Precise hardware manipulator anti-collision structure

Abstract

The invention relates to the technical field of mechanical arm collision prevention, in particular to a precise hardware mechanical arm collision prevention structure which comprises a mechanical arm, a stabilizing mechanism for assisting the mechanical arm in stably grabbing hardware is arranged on the mechanical arm, the stabilizing mechanism comprises a transverse rod sliding on the mechanical arm, and a butting plate is slidably mounted at one end of the transverse rod; the abutting plate and the other end of the transverse rod are distributed on the two sides of the mechanical arm, and a limiting shaft used for limiting sliding of the transverse rod is arranged on the transverse rod. When the mechanical arm grabs the hardware, the other end of the transverse rod makes contact with and extrudes the hardware. According to the anti-collision structure of the precise hardware mechanical arm, the anti-collision plate can protect the mechanical arm, the situation that in the process that the mechanical arm grabs hardware and moves on a specific path, the mechanical arm possibly collides and collides with instruments or other hardware suddenly appearing on the path from the outside, and the mechanical arm is damaged is avoided. And therefore, the maintenance cost is increased.

Description

Technical Field

[0001] The invention relates to the technical field of robot anti-collision, and in particular to a precision hardware robot anti-collision structure. Background Art

[0002] An automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grasp, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy departments;

[0003] Currently, when a robot grasps precision hardware and moves along a specific path, it may collide with external equipment or other hardware that suddenly appears on the path, causing damage to the robot and increasing maintenance costs. Summary of the invention

[0004] The purpose of the present invention is to provide an anti-collision structure for a precision hardware manipulator, so that the anti-collision plate can protect the manipulator and prevent the manipulator from colliding with external instruments or other hardware that suddenly appear on the path when grabbing hardware and moving along a specific path, thereby causing damage to the manipulator and increasing maintenance costs.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a collision-proof structure for a precision hardware manipulator, comprising a manipulator, wherein the manipulator is provided with a stabilizing mechanism that assists the manipulator in stably grasping the hardware, the stabilizing mechanism comprising a cross bar that slides on the manipulator, a back plate that is slidably installed on one end of the cross bar, the back plate and the other end of the cross bar are distributed on both sides of the manipulator, and a limiting shaft for limiting the sliding of the cross bar is provided on the cross bar; when the manipulator grasps the hardware, the other end of the cross bar is used to contact and squeeze the hardware, and the back plate is used to contact and squeeze another part of the hardware, thereby cooperating with the manipulator to form multi-point grasping of the hardware; in addition, the back plate slides on one end of the cross bar, thereby adjusting the horizontal difference between the bottom of the back plate and the bottom of the other end of the cross bar; a hydraulic rod is provided on the cross bar The output end of the hydraulic rod is fixedly connected to the cross bar; the cross bar is provided with an anti-collision mechanism for protecting the manipulator from grabbing the hardware along a specific path, and the anti-collision mechanism includes a fixed frame located on one side of the abutment plate, and a guide rod with a scale on the surface is fixed on the fixed frame, and two groups of slides are slid on the guide rod, and a telescopic spring is connected between the two groups of slides, and an anti-collision plate is provided on one side of the two groups of slides, and the anti-collision plate is located on the gripper side of the manipulator, and an extrusion ball is provided at the bottom of the two groups of slides. During the contact and extrusion of the abutment plate and the other end of the cross bar with the hardware, the slide is first contacted and extruded with the hardware through the extrusion ball, and the slide is driven to move by the extrusion force between the extrusion ball and the hardware, and the slide is on the guide rod, and at the same time, the slide drives the anti-collision plate and makes it stay on the gripper side.

[0006] Preferably, the manipulator is provided with an empty slot for the cross bar to pass through.

[0007] Preferably, the limiting shaft is fixedly mounted on the manipulator, and the cross bar is provided with a sliding groove cooperating with the limiting shaft to limit the movement of the cross bar.

[0008] Preferably, the cross bar is of L-shaped design, and the cross bar cooperates to limit the movement of the shaft inside the empty slot on the manipulator.

