Movable mechanical arm control device

Abstract

The utility model provides a movable mechanical arm control device which comprises a supporting frame body, the supporting frame body comprises a first supporting frame, a second supporting frame and an outer shell, a supporting base is arranged at the bottom of the second supporting frame, and a plurality of universal wheels are arranged on the supporting base; the power box, the control box and the mechanical arm mounting seat are fixedly arranged on the first support frame; the driving electric cylinder is arranged on the second supporting frame, the power output shaft is arranged in the vertical downward direction, a supporting cushion block is arranged at the tail end of the power output shaft, and the driving electric cylinder drives the supporting cushion block to move in the vertical direction through the power output shaft. When the mechanical arm is used, overall movement can be achieved through the universal wheels according to the actual situation of a patient, after the mechanical arm moves in place, the power output shaft of the driving electric cylinder drives the supporting cushion block to move in the vertical direction so that the whole structure can be supported, it is guaranteed that the structure body cannot move in the operation process of the mechanical arm, and the stability and reliability of operation are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field relates to a mechanical arm control device especially relates to a mobile mechanical arm control device suitable for oral treatment application field. BACKGROUND

[0002] The mechanical arm is a kind of complex system of high precision, multiple input multiple output, highly nonlinear, strong coupling, its structure includes multiple joints and actuator, in the running process, joint is driven by motor or other power device and the actuator is controlled, the movement of each degree of freedom is realized and carries out the action such as carrying, assembly, welding, because of its multi-function, high precision and programmable etc.Advantages, it has wide application in industrial production and daily life.The dental implant surgery clinical field in the technical scheme, it is an important scene of mechanical arm application.

[0003] When implementing dental implant surgery, according to ideal implantation scheme, implant hole is drilled on the alveolar bone of patient according to the established implantation scheme, and then implant body is implanted based on the implant hole.It can be understood that the direction, angle and depth of implant hole have great influence on treatment effect, compared with artificial operation implant mobile phone for hole preparation, through the mechanical arm operation implant mobile phone for hole preparation, the accuracy and reliability are more advantageous, and the implant repair effect can be guaranteed.

[0004] In the field of oral treatment, considering the huge difference of patient oral environment and alveolar bone condition, in order to adapt to these differences, it is an important requirement for the operation equipment to be convenient to move.How to ensure the stability and reliability of operation under the premise of being convenient to move is a technical problem to be solved in the industry. UTILITY MODEL CONTENT

[0005] The utility model solves the technical problems in that, in view of the above defects of prior art, provide a kind of mobile mechanical arm control device, after moving in place by universal wheel, the power output shaft of electric cylinder is driven to support pad piece moves in vertical direction and can prop up the whole structure, ensure that structure ontology does not appear movement in the process of mechanical arm operation, guarantee the stability and reliability of operation.

[0006] The technical scheme adopted by the utility model to solve technical problems is as follows:

[0007] A kind of mobile mechanical arm control device, comprising:

[0008] Support frame body, the support frame body includes first support frame, second support frame and shell body, the first support frame is set to the second support frame upper, the shell body is set to the first support frame and the second support frame outside, the bottom of the second support frame is provided with support base, a plurality of universal wheels are provided on the support base;

[0009] A power box, a control box and a mechanical arm mounting seat are fixedly arranged on the first support frame, and a mechanical arm is arranged on the mechanical arm mounting seat;

[0010] A driving electric cylinder is arranged on the second support frame, a power output shaft of the driving electric cylinder is arranged in a vertical downward direction, an end of the power output shaft is provided with a support pad, and the driving electric cylinder drives the support pad to move in a vertical direction through the power output shaft.

[0011] Compared with the prior art, the beneficial effects of the technical scheme are that the power box, the control box and the mechanical arm mounting seat are integrally arranged on the support frame body to ensure that the device has basic mechanical arm control function, the device can be moved as a whole according to the actual situation of a patient by using universal wheels during use, and the entire structure can be lifted by driving the support pad to move in a vertical direction by the power output shaft of the driving electric cylinder after being moved into position, so that the structure body does not move during mechanical arm operation, and the stability and reliability of operation are ensured.

[0012] Further, the support frame body comprises a first support plate, a second support plate and a third support plate, and the first support plate, the second support plate and the third support plate are all horizontally arranged plate structures.

