CN114043456A - Intelligent manipulator with turnover structure - Google Patents

Abstract

The invention provides an intelligent manipulator with a turnover structure. Take flip structure's intelligent manipulator includes arm, rotary mechanism, electronic jar, swing mechanism, link, fixture and bearing measurement subassembly for drive manipulator pivoted rotary mechanism fixed mounting installs electronic jar in and the rotary mechanism on the arm, is used for driving the manipulator wobbling swing mechanism fixed mounting is served in the flexible of electronic jar, and fixed mounting has the link on swing mechanism's the output, is used for realizing the manipulator centre gripping material fixture fixed mounting is on the link for carry out the bearing measurement to the material of centre gripping bearing measurement subassembly fixed mounting is on fixture. The intelligent manipulator with the overturning structure provided by the invention has the advantages of simple structure, convenience for clamping and overturning in a narrow space and capability of automatically measuring the load.

Description

Intelligent manipulator with turnover structure

Technical Field

The invention relates to the field of manipulator equipment, in particular to an intelligent manipulator with a turnover structure.

Background

Manipulators, also known as robots, simulate some of the motion functions of human hands and arms, and are used in automated devices for grasping, carrying objects or operating tools in a fixed sequence. It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to the mechanical manufacturing and metallurgy departments. The manipulator mainly comprises three major parts, namely a hand part, a motion mechanism and a control system. The hand is a member for gripping a workpiece, and has various configurations such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of the gripped object. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator.

Among the current small-size harvester, when reaping the rice, need a driver and an auxiliary personnel to operate, the driver mainly operates advancing of harvester and reversely reaps, the auxiliary personnel loads the rice that the harvester was reaped and gets into in the snakeskin bag, and tie up the snakeskin bag that will fill up the rice and lose from the harvester, then carry out next work of loading, when reaping the operation in succession like this, auxiliary personnel's operation intensity of labour is big, need contact manipulator auxiliary work, but the too big unsuitable arrangement on narrow and small harvester of current manipulator amplitude of oscillation, and reap the back, can't obtain the output of rice fast.

Therefore, there is a need to provide a new intelligent manipulator with a turning structure to solve the above technical problems.

Disclosure of Invention

In order to solve the technical problems, the invention provides the intelligent manipulator with the overturning structure, which is simple in structure, convenient to clamp and overturn in a narrow space and capable of automatically metering load.

The invention provides an intelligent manipulator with a turnover structure, which comprises: arm, rotary mechanism, electronic jar, swing mechanism, link, fixture and bearing measurement subassembly for drive manipulator pivoted rotary mechanism fixed mounting is on the arm, and installs electronic jar in the rotary mechanism, is used for driving the manipulator wobbling swing mechanism fixed mounting is served in the flexible of electronic jar, and fixed mounting has the link on swing mechanism's the output, is used for realizing manipulator centre gripping material fixture fixed mounting is on the link for carry out the bearing measurement to the material of centre gripping bearing measurement subassembly fixed mounting is on fixture.

Preferably, rotary mechanism includes rotation axis, runing rest, first conical gear, first servo motor and second conical gear, the rotation axis rotates on the installation arm, and fixed mounting has the runing rest on the rotation axis, runing rest and electronic jar fixed connection, the middle part of rotation axis is located to first conical gear cover, first servo motor fixed mounting is on the arm and is located rotation axis one side, and overlaps on first servo motor's the output shaft and is equipped with second conical gear, second conical gear and the meshing of first conical gear.

Preferably, the model of the electric cylinder is TP-C4GR cylindrical double-guide-rod electric cylinder.

Preferably, swing mechanism is including connecting box, swinging arms, first spur gear, second servo motor and second spur gear, the flexible end fixed connection of connecting box and electronic jar, the swinging arms rotates and installs on the connecting box, and swinging arms one end passes connecting box and link fixed connection, and the swinging arms other pot head is equipped with first spur gear, second servo motor fixed mounting is on the lateral wall of connecting box, and second servo motor's output shaft stretches into in the connecting box and the cover is equipped with the second spur gear, second spur gear and first spur gear meshing.

Preferably, the number of the second servo motors is two, and the two existing connecting boxes of the second servo motors are symmetrically arranged.

Preferably, fixture includes bracing piece, a supporting beam, stationary dog, movable claw and pneumatic cylinder, bracing piece fixed mounting is on the link, two a supporting beam symmetry is installed on the bracing piece, and two equal fixedly connected with stationary dog in a supporting beam one side, and two a supporting beam are located one side of stationary dog and all articulate there is the movable claw, the welding has the connecting seat on the lateral wall of movable claw, the front end of a supporting beam of pneumatic cylinder articulated, and the piston rod of pneumatic cylinder is articulated with the connecting seat.

