6335 results about "Manipulator" patented technology

Some examples of the disclosure are directed to object manipulators and associated processes for manipulating an object representation in a three-dimensional environment. The object representation may correspond to a scan of a real-world object in a real-world environment. The object manipulators may include an object cleanup manipulator and a text annotation manipulator. The object cleanup manipulator may be selectable to display one or more control affordances providing functionality for selectively removing portions of the object representation in the three-dimensional environment and / or selectively adjusting one or more parameters of the object representation in the three-dimensional environment. The text annotation manipulator may be selectable to display one or more control affordances providing functionality for selectively generating one or more text labels in the three-dimensional environment. The one or more text labels may be associated with the object representation in the three-dimensional environment.

The present invention relates to a coal mine intelligent directional drill and its drilling method, belonging to the technical field of coal mine drills. It comprises a moving platform, machine frame, clamper, main manipulator, power head, drill pipe storage system, control system, and hydraulic system. The power head structure is improved by adding an angle adjuster with accurate angle adjustment, locking, and anti-rotation functions. The angle adjuster is positioned on the gearbox side opposite the main motor, connected via a driving shaft. The control system includes a toolface azimuth detection and initialization system that works with the angle adjuster. This solves prior issues such as the absence of specialized toolface azimuth adjustment devices, low precision, low track adjustment efficiency, and challenges in achieving automatic directional drilling in the prior art. The invention enhances precision and efficiency, enabling automated, intelligent directional drilling.

The invention discloses an operation and maintenance manipulator intelligent control method and system based on visual identification, and relates to the technical field of intelligent manipulator control, and the method comprises the steps: collecting RGB image data and depth image data of an operation and maintenance operation area, and obtaining a standardized image matrix and a mapping relation matrix; inputting the standardized image matrix into an improved ResNet residual network model, generating a comprehensive feature descriptor, and calculating a spatial position coordinate and an attitude angle of the target equipment based on the mapping relation matrix; based on the current joint angle state of the manipulator, an improved Jacobian matrix inverse kinematics algorithm is used for solving a target angle sequence of each joint, a preset operation mode library is matched based on the comprehensive feature descriptor, and a grabbing force parameter and a motion speed parameter are determined; and converting the target angle sequence into a control instruction, and sending the control instruction to each joint driver of the manipulator to drive the manipulator to complete action planning. According to the invention, full-process automation from environment perception to task execution is realized.

The invention discloses a manipulator grabbing control system based on visual identification, and the system comprises a visual identification module which is used for collecting the three-dimensional form data and surface feature information of a target object, and eliminating the noise interference in an original image through preprocessing; the multi-modal fusion processor is used for receiving the three-dimensional form data and the surface feature information output by the visual recognition module, executing point cloud structured conversion on the three-dimensional form data, extracting geometric features of an object through a neural network, and meanwhile, performing weight distribution on the surface feature information by adopting a feature attention mechanism to complete multi-feature fusion processing; according to the multi-axis cooperative manipulator provided with the end executor, the end executor integrates a touch sensing assembly used for touch sensing and an adsorption execution device used for assisting grabbing. By integrating the technologies of visual identification, multi-modal fusion, intelligent optimization, dynamic feedback and the like, the sensing precision, the environmental adaptability and the grabbing reliability of the system to object characteristics are improved.

The invention belongs to the technical field of cleaning and dirt prevention and removal, and discloses a control system and a control method of an ultrasonic cleaning device, stable energy coupling and dead-corner-free cleaning are realized through double-closed-loop driving and dynamic modulation in an ultrasonic cleaning link, and the uniformity of tank liquid cavitation intensity is remarkably improved. Meanwhile, control strategies are customized in the aspects of a rinsing link, a water cutting and drying link, liquid level control, manipulator control and the like, so that the defects of high energy consumption, incomplete drying, low rinsing efficiency, manipulator conflict and the like in the prior art are overcome while the surface and the interior of the workpiece are thoroughly cleaned; and the cleaning effects of high cleanliness, complete drying and no physical or chemical damage are ensured.