[0013] A plurality of first vertical support rods are arranged between the first support plate and the second support plate, two ends of the first vertical support rod are fixedly arranged on the first support plate and the second support plate respectively, and the first support plate, the second support plate and the plurality of first vertical support rods constitute the first support frame.

[0014] A plurality of second vertical support rods are arranged between the second support plate and the third support plate, two ends of the second vertical support rod are fixedly arranged on the second support plate and the third support plate respectively, and the second support plate, the third support plate and the plurality of second vertical support rods constitute the second support frame.

[0015] The beneficial effects of the above scheme are that the first support plate, the second support plate and the third support plate combine the first vertical support rod and the second vertical support rod to form the first support frame and the second support frame, the second support plate separates the first support frame and the second support frame to realize mutual isolation of functional components and power components, and mutual influence between the functional components and the power components is prevented.

[0016] Further, a top opening is formed in the top of the outer shell body, and a shell top plate is fixedly arranged on the top opening, wherein a top plate opening is arranged on the shell top plate, and the mechanical arm mounting seat is located in the top plate opening and is fixedly arranged on the first support plate.

[0017] A dustproof cover is arranged on the top plate opening and covers between the shell top plate and the mechanical arm mounting seat.

[0018] The beneficial effects of the above scheme are that the mechanical arm mounting seat is installed on the first support plate through the top plate opening on the shell top plate, and a dustproof cover is arranged in the gap between the mechanical arm mounting seat and the shell top plate, so that the structure of the device is more complete.

[0019] Further, a handle assembly is arranged on the support frame body, which comprises a first arc-shaped handle, a second arc-shaped handle, a third arc-shaped handle, a fourth arc-shaped handle, and four connecting sleeves, wherein the first arc-shaped handle, the second arc-shaped handle, the third arc-shaped handle, and the fourth arc-shaped handle are connected by the connecting sleeves, and the first arc-shaped handle, the second arc-shaped handle, the third arc-shaped handle, and the fourth arc-shaped handle are sequentially connected in a ring structure.

[0020] The handle assembly further comprises a first connecting arm, a second connecting arm, a third connecting arm, and a fourth connecting arm, wherein the two ends of the first connecting arm are fixedly arranged on the first support plate and the first arc-shaped handle, the two ends of the second connecting arm are fixedly arranged on the first support plate and the second arc-shaped handle, the two ends of the third connecting arm are fixedly arranged on the first support plate and the third arc-shaped handle, and the two ends of the fourth connecting arm are fixedly arranged on the first support plate and the fourth arc-shaped handle.

[0021] The beneficial effects of the above scheme are that the first arc-shaped handle, the second arc-shaped handle, the third arc-shaped handle, and the fourth arc-shaped handle form a handle assembly, which provides an operating force point for controlling the device to move according to actual needs, and the modular design of the handle assembly makes the production cost of the device lower.

[0022] Further, two guide sleeves are arranged below the driving cylinder, wherein the two guide sleeves are arranged in a vertical downward direction, the two guide sleeves are located on both sides of the power output shaft, the guide sleeves are fixedly arranged on the support base, a guide auxiliary rod is arranged in the guide sleeves, the end of the guide auxiliary rod is fixedly arranged on the support base, and the guide auxiliary rod is parallel to the power output shaft.

[0023] The beneficial effects of the above scheme are: two guide sleeves are arranged on both sides of the power output shaft, and a guide auxiliary rod is arranged in the guide sleeve; the end of the guide auxiliary rod is fixedly arranged on the support base; the guide sleeve limits the guide auxiliary rod; when the power output shaft drives the support pad to move, the stability of the support pad is ensured.

[0024] Further, the end of the power output shaft is provided with a connecting rod, the connecting rod is coaxially arranged with the power output shaft, and the diameter of the connecting rod is smaller than that of the power output shaft; an external thread connection part is arranged on the connecting rod; the connecting rod is threadedly connected with an internal thread connection part of a clamping fixing nut; a clamping space is formed between the external thread connection part and the power output shaft; the power output shaft is arranged on the support pad, and the support pad is clamped and fixed between the clamping fixing nut and the power output shaft.

[0025] The beneficial effects of the above scheme are: the size difference between the power output shaft and the connecting rod is used to form a clamping space in combination with the clamping fixing nut; the original structure is used to clamp and fix the support pad, and the structure of the device can be simplified.

[0026] Further, a clamping fixing groove and an adhesive fixing groove are formed in the support pad; a clamping fixing recess is arranged in the clamping fixing groove; and an adhesive fixing recess is arranged in the adhesive fixing groove.