[0009] Preferably, a clamping hand that contacts and squeezes the hardware is installed at the other end of the crossbar, and the clamping hand is located on one side of the gripper on the manipulator.

[0010] Preferably, a first threaded shaft is fixed on the abutment plate, the first threaded shaft penetrates the cross bar and is fixed by bolts, and a mark a is provided on the outer side of the first threaded shaft.

[0011] Preferably, a mounting rod is fixed to one side of the abutment plate, and one end of the mounting rod is connected to the fixing frame.

[0012] Preferably, the guide rod is fixedly mounted on a fixing frame, and a mark b is provided on the outer side of the guide rod.

[0013] Preferably, the slide plate slides on the guide rod, and the telescopic spring is sleeved on the outer side of the guide rod, and both ends of the telescopic spring are respectively connected to the two groups of slide plates.

[0014] Preferably, a second threaded shaft is fixed to one side of the two groups of slide plates, and the anti-collision plate is fixed to the second threaded shaft by bolts.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention utilizes the movement of the slide plate while the slide plate drives the movement of the anti-collision plate through the second threaded shaft. When the abutment plate and the clamping hand are in contact and squeezed with the hardware, the anti-collision plate is located on one side of the gripper on the manipulator, and a certain distance is maintained between the anti-collision plate and the gripper on the manipulator. Thus, the anti-collision plate can protect the manipulator and prevent the manipulator from colliding with external equipment or other hardware that suddenly appears on the path when grabbing the hardware and moving along a specific path, thereby causing damage to the manipulator and increasing maintenance costs.

[0017] 2. In the present invention, after the manipulator continues to move downward, the clamping hand and the abutment plate will be squeezed by the hardware, which drives the cross bar to move on the manipulator, and the cross bar moves inside the empty slot on the manipulator. After the manipulator moves to a certain position, the gripper on the manipulator grabs the hardware. At this time, after the cross bar moves on the limiting axis, the cross bar moves and contacts and squeezes the top of the limiting axis, so that the cross bar remains stable. Therefore, the manipulator is used in conjunction with the clamping hand and the abutment plate to connect multiple positions of the hardware, which can increase the stability of the hardware in the process of following the movement of the manipulator, and avoid the manipulator's grasping position of the hardware being offset, causing the hardware to tip over or even fall when following the movement of the manipulator, damaging the hardware and increasing costs.

[0018] 3. In the process of the hardware being contacted and squeezed by the squeezing ball, the hardware squeezes the squeezing ball to move, and the squeezing ball drives the slide plate to move along the guide rod. While the two sets of slide plates move in opposite directions along the guide rod, the two sets of slide plates stretch the telescopic springs. When the squeezing ball moves to a certain position outside the hardware, the abutment plate and the clamping hand are in contact and squeezed with the hardware, and the gripper on the manipulator grabs the hardware again. At this time, the distance between the two sets of slide plates and the mark b on the guide rod can be used to intuitively detect the size data of the hardware. On the one hand, the size accuracy of the hardware can be detected to improve the precision of the hardware. On the other hand, it can be convenient for the staff to record data and improve the convenience of work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2The second schematic diagram of the overall structure of the present invention;

[0021] Figure 3 This is a partial cross-sectional view of the present invention;

[0022] Figure 4 It is the second partial cross-sectional view of the present invention;

[0023] Figure 5 It is a partial structural schematic diagram of the present invention;

[0024] Figure 6 The third is a partial cross-sectional view of the present invention;

[0025] Figure 7 The third schematic diagram of the overall structure of the present invention.

[0026] In the figure: 1. Manipulator; 2. Stabilizing mechanism; 21. Crossbar; 23. Clamping hand; 24. Hydraulic rod; 25. Abutment plate; 26. First threaded shaft; 27. Limiting shaft; 3. Anti-collision mechanism; 31. Mounting rod; 32. Fixing frame; 33. Anti-collision plate; 34. Telescopic spring; 35. Guide rod; 36. Second threaded shaft; 37. Slide plate; 38. Squeeze ball. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. 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.