The invention discloses a 3D (three-dimensional) rocker potentiometer assembling machine. The 3D rocker potentiometer assembling machine comprises a stander, wherein the stander is provided with a rotatable transporting tray, and the rotatable transporting tray is provided with a plurality of storage grooves for storing rocker assemblies; a mechanical hand mechanism and a rocker assembly transporting mechanism, corresponding to the storage grooves, are arranged on the surface of the stander and the periphery of the rotatable transporting tray, the stander is also provided with a controller which is connected with the rotatable transporting tray, the mechanical hand mechanism and the rocker assembly transporting mechanism, and the controller is connected with an electric control system below the stander. By adopting the 3D rocker potentiometer assembling machine, a 3D rocker potentiometer can be automatically assembled and tested; not only can the production efficiency be greatly improved compared to the manual assembling, but also the labor cost is saved.

The invention relates to the technical field of grabbing manipulators, and discloses a self-adaptive grabbing device for a special-shaped curved surface workpiece, which comprises a central bearing base made of a light metal material and provided with a multifunctional quick connector at the top; the central adsorption module is fixed at the central position of the bottom of the central bearing base and comprises an air pressure balance pipeline communicated with an external air source; by means of radial adjustment of the cross shaft and cooperation of the elastic buffering structure and the vertical guiding assembly, high-precision centering and stable adsorption are achieved, vertical contact of the suction cup is ensured through vertical guiding, the suction cup is suitable for different curved surface radians, and the stable adsorption force under the small area is kept; and electric control connection supports installation, namely electrification, and is suitable for automatic precise grabbing.

The invention relates to the technical field of industrial robot control, and particularly discloses an intelligent foreign matter sorting robot control system based on AI recognition, which comprises a dynamic spatial feature extraction module, a manipulator motion state coding module, a collaborative conflict detection module, a dynamic trajectory optimization module and an execution control adjustment module, constructing a three-dimensional dynamic space model through multi-sensor fusion, and extracting spatial topological features by utilizing continuous coherence analysis; manipulator motion parameters are converted into topological space representation, and a track feature coding matrix is established; detecting interaction conflicts among the manipulators in real time by adopting a multi-scale coherence analysis method, and generating graded early warning signals; a collision avoidance track is optimized based on topological constraints and a virtual rejection field technology; precise execution is achieved through inverse kinematics of the Lie group theory and self-adaptive control.

The invention relates to the technical field of mechanical arm control, in particular to a self-adaptive fuzzy fixed time control method based on an output-limited mechanical arm, and the method comprises the following steps: S1, constructing a mechanical arm dynamic model; s2, setting constraint conditions of an output state of the mechanical arm dynamic model; s3, defining a tracking error and a virtual control law of the mechanical arm dynamic model; s4, on the basis of output state limitation and fixed time control, an actual control law is designed to serve as input of the mechanical arm dynamic model, and an adaptive law is constructed; and S5, a three-level logarithmic obstacle Lyapunov function is constructed, the three-level logarithmic obstacle Lyapunov function is combined with the virtual control law, the actual control law and the self-adaptive law step by step and substituted into the virtual control law, the actual control law and the self-adaptive law, and then it is guaranteed that the output state of the mechanical arm dynamic model does not exceed the preset safety boundary according to the actual fixed time control lemma. According to the invention, high-precision trajectory tracking can be realized on the premise of ensuring safe operation of the mechanical arm.

The invention discloses an automatic alignment and integrated control system and method for an optical crystal array. The automatic alignment and integrated control system comprises a quantum entanglement enhanced ultra-precise sensing array, a multi-factor coupling error prediction module, a full-link adaptive compensation execution module, a central control module and a federal learning collaborative optimization module. The sensing array is used for acquiring multi-dimensional error data such as sub-nano displacement, Raman spectrum deformation, infrared temperature rise and friction stress in real time; the prediction module is used for mining coupling characteristics between error sources based on an attention mechanism and predicting an instant alignment error and a hysteresis deformation error; the compensation execution module realizes full-link compensation through quantum traceability calibration, mechanical arm dynamic composite compensation and process parameter cooperative adjustment according to the prediction error; the central control module performs synchronous scheduling and conflict coordination; and the federated learning module realizes collaborative optimization and privacy protection of models among multiple devices. According to the invention, ultrahigh-precision and adaptive intelligent integration of the optical crystal array is realized.