[0027] The clamping fixing nut is arranged in the clamping fixing groove; the clamping fixing nut is abutted against the clamping fixing recess to clamp and fix the support pad between the clamping fixing nut and the power output shaft; and the thickness of the clamping fixing nut is smaller than the depth of the clamping fixing groove.

[0028] The end of the guide auxiliary rod is provided with an adhesive boss; the adhesive boss is a cylindrical structure; the guide auxiliary rod and the adhesive boss are coaxially arranged; the diameter of the adhesive boss is greater than that of the guide auxiliary rod; the adhesive boss is abutted against the adhesive fixing recess; the adhesive boss and the adhesive fixing are fixed by adhesive; and the thickness of the adhesive boss is smaller than the depth of the adhesive fixing groove.

[0029] The beneficial effects of the above scheme are: the adhesive boss and the adhesive fixing are fixedly connected by adhesive; and the guide auxiliary rod and the support pad are fixedly connected by a simple structure.

[0030] Further, two driving electric cylinders are arranged; one of the driving electric cylinders is correspondingly provided with one power output shaft, two guide auxiliary rods and one support pad.

[0031] The beneficial effects of the above scheme are that two driving electric cylinders are arranged, and the two driving electric cylinders drive two supporting pads respectively, so that the fixing effect of the device is better.

[0032] Further, the outer shell is a plastic structure, and the supporting pad is a stainless steel structure.

[0033] The beneficial effects of the above scheme are that the plastic structure is used as the outer shell, the electrical isolation is realized by the characteristics of the plastic, and the manufacturing cost is reduced; and the stainless steel structure is used as the supporting pad, so that the strength of the device is effectively improved, and the supporting pad, which is often in contact with the ground and bears the whole weight of the device, is durable.

[0034] Further, the first supporting frame is provided with a first fixing plate and a second fixing plate, the first fixing plate and the second fixing plate are arranged transversely, and the power supply box and the control box are fixedly arranged on the first fixing plate and the second fixing plate by bolts.

[0035] The beneficial effects of the above scheme are that the first supporting frame is arranged in the vertical direction, the first fixing plate and the second fixing plate are arranged horizontally on the first supporting frame, a plurality of fixing points are provided for the fixing and installation of the power supply box and the control box, and the installation and fixing are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a whole schematic view of the mobile mechanical arm control device.

[0037] Figure 2 is a whole schematic view of the mobile mechanical arm control device.

[0038] Figure 3 is an exploded view of the upper part of the mobile mechanical arm control device.

[0039] Figure 4 is an exploded view of the driving electric cylinder in the mobile mechanical arm control device.

[0040] Figure 5 is another exploded view of the driving electric cylinder in the mobile mechanical arm control device.

[0041] In the drawings, the components represented by the respective reference numerals are listed as follows:

[0042] The first supporting frame 1, the second supporting frame 2, the outer shell 3, the supporting base 4, the universal wheel 5, the first supporting plate 6, the second supporting plate 7, the third supporting plate 8, the first vertical supporting rod 9, the second vertical supporting rod 10, and the handle assembly 11.

[0043] The power box 101, the control box 102, the first fixed plate 103, and the second fixed plate 104;

[0044] The driving cylinder 201, the power output shaft 202, the supporting pad 203, the guide sleeve 204, the guide auxiliary rod 205, the connecting rod 206, the clamping fixed nut 207, the clamping fixed groove 208, and the adhesive fixed groove 209;

[0045] The shell top plate 301, the mechanical arm mounting seat 302, and the dustproof cover 303;

[0046] The first arc-shaped handle 1101, the second arc-shaped handle 1102, the third arc-shaped handle 1103, the fourth arc-shaped handle 1104, the connecting sleeve 1105, the first connecting arm 1106, the second connecting arm 1107, the third connecting arm 1108, and the fourth connecting arm 1109. DETAILED DESCRIPTION

[0047] To make the purpose, technical scheme and advantages of the utility model more clear and definite, the utility model is further described in detail below by referring to the drawings and taking examples. It should be understood that the specific examples described herein are only used to explain the utility model and not used to limit the utility model.

[0048] In the description of the utility model, it should be understood that the directions or position relations indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right" and the like are based on the directions or position relations shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model in that the devices or components indicated must have a specific direction, be constructed and operated in a specific direction. In addition, the terms "first" and "second" are only used for description purposes and cannot be understood as indicating or implying relative importance.