[0028] The present invention provides a precision hardware manipulator anti-collision structure, comprising a manipulator 1, on which a stabilizing mechanism 2 is provided to assist the manipulator 1 in stabilizing the grasping of hardware, the stabilizing mechanism 2 comprising a cross bar 21 sliding on the manipulator 1, a stop plate 25 slidably mounted on one end of the cross bar 21, the stop plate 25 and the other end of the cross bar 21 are distributed on both sides of the manipulator 1, and a limiting shaft 27 for limiting the sliding of the cross bar 21 is provided on the cross bar 21; when the manipulator 1 grasps the hardware, the other end of the cross bar 21 is used to contact and squeeze the hardware, and the stop plate 25 is used to contact and squeeze another part of the hardware, thereby cooperating with the manipulator 1 to grasp the hardware at multiple points; in addition, the stop plate 25 slides on one end of the cross bar 21, thereby adjusting the bottom of the stop plate 25 and the cross bar 21; the manipulator 1 is provided with an empty slot for the cross bar 21 to pass through, the limiting shaft 27 is fixedly installed on the manipulator 1, and the cross bar 21 is provided with a sliding slot that cooperates with the limiting shaft 27 to limit the movement of the cross bar 21, the cross bar 21 is L-shaped, and the cross bar 21 cooperates with the limiting shaft 27 to move inside the empty slot on the manipulator 1, and the other end of the cross bar 21 is installed with a clamping hand 23 that contacts and squeezes the hardware, the clamping hand 23 is located on one side of the gripper on the manipulator 1, and a first threaded shaft 26 is fixed on the abutment plate 25, the first threaded shaft 26 passes through the cross bar 21 and is fixed by bolts, and a mark a is provided on the outer side of the first threaded shaft 26; a hydraulic rod 24 is provided on the cross bar 21, and the output end of the hydraulic rod 24 is fixedly connected to the cross bar 21;

[0029] See also Figures 1 to 5 As shown, in the process of the manipulator 1 grasping the hardware, the manipulator 1 drives the cross bar 21 to move while moving along a specific path, and the cross bar 21 drives the clamping hand 23 and the abutment plate 25 to move at the same time. When the gripper on the manipulator 1 is about to grasp the hardware, the clamping hand 23 and the abutment plate 25 on the cross bar 21 first contact the hardware. After the manipulator 1 continues to move downward, the clamping hand 23 and the abutment plate 25 will be squeezed by the hardware, and drive the cross bar 21 to move on the manipulator 1. The cross bar 21 moves inside the empty slot on the manipulator 1. After moving to a certain position, the gripper on the manipulator 1 grabs the hardware. At this time, after the cross bar 21 moves on the limiting shaft 27, the cross bar 21 moves to contact and squeeze the top of the limiting shaft 27, so that the cross bar 21 remains stable. Therefore, the manipulator 1 is used in conjunction with the clamping hand 23 and the abutment plate 25 to connect the hardware at multiple positions, which can increase the stability of the hardware in the process of following the movement of the manipulator 1, and avoid the manipulator 1 from shifting the grasping position of the hardware, causing the hardware to topple over or even fall when following the movement of the manipulator 1, damaging the hardware and increasing costs;

[0030] In addition, the size of the hardware can be adjusted, for example, the diameter of the hardware can be stepped. Figure 7As shown, the position of the butt plate 25 is adjusted, and the first threaded shaft 26 on the butt plate 25 is used to slide on the cross bar 21, and the mark a on the outside of the first threaded shaft 26 is used to facilitate the staff to adjust the position of the butt plate 25. After the clamping hand 23 contacts the hardware with the butt plate 25, the clamping hand 23 can be observed to contact the hardware while observing whether the butt plate 25 contacts the hardware, so as to intuitively check the dimensional accuracy of the hardware and improve the production quality of the hardware.