Preferably, a reinforcing rib plate is arranged between the two supporting beams and the connecting frame, and rubber strips are adhered to the clamping surfaces of the fixed claws and the movable claws.

Preferably, the bearing metering assembly comprises a bottom plate, a pressure sensor, a bearing plate and a digital display screen, the bottom plate is fixedly installed at the bottom end of the supporting rod, the bearing plate is fixedly installed on the bottom plate, the pressure sensor is embedded in the bearing plate, the digital display screen is fixedly installed on the connecting frame, and the digital display screen is electrically connected with the pressure sensor.

Preferably, rotary mechanism one end fixedly connected with mount pad is kept away from to the arm, the mount pad welding has the rectangular board, the one end fixed mounting who keeps away from the arm on the rectangular board has the control box, the control box passes through the power cord and is connected with external power supply, and the control box passes through the equal electric connection of cable and first servo motor, electronic jar, second servo motor, pneumatic cylinder and pressure sensor.

Preferably, still be equipped with auxiliary stand, two on the rectangular board between arm and the control box auxiliary stand symmetry sets up on the rectangular board, and the auxiliary stand includes fixing base, guide bar, sliding block, spring and peg, fixing base fixed mounting is on the rectangular board, and runs through on the fixing base and be provided with the installation cavity, guide bar fixed mounting is in the installation cavity, and sliding connection has the sliding block on the guide bar, fixed mounting has the peg on the sliding block, the spring housing is established on the guide bar, and spring one end and sliding block bottom fixed connection, the spring other end and fixing base fixed connection.

Compared with the related art, the intelligent manipulator with the turnover structure provided by the invention has the following beneficial effects:

1. the rotary mechanism and the swing mechanism are connected together by the electric cylinder and then integrally arranged on the mechanical arm, so that the size of the mechanical arm is reduced, the mechanical arm is convenient to mount on a narrow rice discharging station of a harvester, the clamping mechanism is matched to clamp and transfer the snakeskin bag filled with rice, the mechanical arm is convenient to fill and transfer the rice, and the labor intensity of auxiliary personnel is reduced;

2. the rice is weighed when the rice is filled by arranging the bearing metering assembly, the filling weight of each snakeskin bag is controlled to be consistent, the yield of the rice is directly obtained by counting the number of the filled snakeskin bags after harvesting, and the yield of the rice is conveniently counted;

3. through setting up auxiliary stand, arrange the snakeskin bag and insert and establish on the peg, the quick travel of being convenient for struts the snakeskin bag and carries out the corn and fill.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent robot with a flipping structure according to a preferred embodiment of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic structural diagram of the swing mechanism shown in FIG. 1;

fig. 5 is a mechanism diagram of the auxiliary stand shown in fig. 1.

Reference numbers in the figures: 1. a mechanical arm; 11. a mounting seat; 12. a strip plate; 2. a rotation mechanism; 21. a rotating shaft; 22. rotating the bracket; 23. a first conical gear; 24. a first servo motor; 25. a second conical gear; 3. an electric cylinder; 4. a swing mechanism; 41. a connecting box; 42. a swing lever; 43. a first straight gear; 44. a second servo motor; 45. a second spur gear; 5. a connecting frame; 6. a clamping mechanism; 61. a support bar; 62. a support beam; 63. a fixed jaw; 64. a movable jaw; 641. a connecting seat; 65. a hydraulic cylinder; 66. a reinforcing rib plate; 67. a rubber strip; 7. a load-bearing metering assembly; 71. a base plate; 72. a pressure sensor; 73. a carrier plate; 74. a digital display screen; 8. an auxiliary support; 81. a fixed seat; 82. a guide bar; 83. a slider; 84. a spring; 85. a hanging rod; 9. and a control box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Specific implementations of the present invention are described in detail below with reference to specific embodiments.

Referring to fig. 1 to 5, an intelligent manipulator with a turning structure according to an embodiment of the present invention includes a robot arm 1, a rotating mechanism 2, an electric cylinder 3, a swinging mechanism 4, a connecting frame 5, a clamping mechanism 6, and a load-bearing metering assembly 7.

A bearing measurement subassembly 7 fixed mounting for driving manipulator pivoted rotary mechanism 2 fixed mounting on arm 1, and install electronic jar 3 in the rotary mechanism 2, a swing mechanism 4 fixed mounting for driving the manipulator wobbling is served in electronic jar 3's flexible, and fixed mounting has link 5 on swing mechanism 4's the output, a fixture 6 fixed mounting for realizing manipulator centre gripping material is on link 5, a bearing measurement subassembly 7 fixed mounting for carrying out the bearing measurement to the material of centre gripping is on fixture 6.