[0049] In the description of the utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. When a component is referred to as "fixed to" or "provided on" another element, it can be directly on another component or there can be a middle component. When a component is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. For those skilled in the art, the specific meanings of the above terms in the utility model can be understood according to the specific circumstances.

[0050] The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Its structure includes multiple joints and actuators. During operation, the joints are driven by motors or other power devices and the actuators are controlled to realize the movement of each degree of freedom and perform actions such as carrying, assembling and welding. Due to its multifunctionality, high precision and programmability, it has been widely used in industrial production and daily life. The dental implant surgery in the technical solution is an important scene of the application of the mechanical arm.

[0051] During the implementation of the dental implant surgery, a dental implant hole is drilled on the alveolar bone of the patient according to the ideal implantation scheme, and then an implant body is implanted based on the dental implant hole. It can be understood that the direction, angle and depth of the dental implant hole have a great influence on the treatment effect. Compared with manually operating the dental implant handset to prepare the hole, operating the dental implant handset through the mechanical arm to prepare the hole is more accurate and reliable, and can better guarantee the implantation and repair effect.

[0052] In the field of oral treatment, considering the huge differences in the oral environment and alveolar bone conditions of patients, in order to adapt to the special conditions of different patients, the position and direction of the mechanical arm need to be adjusted during use. In order to adapt to these differences, easy movement is an important requirement for surgical equipment. How to ensure the stability and reliability of the operation under the premise of easy movement is a technical problem to be solved in the industry.

[0053] As shown in Figure 1 and Figure 2 , in order to solve the above problems, the utility model provides a movable mechanical arm control device, which comprises a support frame body, a power box 101, a control box 102, a mechanical arm mounting seat 302 and a driving electric cylinder 201.

[0054] The support frame body comprises a first support frame 1, a second support frame 2 and an outer shell 3. The first support frame 1 and the second support frame 2 serve as structural supports, and the outer shell 3 is used to cover and protect the internal components of the device. The first support frame 1 is arranged above the second support frame 2, and the outer shell 3 is arranged outside the first support frame 1 and the second support frame 2. The bottom of the second support frame 2 is provided with a support base 4, and a plurality of universal wheels 5 are arranged on the support base 4. The universal wheels 5 are used to support the movement of the structure under the driving of external force, so as to better adapt to the special direction and angle requirements of different application scenes of the dental implant surgery.

[0055] The power supply box 101, the control box 102, and the robotic arm mounting base 302 are fixedly mounted on the first support frame 1, and the robotic arm is mounted on the robotic arm mounting base 302. The power supply box 101 is used to provide the power required for operation, the control box 102 is used to control the operation of the robotic arm, and the robotic arm mounting base 302 is used to install and fix the robotic arm in the device.

[0056] The drive cylinder 201 is mounted on the second support frame 2. The power output shaft 202 of the drive cylinder 201 is arranged vertically downwards, and a support pad 203 is provided at the end of the power output shaft 202. The drive cylinder 201 drives the support pad 203 to move vertically through the power output shaft 202. Before the device moves into position, the support pad 203 leaves the ground. After the device moves into position, the power output shaft 202 of the drive cylinder 201 drives the support pad 203 to gradually approach and finally abut against the ground. After the support pad 203 abuts against the ground, the power output shaft 202 of the drive cylinder 201 continues to extend, and the support pad 203 supports the entire structure, causing the caster wheel 5 to leave the ground, thereby maintaining the stability of the entire structure.

[0057] Based on the above structure, the power supply box 101, control box 102 and robotic arm mounting base 302 are integrated on the support frame body to ensure that the device has basic robotic arm control functions. During use, the entire device can be moved using the casters 5 according to the patient's actual situation. After being moved into place, the power output shaft 202 of the drive cylinder 201 drives the support pad 203 to move in the vertical direction to support the entire structure, ensuring that the structure body will not move during the operation of the robotic arm, thus ensuring the stability and reliability of the operation.

[0058] like Figure 2 As shown, preferably, the support frame body includes a first support plate 6, a second support plate 7 and a third support plate 8, wherein the first support plate 6, the second support plate 7 and the third support plate 8 are all horizontally arranged flat plate structures.

[0059] A plurality of first vertical support rods 9 are provided between the first support plate 6 and the second support plate 7. The two ends of the first vertical support rods 9 are respectively fixed to the first support plate 6 and the second support plate 7. The first support plate 6, the second support plate 7, and the plurality of first vertical support rods 9 constitute the first support frame 1. The first support frame 1 is formed by combining the first support plate 6, the second support plate 7, and the first vertical support rods 9.