[0031] In addition, the hydraulic rod 24 is started, and one end of the hydraulic rod 24 is squeezed with the manipulator 1, and then the cross bar 21 can be driven to move through the output end, and the cross bar 21 can drive the movement of the clamping hand 23 and the abutment plate 25. Therefore, according to the actual situation, the position of the clamping hand 23 and the abutment plate 25 can be adjusted, and then the distance between the clamping hand 23 and the abutment plate 25 and the gripper on the manipulator 1 can be adjusted, so that the manipulator 1 can more easily grasp the precision hardware with a stepped diameter design, thereby greatly improving flexibility and practicality.

[0032] The crossbar 21 is provided with an anti-collision mechanism 3 for protecting the manipulator 1 from moving along a specific path while grabbing the hardware. The anti-collision mechanism 3 includes a fixed frame 32 located on one side of the abutment plate 25. A guide rod 35 with a scale on the surface is fixed to the fixed frame 32. Two groups of slide plates 37 slide on the guide rod 35. A telescopic spring 34 is connected between the two groups of slide plates 37. An anti-collision plate 33 is provided on one side of the two groups of slide plates 37. The anti-collision plate 33 is located on the gripper side of the manipulator 1. Extrusion balls 38 are provided at the bottom of the two groups of slide plates 37. When the abutment plate 25 and the other end of the crossbar 21 are in contact and extrusion with the hardware, the slide plate 37 first contacts and extrudes the hardware through the extrusion ball 38, and then contacts and extrudes the hardware through the extrusion ball 38. The extrusion force between the pressure ball 38 and the hardware drives the slide plate 37 to move. The slide plate 37 is on the guide rod 35. At the same time, the slide plate 37 drives the anti-collision plate 33 and makes it stay on the side of the gripper; a mounting rod 31 is fixed to one side of the abutment plate 25, one end of the mounting rod 31 is connected to the fixing frame 32, the guide rod 35 is fixedly mounted on the fixing frame 32, and a mark b is set on the outer side of the guide rod 35. The slide plate 37 slides on the guide rod 35, and the telescopic spring 34 is sleeved on the outer side of the guide rod 35. The two ends of the telescopic spring 34 are respectively connected to the two groups of slide plates 37. A second threaded shaft 36 is fixed to one side of the two groups of slide plates 37, and the anti-collision plate 33 is fixed to the second threaded shaft 36 by bolts;

[0033] See also Figures 4 to 6As shown, when the gripper on the manipulator 1 is about to grab the hardware, the gripping hand 23 and the abutment plate 25 on the crossbar 21 first contact the hardware, and at the same time, the abutment plate 25 drives the fixing frame 32 to move downward through the mounting rod 31, and the fixing frame 32 drives the slide plate 37 to move through the guide rod 35, and the squeezing ball 38 on the slide plate 37 first contacts and squeezes the hardware. Due to the spherical design of the bottom of the squeezing ball 38 and the arc-shaped outer surface of the hardware, during the process of contact and squeezing between the hardware and the squeezing ball 38, the hardware squeezes the squeezing ball 38 to move, and the squeezing ball 38 drives the slide plate 37 to move along the guide rod 35. When the two sets of slide plates 37 move in opposite directions along the guide rod 35, the two sets of slide plates 37 stretch the telescopic spring 34. When the squeezing ball 38 moves to a certain position outside the hardware, the abutment plate 25 and the clamping hand 23 contact and squeeze the hardware. The gripper on the manipulator 1 grabs the hardware again. At this time, the distance between the two sets of slide plates 37 and the mark b on the guide rod 35 can be used to intuitively detect the size data of the hardware. On the one hand, the size accuracy of the hardware can be detected to improve the precision of the hardware. On the other hand, it can be convenient for the staff to record data and improve the convenience of work.

[0034] In addition, when the slide plate 37 moves, the slide plate 37 drives the anti-collision plate 33 to move through the second threaded shaft 36. When the abutment plate 25 and the clamping hand 23 are in contact and squeezed with the hardware, the anti-collision plate 33 is located on one side of the gripper on the manipulator 1, and the anti-collision plate 33 is kept at a certain distance from the gripper on the manipulator 1. In this way, the anti-collision plate 33 can protect the manipulator 1 and prevent the manipulator 1 from colliding with external equipment or other hardware that suddenly appears on the path when grabbing the hardware and moving along a specific path, thereby causing damage to the manipulator 1 and increasing the maintenance cost.