The invention discloses a space manipulator impedance control method based on joint hysteresis dynamic position compensation, and belongs to the field of space robot nonlinear dynamics control. The control method comprises the following steps: constructing a flexible joint space manipulator model based on a standard dynamic model of the space manipulator; according to the flexible joint space manipulator model, a virtual torque sensing strategy is designed based on motor side sensor information, and a joint torsion torque estimated value is obtained; building a joint hysteresis model based on a Bi-LSTM mixed hysteresis modeling method fusing multi-scale memory and an attention mechanism, and training the joint hysteresis model; inputting a joint torsion moment estimation value into the trained joint hysteresis model, and estimating a joint torsion angle; based on the estimated joint torsion angle, the joint angle measured by the motor side encoder is subjected to superposition correction, and track error compensation caused by joint hysteresis is achieved.

A visual tactile sensor, a manipulator and a control method thereof, the visual tactile sensor comprising: a contact layer, at least a portion of which is transparent; when the contact layer is subjected to external force, at least one part of a plurality of markers in the marker array generates displacement and / or deformation; and the image acquisition unit is used for performing image acquisition on the marker array and performing image acquisition on the outside through the transparent part of the contact layer. The visual tactile sensor provided by the invention not only can capture the external visual information before operation to identify the operation object, but also can provide the tactile information in the operation process, so that the perception capability of an operation system is enhanced, and the operation success rate is improved.

The invention relates to the technical field of 3D vision, and discloses a manipulator dispensing path optimization method and device based on 3D vision, and the method comprises the steps: carrying out the multi-angle three-dimensional vision scanning of a dispensing workpiece, and obtaining the point cloud data of the dispensing workpiece; performing semantic segmentation on the point cloud data, and decomposing the dispensing workpiece into a plurality of functional parts; according to the semantic identifier and the surface feature of the functional component, identifying a target area to be dispensed and a dispensing path constraint condition; generating an initial dispensing path based on the target area to be dispensed and the dispensing path constraint condition; and performing iterative linear secondary adjustment control on the initial dispensing path to generate a motion control instruction. According to the invention, the self-adaptive optimization adjustment of the dispensing path is realized, the problem that the traditional dispensing system cannot cope with the actual state change of the workpiece is solved, and the adaptability and stability of the dispensing system are greatly improved.

The utility model relates to a semiconductor wafer box transfer device which has high precision, high stability and high automation level and is suitable for wafer box transfer in the semiconductor production process. The device comprises a connection table arranged in a bottom area, the connection table is provided with a power assembly and a groove transmission structure which are used for lifting and transmitting a wafer box, and the periphery of the connection table is provided with an anti-vibration device made of a flexible material. And the crown block is positioned at the upper part of the device and moves along the guide system track so as to ensure smooth transfer of the wafer box among different areas. A manipulator is arranged on one side of the connection table, the tail end of the manipulator is provided with a grabbing device of an open type U-shaped structure, and a positioning column is arranged to be matched with a positioning hole in the bottom of the wafer box, so that the positioning accuracy of the wafer box is guaranteed. An automatic induction device is installed above the grabbing device and cooperates with an inductor to monitor the position of the wafer box in real time. The power assembly adopts a belt transmission system to ensure stable transmission of the wafer box.

The invention discloses a mold injection molding full-process automation system based on layered cooperative control, which comprises a central control layer, a module scheduling layer and an equipment execution layer, and clock synchronization among the layers is realized through an industrial Ethernet. The central control layer comprises a dynamic scheduling server and a digital twinborn verification module, the module scheduling layer comprises a mold intelligent scheduling module, an injection molding process control module and a product quality closed loop module, and the equipment execution layer comprises a manipulator cooperation unit and a sprue material processing unit. By constructing a three-layer cooperative control architecture of a central control layer, a module scheduling layer and an equipment execution layer and combining a modular hardware carrier and a cross-layer data closed loop, common industrial problems such as cooperative level splitting, mold control marginalization and abnormal response delay are systematically solved; and finally, the comprehensive benefits that the die changing efficiency is remarkably improved, the product reject ratio is greatly reduced, and the energy consumption is obviously reduced are achieved.