[0060] A plurality of second vertical support rods 10 are arranged between the second support plate 7 and the third support plate 8, both ends of the second vertical support rod 10 are fixedly arranged on the second support plate 7 and the third support plate 8, and the second support plate 7, the third support plate 8 and the plurality of second vertical support rods 10 form the second support frame 2. The second support frame 2 is formed by the second support plate 7, the third support plate 8 and the second vertical support rod 10.

[0061] In the structure, the power box 101 and the control box 102 are functional components, and the driving cylinder 201 is a power component. Based on the above structure, the first support frame 1 and the second support frame 2 are formed by the first support plate 6, the second support plate 7, the third support plate 8, the first vertical support rod 9 and the second vertical support rod 10, and the first support frame 1 and the second support frame 2 are separated by the second support plate 7, so as to realize mutual isolation of the functional components and the power component and prevent mutual influence between the functional components and the power component.

[0062] As shown in Figure 3 Preferably, a top opening is formed in the top of the outer shell 3, an outer shell top plate 301 is fixedly arranged on the top opening, a top plate opening is arranged on the outer shell top plate 301, the mechanical arm mounting seat 302 is located in the top plate opening, and the mechanical arm mounting seat 302 is fixedly arranged on the first support plate 6. A dust cover 303 is arranged on the top plate opening, and the dust cover 303 covers between the outer shell top plate 301 and the mechanical arm mounting seat 302.

[0063] In actual application, it is necessary to mount the mechanical arm on the structure. The outer shell top plate 301 is a part of the outer shell 3, and it is necessary to fixedly arrange the mechanical arm mounting seat 302 on the first support plate 6, so it is necessary to arrange the top plate opening on the outer shell top plate 301, and ensure that the size of the top plate opening is greater than the size of the mechanical arm mounting seat 302, which is the basic structure common sense. Since the size of the top plate opening is greater than the size of the mechanical arm mounting seat 302, a gap is formed between the top plate opening and the mechanical arm mounting seat 302, and based on this, the dust cover 303 can be arranged at the gap to ensure the structural integrity.

[0064] Based on the above structure, the mechanical arm mounting seat 302 is mounted on the first support plate 6 through the top plate opening on the outer shell top plate 301, and the dust cover 303 is arranged at the gap between the mechanical arm mounting seat 302 and the outer shell top plate 301, and the whole structure is covered by the dust cover 303, so that the structure of the device is more complete.

[0065] As shown in Figure 3As shown, the support frame body is further provided with a handle assembly 11, the handle assembly 11 comprises a first arc-shaped handle 1101, a second arc-shaped handle 1102, a third arc-shaped handle 1103, a fourth arc-shaped handle 1104 and four connecting sleeves 1105, the first arc-shaped handle 1101, the second arc-shaped handle 1102, the third arc-shaped handle 1103 and the fourth arc-shaped handle 1104 are connected by the connecting sleeves 1105, and the first arc-shaped handle 1101, the second arc-shaped handle 1102, the third arc-shaped handle 1103 and the fourth arc-shaped handle 1104 are sequentially connected to form a ring structure; the handle assembly 11 further comprises a first connecting arm 1106, a second connecting arm 1107, a third connecting arm 1108 and a fourth connecting arm 1109, both ends of the first connecting arm 1106 are fixedly arranged on the first support plate 6 and the first arc-shaped handle 1101 respectively, both ends of the second connecting arm 1107 are fixedly arranged on the first support plate 6 and the second arc-shaped handle 1102 respectively, both ends of the third connecting arm 1108 are fixedly arranged on the first support plate 6 and the third arc-shaped handle 1103 respectively, and both ends of the fourth connecting arm 1109 are fixedly arranged on the first support plate 6 and the fourth arc-shaped handle 1104 respectively.

[0066] Based on the above structure, the handle assembly 11 is formed by the first arc-shaped handle 1101, the second arc-shaped handle 1102, the third arc-shaped handle 1103 and the fourth arc-shaped handle 1104, which provides an operating force point for controlling the movement of the device according to actual needs, and the modular design of the handle assembly 11 makes the manufacturing cost of the device lower.