[0035] In addition, the distance that the slide plate 37 is automatically driven to move is determined according to the size of the hardware, and then the position of the anti-collision plate 33 is automatically adjusted by the slide plate 37. Therefore, the position of the anti-collision plate 33 can be automatically adjusted according to hardware of different sizes, and then the distance between the anti-collision plate 33 and the manipulator 1 can be adjusted. On the one hand, it can prevent the anti-collision plate 33 from being too close to the gripper on the manipulator 1 when the gripper on the manipulator 1 is opened, which affects the opening of the gripper on the manipulator 1. On the other hand, the anti-collision plate 33 is located at a suitable position on one side of the gripper on the manipulator 1, which can provide anti-collision protection for the manipulator 1 while preventing the anti-collision plate 33 from occupying too much working space, causing the anti-collision plate 33 to cause trouble to the working environment of the staff during the gripping process of the manipulator 1. In addition, the position of the anti-collision plate 33 on the second threaded shaft 36 can be adjusted according to actual conditions to further increase flexibility.

[0036] Working principle: In the process of the manipulator 1 grabbing the hardware, the manipulator 1 drives the cross bar 21 to move while moving along a specific path, and the cross bar 21 drives the clamping hand 23 and the butt plate 25 to move. When the gripper on the manipulator 1 is about to grab the hardware, the clamping hand 23 and the butt plate 25 on the cross bar 21 first contact the hardware, and at the same time the butt plate 25 drives the fixing frame 32 to move down through the mounting rod 31, and the fixing frame 32 drives the slide plate 37 to move through the guide rod 35, and the squeezing ball 38 on the slide plate 37 first contacts and squeezes the hardware. Due to the spherical design of the bottom of the squeezing ball 38 and the arc-shaped outer surface of the hardware, in the process of the hardware and the squeezing ball 38 contacting and squeezing, the hardware squeezes the squeezing ball 38 to move, and the squeezing ball 38 drives the slide plate 37 to move along the guide rod 35. When the two groups of slide plates 37 move in opposite directions along the guide rod 35, the two groups of slide plates 37 stretch the telescopic spring 34. When the squeezing ball 38 moves to a certain position on the outside of the hardware, this When the plate 25 and the clamping hand 23 are in contact and squeezed with the hardware, the gripper on the manipulator 1 grabs the hardware again. At this time, the distance between the two sets of slide plates 37 and the mark b on the guide rod 35 can be used to intuitively detect the size data of the hardware. On the one hand, the size accuracy of the hardware can be detected to improve the precision of the hardware. On the other hand, it is convenient for the staff to record data and improve the convenience of work. When the slide plate 37 moves, the slide plate 37 drives the anti-collision plate 33 to move through the second threaded shaft 36. When the plate 25 and the clamping hand 23 are in contact and squeezed with the hardware, the anti-collision plate 33 is located on one side of the gripper on the manipulator 1, and the anti-collision plate 33 is kept at a certain distance from the gripper on the manipulator 1. In this way, the anti-collision plate 33 can protect the manipulator 1 and prevent the manipulator 1 from colliding with the external equipment or other hardware that suddenly appears on the path when grabbing the hardware and moving along a specific path, thereby causing damage to the manipulator 1 and increasing the maintenance cost.

[0037] After the manipulator 1 continues to move downward, the clamping hand 23 and the abutment plate 25 will be squeezed by the hardware, driving the cross bar 21 to move on the manipulator 1. The cross bar 21 moves inside the empty slot on the manipulator 1. After the manipulator 1 moves to a certain position, the gripper on the manipulator 1 grabs the hardware. At this time, after the cross bar 21 moves on the limiting shaft 27, the cross bar 21 moves and contacts and squeezes the top of the limiting shaft 27, so that the cross bar 21 remains stable. Therefore, the manipulator 1 is used in conjunction with the clamping hand 23 and the abutment plate 25 to connect multiple positions of the hardware, which can increase the stability of the hardware in the process of following the movement of the manipulator 1, and avoid the manipulator 1 from offsetting the grabbing position of the hardware, causing the hardware to tip over or even fall when following the movement of the manipulator 1, damaging the hardware and increasing costs.