The invention discloses a continuous feeding manipulator control method which comprises the following steps: constructing a finite element simulation model aiming at each joint of a mechanical arm and a tail end execution structure, acquiring inherent frequency distribution data of the structure under different load states and posture working conditions, and generating a frequency sensitive area parameter set based on the data. The method has the advantages that the track segment exciting the resonance risk can be recognized before the path is executed, the inherent frequency of the structure is effectively avoided through frequency matching and path reconstruction, the dynamic adaptability is improved, and pose offset and structural fatigue caused by resonance are prevented. Meanwhile, the system has the self-adaptive closed-loop optimization capacity, disturbance injection testing and periodic response verification are combined, the structure state can be monitored in real time, path re-optimization can be triggered, the stability and precision of the mechanical arm in continuous high-frequency operation are ensured, and the overall reliability and intelligent level of a production line are improved.

The utility model belongs to the technical field of glass fiber production equipment, and particularly relates to an expansion piece overturning type mechanical arm capable of automatically sleeving a machine head wire winding barrel. The expansion piece turnover type mechanical arm comprises an automatic cylinder feeding mechanism and a turnover cylinder conveying mechanism. The automatic cylinder feeding mechanism comprises a lifting feeding set, a first-stage cylinder feeding mechanism and a second-stage cylinder feeding mechanism. The overturning cylinder feeding mechanism comprises a supporting base, an overturning mechanism and an expansion piece rotating mechanism. The expansion piece overturning type mechanical arm and the control method thereof have the technical effects that the barrel feeding efficiency is high, and the wire winding barrel cannot be damaged.

The invention relates to the technical field of mechanical arms, in particular to a chemical emergency disposal-oriented manipulator cross-modal sensing control system which comprises an environment scanning module, a visual positioning module, an obstacle avoidance planning module, a pose compensation module, a decision mapping module and a grabbing updating module. Obtaining environment state information; an operation view angle image of the manipulator is collected, visual features of the operation view angle image are solved, and pose information is obtained; obstacle avoidance correction is conducted on the motion trail of the mechanical arm, and a collision-free approaching path is obtained; the operation view angle image and the multi-mode micro-touch signal are fused, error compensation is carried out on the pose information, and an accurate grabbing pose is obtained; mapping object surface physical attributes sensed by the multi-mode micro-tactile signals to obtain a self-adaptive grabbing instruction; the manipulator is controlled to conduct grabbing through the self-adaptive grabbing instruction, and environment state information is updated; according to the invention, the accuracy of cross-modal sensing control of the manipulator can be improved.

The utility model discloses automatic punching and receiving equipment for multi-cavity injection products, which comprises a rack, a first carrier transferring mechanism, a manipulator clamp, a runner cutting machine, a transfer carrying module, a second carrier transferring mechanism, a water gap cutting machine, a blanking carrying module and a material distribution box mechanism, wherein the first carrier transferring mechanism, the manipulator clamp, the runner cutting machine, the transfer carrying module, the second carrier transferring mechanism, the water gap cutting machine, the blanking carrying module and the material distribution box mechanism are mounted on the rack; a manipulator clamp is arranged above the input end of the first carrier transferring mechanism in a butt joint mode, a runner cutting machine is further arranged above the first carrier transferring mechanism in a butt joint mode, and the transfer carrying module carries products on the first carrier transferring mechanism after runner cutting to the second carrier transferring mechanism. A water gap cutting machine is arranged above and below the second carrying seat transferring mechanism in a butt joint mode, and a discharging carrying module and a material distribution box mechanism are arranged at the output end of the second carrying seat transferring mechanism in a butt joint mode. By means of the mode, the injection molding runner and the injection molding water gap are sequentially cut twice, hot cutting of the water gap is achieved, cutting precision and notch flatness are guaranteed, product quality is guaranteed, and products are packaged in cavities.

The invention discloses a track optimization control method and system for a high-speed linear seven-axis manipulator, and relates to the technical field of data processing. The method comprises the following steps: acquiring a multi-manipulator grabbing task, dividing the task into single-manipulator grabbing sub-tasks, defining a starting point and an ending point for each sub-task, and generating a track boundary constraint set through a constraint hierarchical model; taking the termination point as a root node, generating a reverse extension tree in a feasible region range of the trajectory boundary constraint set through a potential field steering strategy, and outputting a multi-dimensional trajectory primitive; the multi-dimensional trajectory primitives are preprocessed, and a candidate trajectory set is screened out through a multi-objective optimization strategy; and integrating the optimized trajectories of the manipulators through a global trajectory conflict coordination mechanism, and detecting trajectory conflicts by adopting space-time alignment to generate a global optimal trajectory.