[0067] As Figure 4 As shown, preferably, the driving electric cylinder 201 is provided below with two guide sleeves 204, the two guide sleeves 204 are arranged in the vertical direction downward, the two guide sleeves 204 are located on both sides of the power output shaft 202, the guide sleeve 204 is fixedly arranged on the support base 4, the guide sleeve 204 is provided with a guide auxiliary rod 205, the end of the guide auxiliary rod 205 is fixedly arranged on the support base 4, and the guide auxiliary rod 205 is parallel to the power output shaft 202.

[0068] The driving electric cylinder 201 acts on the support pad 203 through the power output shaft 202, and drives the support pad 203 to approach and away from the ground through the elongation and shortening of the power output shaft 202. It can be understood that the stability of the power output shaft 202 is related to the stability of the support pad 203 and the stability of the whole structure.

[0069] In order to improve the stability of the device, a guide sleeve 204 is arranged on both sides of the power output shaft 202, and a guide auxiliary rod 205 is arranged in each guide sleeve 204. The guide sleeve 204 is fixedly arranged on the support base 4, and can provide direction assistance for the guide auxiliary rod 205 to prevent the guide auxiliary rod 205 from deviating. Since the end of the guide auxiliary rod 205 is fixedly arranged on the support pad 203, when the guide auxiliary rod 205 moves in a direction under the limitation of the guide sleeve 204, the power output shaft 202 and the support pad 203 can also remain stable.

[0070] Based on the above structure, two guide sleeves 204 are arranged on both sides of the power output shaft 202, and a guide auxiliary rod 205 is arranged in each guide sleeve 204. By fixing the end of the guide auxiliary rod 205 on the support base 4 and using the limiting effect of the guide sleeve 204 on the guide auxiliary rod 205, the stability of the support pad 203 can be ensured when the power output shaft 202 drives the support pad 203 to move.

[0071] As shown in Figure 4 and Figure 5 Preferably, the end of the power output shaft 202 is provided with a connecting rod 206, the connecting rod 206 is coaxially arranged with the power output shaft 202, and the diameter of the connecting rod 206 is smaller than that of the power output shaft 202. An external thread connecting portion is arranged on the connecting rod 206, the connecting rod 206 is threadedly connected with an internal thread connecting portion of a clamping and fixing nut 207 through the external thread connecting portion, a clamping space is formed between the external thread connecting portion and the power output shaft 202, the power output shaft 202 is arranged on the support pad 203, and the support pad 203 is clamped and fixed between the clamping and fixing nut 207 and the power output shaft 202.

[0072] Based on the above structure, the size difference between the power output shaft 202 and the connecting rod 206 is used to form a clamping space in combination with the clamping and fixing nut 207, the clamping and fixing of the support pad 203 is realized by using the original structure, and the structure of the device can be simplified.

[0073] As shown in Figure 4 and Figure 5 Preferably, a clamping and fixing groove 208 and an adhesive fixing groove 209 are arranged on the support pad 203, a clamping and fixing recess is arranged in the clamping and fixing groove 208, and an adhesive fixing recess is arranged in the adhesive fixing groove 209.

[0074] In one aspect, the clamping fixing nut 207 is arranged in the clamping fixing groove 208, the clamping fixing nut 207 abuts against the clamping fixing groove, and the support pad 203 is clamped and fixed between the clamping fixing nut 207 and the power output shaft 202, and the thickness of the clamping fixing nut 207 is less than the depth of the clamping fixing groove 208; in another aspect, the end of the guide auxiliary rod 205 is provided with an adhesive boss, the adhesive boss is a cylindrical structure, the guide auxiliary rod 205 and the adhesive boss are coaxially arranged, and the diameter of the adhesive boss is greater than the diameter of the guide auxiliary rod 205; the adhesive boss abuts against the adhesive fixing groove, the adhesive boss and the adhesive fixing are fixed through adhesive, and the thickness of the adhesive boss is less than the depth of the adhesive fixing groove 209.

[0075] Based on the above structure, the adhesive boss and the adhesive fixing are fixed and connected through adhesive, and the fixed connection between the guide auxiliary rod 205 and the support pad 203 is realized by using a simple structure.

[0076] Specifically, the drive electric cylinder 201 is provided with two, one of the drive electric cylinders 201 is correspondingly provided with one of the power output shafts 202, two of the guide auxiliary rods 205 and one of the support pads 203. In this structure, the drive electric cylinder 201 is provided with two, and the two drive electric cylinders 201 drive two support pads 203 respectively, so that the fixing effect of the device is better.