[0038] 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 precision hardware manipulator anti-collision structure, comprising a manipulator (1), characterized in that: The manipulator (1) is provided with a stabilizing mechanism (2) for assisting the manipulator (1) in stably grasping the hardware. The stabilizing mechanism (2) comprises a cross bar (21) sliding on the manipulator (1). A stop plate (25) is slidably mounted on one end of the cross bar (21). The stop plate (25) and the other end of the cross bar (21) are distributed on both sides of the manipulator (1). The cross bar (21) is provided with a limiting shaft (27) for limiting the sliding of the cross bar (21). When the manipulator (1) grasps the hardware, the stabilizing mechanism (2) The other end of the cross bar (21) is in contact with and pressed against the hardware, and the abutment plate (25) is in contact with and pressed against another part of the hardware, thereby cooperating with the manipulator (1) to form a multi-point grasping of the hardware; in addition, the abutment plate (25) slides on one end of the cross bar (21), thereby adjusting the level difference between the bottom of the abutment plate (25) and the bottom of the other end of the cross bar (21); a hydraulic rod (24) is provided on the cross bar (21), and the output end of the hydraulic rod (24) is fixedly connected to the cross bar (21); The crossbar (21) is provided with an anti-collision mechanism (3) for protecting the manipulator (1) from moving along a specific path when grabbing hardware. The anti-collision mechanism (3) comprises a fixed frame (32) located on one side of the abutment plate (25). A guide rod (35) with a scale on the surface is fixed on the fixed frame (32). Two groups of slide plates (37) are slidably mounted on the guide rod (35). A telescopic spring (34) is connected between the two groups of slide plates (37). An anti-collision plate (33) is provided on one side of the two groups of slide plates (37). The anti-collision plate (33) On one side of the gripper on the manipulator (1), the bottoms of the two groups of slide plates (37) are both provided with squeezing balls (38). During the process of the contact and squeezing of the abutment plate (25) and the other end of the cross bar (21) with the hardware, the slide plates (37) are first contacted and squeezed with the hardware through the squeezing balls (38), and the slide plates (37) are driven to move by the squeezing force between the squeezing balls (38) and the hardware. The slide plates (37) are on the guide rods (35), and at the same time, the slide plates (37) drive the anti-collision plate (33) and make it stay on one side of the gripper.

2. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The manipulator (1) is provided with an empty slot for the crossbar (21) to pass through.

3. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The limiting shaft (27) is fixedly mounted on the manipulator (1), and the cross bar (21) is provided with a sliding groove that cooperates with the limiting shaft (27) to limit the movement of the cross bar (21).

4. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The cross bar (21) is of L-shaped design, and the cross bar (21) cooperates with the limiting shaft (27) to move inside the empty slot on the robot (1).

5. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The other end of the crossbar (21) is provided with a clamping hand (23) for contacting and squeezing the hardware, and the clamping hand (23) is located on one side of the gripper on the manipulator (1).

6. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: A first threaded shaft (26) is fixed on the abutment plate (25), the first threaded shaft (26) penetrates the cross bar (21) and is fixed by bolts, and a mark a is provided on the outer side of the first threaded shaft (26).

7. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: A mounting rod (31) is fixed to one side of the abutment plate (25), and one end of the mounting rod (31) is connected to a fixing frame (32).

8. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The guide rod (35) is fixedly mounted on the fixing frame (32), and a mark b is provided on the outer side of the guide rod (35).

9. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The slide plate (37) slides on the guide rod (35), and the telescopic spring (34) is sleeved on the outside of the guide rod (35), and the two ends of the telescopic spring (34) are respectively connected to the two groups of slide plates (37).

10. The anti-collision structure of a precision hardware manipulator according to claim 1, characterized in that: A second threaded shaft (36) is fixed to one side of the two groups of slide plates (37), and the anti-collision plate (33) is fixed to the second threaded shaft (36) by means of bolts.

Images