At this time, the connecting tube 14 can slide upward, so that the filter hole 22 is connected to the inside of the air pipe 8. The driving plate 33 can also limit the contact plate 26 to prevent the sliding column 24 from sliding too long. When the air pump is working, under the action of the third connecting piece, the pressing block 37 returns to its original position and contacts the outer wall of the connecting tube 14 again. At this time, the driving plate 33 returns to its original position for the next use.

[0060] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An intelligent manipulator, characterized in that: include: A base (1) and a mechanical claw (2), a movable base (3) is arranged below the base (1), the movable base (3) and the base (1) are connected via an electric lifting mechanism (4), a plurality of first hinge seats (5) are arranged on the periphery of the movable base (3), one end of the mechanical claw (2) is hingedly connected to the first hinge seat (5), a plurality of second hinge seats (6) are arranged on the periphery of the base (1), a connecting rod (7) is arranged between the mechanical claw (2) and the base (1), one end of the connecting rod (7) is hingedly connected to the second hinge seat (6), and the other end of the connecting rod (7) is hingedly connected to the bending part of the mechanical claw (2), an air pipe (8) is arranged on the side of the movable base (3) away from the base (1), and a vacuum suction cup (9) is arranged on the end of the air pipe (8) away from the movable base (3).

2. The intelligent manipulator according to claim 1, characterized in that: At least four first articulated seats (5) are provided, the mechanical claws (2) correspond to the first articulated seats (5) one by one, and the first articulated seats (5) are distributed in a circular array about the center of the moving seat (3).

3. The intelligent manipulator according to claim 1, characterized in that: A hook (10) bent inward is provided at one end of the mechanical claw (2) away from the movable seat (3).

4. The intelligent manipulator according to claim 1, characterized in that: A clamping groove (11) is provided on a side of the mechanical claw (2) close to the air pipe (8).

5. The intelligent manipulator according to claim 4, characterized in that: A pressure sensor is arranged in the card slot (11), and a controller is arranged on the base (1), and the controller is electrically connected to the pressure sensor and the electric lifting mechanism (4) respectively.

6. The intelligent manipulator according to claim 1, characterized in that: An air extraction hose (12) and an air intake hose (13) are respectively connected to the side walls of the upper end of the air pipe (8); a first valve is arranged on the air extraction hose (12); an end of the air extraction hose (12) away from the air pipe (8) is connected to a vacuum pump; a second valve is arranged on the air intake hose (13); an end of the air intake hose (13) away from the air pipe (8) is connected to an air pump.

7. The intelligent manipulator according to claim 6, characterized in that: A connecting pipe (14) is arranged in the air pipe (8), an inner thread is arranged on the inner wall of the air pipe (8), an outer thread is arranged on the outer wall of the connecting pipe (14), the outer wall of the connecting pipe (14) is threadedly connected to the inner wall of the air pipe (8), a straight groove (15) is arranged on the bottom wall of the connecting pipe (14), an annular protrusion is arranged on the inner wall of the bottom of the connecting pipe (14), a connecting pipe (16) is slidably arranged above the annular protrusion, a mounting hole (17) is arranged on the side wall of the lower end of the connecting pipe (16), an elastic rope (18) is arranged in the mounting hole (17), and the elastic rope One end of the elastic rope (18) is connected to the inner wall of the mounting hole (17), and the other end of the elastic rope (18) is connected to the upper surface of the annular protrusion. A partition (19) is arranged in the connecting pipe (16), and the partition (19) divides the connecting pipe (16) into a first cavity (20) and a second cavity (21) from top to bottom. A plurality of filter holes (22) are arranged on the side wall near the lower end of the connecting pipe (16), and the filter holes (22) penetrate the side wall of the connecting pipe (16). One end of the filter hole (22) is connected to the inside of the second cavity (21).

8. The intelligent manipulator according to claim 7, characterized in that: A movable plate (23) is slidably arranged in the first cavity (20), a sliding column (24) is arranged on the lower surface of the movable plate (23), the sliding column (24) and the movable plate (23) are integrally formed, the lower end of the sliding column (24) passes through the partition (19) and extends into the second cavity (21), a first elastic member (25) is sleeved on the outside of the sliding column (24), the lower end of the first elastic member (25) is connected to the bottom wall of the first cavity (20), the upper end of the first elastic member (25) is connected to the contact plate (26), the contact plate (26) is arranged outside the sliding column (24), a first air hole (27) is arranged near the upper end of the sliding column (24), the upper end of the first air hole (27) passes through The movable plate (23) is connected to the interior of the first cavity (20); the lower end of the first air hole (27) is connected to a first connecting hole (28); the first connecting hole (28) is located between the second cavity (21) and the first cavity (20); a cleaning plate (29) is arranged in the second cavity (21); the center of the cleaning plate (29) is slidably connected to the outer wall of the sliding column (24); the outer periphery of the cleaning plate (29) is slidably connected to the inner wall of the second cavity (21); a second elastic member (30) is arranged in the second cavity (21); one end of the second elastic member (30) is connected to the upper surface of the cleaning plate (29); and the other end of the second elastic member (30) is connected to the top wall of the second cavity (21).

9. The intelligent manipulator according to claim 8, characterized in that: A second air hole (31) is provided at the lower end of the sliding column (24), the lower end of the second air hole (31) is connected to the interior of the second cavity (21), second connecting holes (32) are provided on both sides of the second air hole (31), and one end of the second connecting hole (32) is connected to the interior of the second cavity (21).

10. The intelligent manipulator according to claim 9, characterized in that: A driving plate (33) is arranged outside the sliding column (24), and the center of the driving plate (33) is slidably connected to the outer wall of the sliding column (24). Connecting rods (34) are symmetrically arranged on both sides of the driving plate (33), and one end of the connecting rod (34) is hingedly connected to the outer wall of the driving plate (33), and the other end of the connecting rod (34) is hingedly connected to one end of a driving rod (35). The driving rod (35) extends away from one end of the connecting rod (34) into a sliding cavity (36). The sliding cavity (36) is arranged on the outer wall of the connecting tube (14), and a pressing block (37) is slidably arranged in the sliding cavity (36). An end of the pressing block (37) away from the driving rod (35) is provided with an inwardly inclined surface, and a third elastic member (38) is arranged on the outer wall of the driving rod (35), and one end of the third elastic member (38) is connected to the inner wall of the sliding cavity (36), and the other end of the third elastic member (38) is connected to the side wall of the pressing block (37).

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