[0077] Specifically, the outer shell 3 is a plastic structure, and the support pad 203 is a stainless steel structure. The plastic structure is used as the outer shell 3, the electrical isolation is realized by using the characteristics of the plastic, and the manufacturing cost is reduced; and the stainless steel structure is used as the support pad 203, so that the strength of the device can be effectively improved, and the support pad 203, which is often in contact with the ground and bears the entire weight of the device, can be durable.

[0078] As shown in the Figure 3 As shown in the

[0079] It should be understood that the application of the utility model is not limited to the above examples, and those skilled in the art can improve or transform according to the above description, and all these improvements and transformations shall belong to the protection scope of the claims attached to the utility model.

Claims

1. A mobile manipulator control device characterized by comprising: The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided.

2. The mobile manipulator control device of claim 1, wherein The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided.

3. The mobile manipulator control device of claim 2, wherein The utility model relates to a support frame body, power box, control box and mechanical arm mounting seat, drive electric cylinder, support base, support pad, first support plate, second support plate, third support plate, first vertical support rod, second vertical support rod, dustproof cover, handle assembly, top opening, top plate opening, top plate, first arc handle, second arc handle, third arc handle, fourth arc handle and four connecting sleeves are provided. ​ 4. The mobile manipulator control device of claim 2, wherein ​ The handle assembly further comprises a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, two ends of the first connecting arm are fixedly arranged on the first support plate and the first arc-shaped handle respectively, two ends of the second connecting arm are fixedly arranged on the first support plate and the second arc-shaped handle respectively, two ends of the third connecting arm are fixedly arranged on the first support plate and the third arc-shaped handle respectively, and two ends of the fourth connecting arm are fixedly arranged on the first support plate and the fourth arc-shaped handle respectively.

5. The mobile manipulator control device of claim 1, wherein The lower part of the driving electric cylinder is provided with two guide sleeves, the two guide sleeves are arranged in the vertical direction downward, the two guide sleeves are located on the two sides of the power output shaft, the guide sleeves are fixedly arranged on the support base, the guide sleeves are provided with guide auxiliary rods, the ends of the guide auxiliary rods are fixedly arranged on the support base, and the guide auxiliary rods are parallel to the power output shaft.

6. The mobile manipulator control device of claim 5, wherein, The end of the power output shaft is provided with a connecting rod, the connecting rod is coaxially arranged with the power output shaft, the diameter of the connecting rod is smaller than that of the power output shaft, the connecting rod is provided with an external thread connection part, the connecting rod is threadedly connected with an internal thread connection part of a clamping fixed nut through the external thread connection part, a clamping space is formed between the external thread connection part and the power output shaft, the power output shaft is arranged on the support pad, and the support pad is clamped and fixed between the clamping fixed nut and the power output shaft.

7. The mobile manipulator control device of claim 6, wherein The support pad is provided with a clamping fixed groove and an adhesive fixed groove, the clamping fixed groove is provided with a clamping fixed recess, and the adhesive fixed groove is provided with an adhesive fixed recess. The clamping fixed nut is arranged in the clamping fixed groove, the clamping fixed nut is abutted against the clamping fixed recess to clamp and fix the support pad between the clamping fixed nut and the power output shaft, and the thickness of the clamping fixed nut is smaller than the depth of the clamping fixed groove. The end of the guide auxiliary rod is provided with an adhesive boss, the adhesive boss is a cylindrical structure, the guide auxiliary rod and the adhesive boss are coaxially arranged, the diameter of the adhesive boss is greater than that of the guide auxiliary rod, the adhesive boss is abutted against the adhesive fixed recess, the adhesive boss and the adhesive fixed recess are fixed through adhesive, and the thickness of the adhesive boss is smaller than the depth of the adhesive fixed groove.

8. The mobile manipulator control device of claim 7, wherein, The driving electric cylinder is provided with two, one of the driving electric cylinders is correspondingly provided with one power output shaft, two guide auxiliary rods and one support pad.

9. A mobile manipulator control apparatus according to any one of claims 1-8, wherein, The outer shell is a plastic structure, and the support pad is a stainless steel structure.

10. The mobile manipulator control device of any of claims 1-8, wherein, The first support frame is provided with a first fixed plate and a second fixed plate, the first fixed plate and the second fixed plate are arranged transversely, and the power supply box and the control box are fixedly arranged on the first fixed plate and the second fixed plate through bolts.

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