It should be noted that: when the mechanical arm is used, the mechanical arm 1 is arranged on a rice filling station of a harvester, then the rotary mechanism 2 is utilized to drive the electric cylinder 3 to rotate, the electric cylinder 3 can push the swing mechanism 4 to perform telescopic displacement and stretch into the rice filling station, then the clamping mechanism 6 is utilized to be matched with the bearing metering component 7 to clamp the snake skin bag of the filled rice, the snake skin bag is matched through the rotary mechanism 2 and the electric cylinder 3 and is moved out of the filling station after being clamped, the snake skin bag is swung to be in a horizontal shape from an original vertical shape through the swing mechanism 4, then the clamping mechanism 6 is removed to be loosened, the snake skin bag is discharged from the harvester, then the swing mechanism 4 drives the clamping mechanism 6 to reset and enter the next transfer cycle, thus the filled rice is transferred through a mechanical arm, the labor intensity of auxiliary personnel is reduced, and the loading amount of the snake skin bag can be conveniently controlled through the bearing metering component 7, the later-period yield statistics is facilitated.

Referring to fig. 1, the rotating mechanism 2 includes a rotating shaft 21, a rotating bracket 22, a first conical gear 23, a first servo motor 24 and a second conical gear 25, the rotating shaft 21 is rotatably mounted on the mechanical arm 1, the rotating bracket 22 is fixedly mounted on the rotating shaft 21, the rotating bracket 22 is fixedly connected with the electric cylinder 3, the first conical gear 23 is sleeved on the middle portion of the rotating shaft 21, the first servo motor 24 is fixedly mounted on the mechanical arm 1 and located on one side of the rotating shaft 21, an output shaft of the first servo motor 24 is sleeved with the second conical gear 25, and the second conical gear 25 is engaged with the first conical gear 23;

it should be noted that: when the rotating mechanism 2 is used, the first servo motor 24 is controlled to rotate, the first servo motor 24 is in meshing transmission with the first conical gear 23 through the second conical gear 25 so as to drive the rotating shaft 21 to rotate, the rotating shaft 21 drives the rotating bracket 22 to rotate so as to drive the electric cylinder 3 to rotate, so that the free rotation movement in the horizontal direction is realized,

the model of the electric cylinder 3 is TP-C4GR cylinder type double-guide-rod electric cylinder, so that the electric cylinder 3 is more stable in the process of pushing the swing mechanism 4 under the action of the double guide rods.

Referring to fig. 1, 2 and 4, the swing mechanism 4 includes a connection box 41, a swing rod 42, a first spur gear 43, a second servo motor 44 and a second spur gear 45, the connection box 41 is fixedly connected with the telescopic end of the electric cylinder 3, the swing rod 42 is rotatably installed on the connection box 41, one end of the swing rod 42 penetrates through the connection box 41 and is fixedly connected with the connection frame 5, the first spur gear 43 is sleeved at the other end of the swing rod 42, the second servo motor 44 is fixedly installed on the side wall of the connection box 41, an output shaft of the second servo motor 44 extends into the connection box 41 and is sleeved with the second spur gear 45, and the second spur gear 45 is meshed with the first spur gear 43.

It should be noted that: when the swing mechanism 4 is used, the second servo motor 44 is controlled to rotate, and the second servo motor 44 is meshed with the first straight gear 43 and the second straight gear 45 for transmission to drive the swing rod 42 to rotate, so that the connecting frame 5 is driven to swing, and finally the clamping mechanism 6 is driven to swing through the connecting frame 5.

Wherein, second servo motor 44 is equipped with two, and two existing connecting box 41 symmetries of second servo motor 44 set up, like this through two second servo motor 44 synchro control, can carry out duplicate protection, when preventing wherein arbitrary second servo motor 44 trouble, swing mechanism 4 still can normally work, and set up two second servo motor 44 and start the work jointly, can reduce the axial force of single second servo motor 44 output shaft, extension second servo motor 44's life.

Referring to fig. 1 and 2, the clamping mechanism 6 includes a support rod 61, support beams 62, a fixed jaw 63, a movable jaw 64 and a hydraulic cylinder 65, the support rod 61 is fixedly mounted on the connecting frame 5, the two support beams 62 are symmetrically mounted on the support rod 61, the fixed jaw 63 is fixedly connected to one side of each of the two support beams 62, the movable jaw 64 is hinged to one side of each of the two support beams 62 located at the fixed jaw 63, a connecting seat 641 is welded to a side wall of each of the movable jaws 64, a front end of each of the support beams 62 hinged to the hydraulic cylinder 65 is provided, and a piston rod of the hydraulic cylinder 65 is hinged to the connecting seat 641.