The invention discloses a sorting manipulator intelligent control system based on big data, and the system comprises a multi-source data collection module which is used for synchronously collecting the real-time operation parameters of a sorting manipulator, the multi-modal feature data of a to-be-sorted object, and the dynamic environment parameters; the cross-modal fusion module is used for performing space-time alignment on the multi-modal feature data through a dynamic weighting algorithm; the double-domain cooperative training module is used for constructing a mapping relation between a virtual simulation domain and a physical entity domain, migrating initial model parameters trained by the virtual domain to the entity domain based on transfer learning, minimizing double-domain data distribution difference through a domain adaptation loss function, and generating an intelligent decision model adaptive to an entity scene; and the adaptive control module is used for generating a real-time control sequence through a model prediction control algorithm according to the sorting path planning result output by the intelligent decision model. According to the invention, more intelligent sorting manipulator control is realized.

The invention discloses a 3D printing path optimization method for a multi-joint industrial robot, and relates to the field of 3D printing path optimization. The method comprises the steps that a normalized torque load index is generated according to the joint torque of the mechanical arm, and a layer cutting thickness sequence is generated in combination with the model surface curvature; a vibration risk index is constructed through the joint angular acceleration, the attitude interpolation weight is dynamically adjusted, and an attitude interpolation trajectory is generated; according to the distribution characteristics of the temperature field around the path point, calculating a thermal coupling factor, generating a thermal avoidance path offset, and correcting the path point; calculating a collision risk score based on the minimum Euclidean distance between the path point and the obstacle model; and fusing the cutting layer thickness, the vibration risk, the thermal coupling factor and the collision risk score, and constructing a global path scoring function. Through comprehensive consideration of mechanical arm load, vibration risk, heat accumulation and collision risk, printing precision and quality are effectively improved, path smoothness is optimized, vibration and heat influences are reduced, material deformation is avoided, and stability of the printing process is ensured.

The invention discloses a manipulator grabbing control method and equipment based on position and posture recognition. The manipulator grabbing control method comprises the following steps that S1, initial image information of a target object is acquired through image acquisition equipment; s2, performing preprocessing and feature extraction on the initial image information, and obtaining three-dimensional position coordinates and attitude parameters of the target object through a preset position and attitude recognition algorithm; and S3, according to the three-dimensional position coordinates and the posture parameters, a grabbing path of the manipulator is planned by combining a kinematic model of the manipulator. By introducing technical means such as a deep learning recognition algorithm, forward / inverse kinematics model collaborative planning, real-time posture dynamic adjustment and force sensing feedback control, the problems that a traditional mechanical arm is low in grabbing precision, poor in adaptability and insufficient in operation stability are solved, intelligent and high-precision grabbing control in a complex scene is achieved, and the grabbing precision of the mechanical arm is improved. And the requirements of the modern industry on high efficiency, reliability and flexibility of automatic equipment are met.

The invention provides a self-adaptive fractional order nonsingular terminal sliding mode control method based on time delay estimation, and relates to the technical field of manipulator control. Designing a non-singular terminal sliding mode surface containing fractional differential and power transformation, and further constructing a reaching law with variable gain; then, the unknown dynamic state and disturbance of the system are compensated in real time through a time delay estimation technology by utilizing historical control input and state information; finally, a control law is generated by integrating the sliding mode surface, the reaching law and the time delay estimation compensation item, high-precision and strong-robustness control over an uncertain nonlinear system is achieved, and the tracking precision and the anti-interference capacity of the manipulator in the uncertain environment are effectively improved.

The invention relates to the technical field of inspection manipulators, in particular to an intelligent inspection robot for multi-dimensional image acquisition and an inspection method thereof.The intelligent inspection robot comprises a base and a manipulator movably arranged on the base, a rotating plate is rotatably mounted at the end of the manipulator, and a fixing plate is arranged on the rotating plate; the supporting plate is arranged on the fixed plate, and a rotating rod penetrating through the supporting plate is rotationally mounted on the rotating plate; the elastic locking mechanism is arranged on the rotating rod, and the elastic locking mechanism comprises a camera module and a connecting contact arranged at the end part of the camera module; the rotating assembly is arranged on the rotating plate, a follow-up trigger mechanism is arranged on the fixed plate and comprises a plug contact, and through cooperation of the rotating assembly and the follow-up trigger mechanism, it can be guaranteed that when the camera module is switched to the needed working position, the plug contact is controlled to execute plug-in processing on the connecting contact, and the camera module is switched to the needed working position. Therefore, the normal work of the camera module is ensured.

The invention discloses a self-adaptive grabbing force control system and method of a stamping line blanking manipulator, and relates to the technical field of self-adaptive control, and the method comprises the following steps: extracting a plurality of protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when stamping workpieces with different protection layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection layers and dynamically controls and adjusts force is achieved.

The invention relates to a manipulator multi-task cooperative control method and system based on artificial intelligence. The method comprises the following steps: firstly, receiving a multi-task request group sent by an external system, and analyzing to obtain task intention description and execution constraint conditions of each task; then environment state data and real-time operation parameters of the manipulator are collected through a multi-sensor system, and an operation capability evaluation result is generated; inputting the information into a pre-trained multi-task collaborative planning model, and generating a multi-task collaborative control strategy through collaborative processing; according to the strategy, action sequence instructions of all joints of the manipulator are generated and sent to a driving control system; and finally, collecting feedback data in real time by utilizing multiple sensors, dynamically adjusting an action sequence instruction, and ensuring ordered execution of multiple tasks. According to the method, efficient cooperative control over multiple tasks of the manipulator is achieved, and the task execution efficiency and stability are improved.

The invention discloses a jewelry flaw detection and grading system based on machine vision and a manipulator. The system comprises a multi-mode imaging module; the image processing module is used for carrying out preprocessing operation on the original image; the edge processing module comprises a GPU acceleration processor and is used for deploying a flaw detection model to detect flaws; training data are automatically generated through a semi-supervised learning algorithm; the mechanical execution module comprises a six-axis mechanical arm, a path planning algorithm and a collision detection model for a bounding box and a directed bounding box of the six-axis mechanical arm; the cloud management module is used for storing detection data based on a block chain technology and supporting third-party verification; and dynamically updating the expert knowledge base. According to the jewelry sorting method and system, the types and grades of the jewelry are divided through the DINOv2 defect detection model, meanwhile, the PnP algorithm is adopted to be fused with the depth information, the jewelry is sorted according to grade division, meanwhile, consumers can rapidly and accurately obtain relevant information (such as materials, authenticity and value evaluation) of the jewelry, and the shopping experience is greatly improved.

The invention discloses a multi-task dexterous hand operation method based on self-adaptive two-way distillation, which comprises the following steps of: constructing a plurality of single-task expert strategies based on vision-touch pre-training, and collecting state-action tracks of a high-degree-of-freedom dexterous manipulator on various operation tasks; on-line distillation is utilized to distill multi-task expert data into a unified diffusion strategy sharing perception characterization and task coding, and modeling action multi-modal distribution is generated through diffusion type actions; a self-adaptive routing network is introduced, supervision weights of all experts are dynamically distributed according to the current observation state, and weighted distillation of the mixed experts is achieved; and after the performance of the unified strategy is superior to that of experts, performing reverse distillation on the unified diffusion strategy into expert strategies of all tasks by adopting action-reward combined constraint, and performing two-way iterative distillation circulation. Through forward and reverse knowledge migration between a unified strategy and a task expert, the problems of observation distribution offset and task imbalance in multi-task dexterous operation can be effectively relieved.

The invention provides a multi-scene vision switching intelligent spraying robot, and relates to the technical field of building decoration spraying. The system comprises an intelligent platform, an intelligent spraying manipulator, a processing part, a sealing part and a switching part, the processing part can accurately wind and store the exposed wire harness outside the slot hole of the socket without pulling the wire harness in the slot hole, and can also realize rapid storage of the wire harness; the sealing component provides two plugging schemes of a sealing air bag and a disposable baffle plate, and can automatically seal the socket slot. And the switching component realizes switching and automatic cleaning of the nozzles of multiple specifications, and is adaptive to the requirements of different latex paint types, spraying layer numbers and wall surface roughness. And full-process automation of wire harness protection, socket slot plugging, nozzle switching and spraying operation is realized. The wiring harness pollution and damage during spraying are effectively avoided, the spraying uniformity and the operation efficiency are improved, and the whole robot is made to meet the multi-scene spraying requirement.