It should be noted that: when the clamping mechanism 6 is used, the hydraulic cylinder 65 controls the movable claw 64 to be close to the fixed claw 63 for clamping, when a piston rod of the hydraulic cylinder 65 extends out, the piston rod pushes the movable claw 64 to be close to the fixed claw 63 through the connecting seat 641 until clamping is completed, when the piston rod contracts, the connecting seat 641 pulls the movable claw 64 to be away from the fixed claw 63 until clamping is completed, and the hydraulic cylinder 65 can be replaced by an electric telescopic rod.

Wherein, install reinforcing rib plate 66 between two supporting beams 62 and the link 5, the clamping face of stationary dog 63 and movable claw 64 all pastes has rubber strip 67, and reinforcing rib plate 66 has improved supporting beam 62's support intensity like this, sets up rubber strip 67 and is convenient for protect the snakeskin bag of centre gripping, prevents to cut open the snakeskin bag.

Referring to fig. 1 and 2, the load-bearing metering assembly 7 includes a bottom plate 71, a pressure sensor 72, a bearing plate 73 and a digital display screen 74, the bottom plate 71 is fixedly mounted at the bottom end of the supporting rod 61, the bearing plate 73 is fixedly mounted on the bottom plate 71, the pressure sensor 72 is embedded in the bearing plate 73, the digital display screen 74 is fixedly mounted on the connecting frame 5, and the digital display screen 74 is electrically connected to the pressure sensor 72.

It should be noted that: when the bearing metering component 7 is used, under the initial state, when the snakeskin bag is not filled with rice, the snakeskin bag is placed on the bearing plate 73, the clamping mechanism 6 is not clamped at the moment, then the rice is filled in the snakeskin bag, the weight is controlled by observing the digital display screen 74, the rice is filled to the fixed quantity, the rice is bound up, and finally the manipulator is utilized to transfer, so that the rice yield is directly counted after harvesting.

Referring to fig. 1 and 5, one end of the mechanical arm 1, which is far away from the rotating mechanism 2, is fixedly connected with a mounting seat 11, a strip plate 12 is welded on the mounting seat 11, one end of the strip plate 12, which is far away from the mechanical arm 1, is fixedly provided with a control box 9, the control box 9 is connected with an external power supply through a power line, and the control box 9 is electrically connected with the first servo motor 24, the electric cylinder 3, the second servo motor 44, the hydraulic cylinder 65 and the pressure sensor 72 through cables.

It should be noted that: the threaded holes formed in the mounting base 11 are convenient for fixedly mounting the mechanical arm 1 on a rice filling station of the harvester, and an assistant can easily control the mechanical arm to work through the control box 9.

Wherein, the slat 12 is also provided with auxiliary supports 8 between the mechanical arm 1 and the control box 9, the two auxiliary supports 8 are symmetrically arranged on the slat 12, and the auxiliary supports 8 comprise a fixed seat 81, a guide rod 82, a sliding block 83, a spring 84 and a hanging rod 85, the fixed seat 81 is fixedly arranged on the slat 12, the fixed seat 81 is provided with an installation cavity in a penetrating way, the guide rod 82 is fixedly arranged in the installation cavity, the sliding block 83 is connected on the guide rod 82 in a sliding way, the hanging rod 85 is fixedly arranged on the sliding block 83, the spring 84 is sleeved on the guide rod 82, one end of the spring 84 is fixedly connected with the bottom end of the sliding block 83, the other end of the spring 84 is fixedly connected with the fixed seat 81, thus before rice is filled, a snakeskin bag is inserted on the hanging rod 85, which is convenient for quickly opening the snakeskin bag to fill rice, and under the action of the spring 84, when the rice is not filled, the snake skin bag is arranged above the bearing plate 73, when a certain amount of paddy is borne, the snake skin bag drives the hanging rod 85 and the sliding block 83 to downwards slide and contact the bearing plate 73, when the snake skin bag filled with the paddy can stand under the auxiliary support of the fixed claw 63, the snake skin bag is taken down to carry out independent measurement, other snake skin bags reset under the action of the spring 84 and the hanging rod 85, the next filling is convenient, and the filling and weighing of the paddy can be well assisted

The working principle provided by the invention is as follows:

when in use, the mechanical arm 1 is fixedly arranged on a harvester through the mounting seat 11, then a snake skin bag filled with rice is inserted on the hanging rod 85, then the control box 9 rotates through controlling the first servo motor 24 to rotate, the first servo motor 24 is in meshing transmission with the first conical gear 23 through the second conical gear 25, so as to drive the rotating shaft 21 to rotate, the rotating shaft 21 drives the rotating bracket 22 to rotate, so as to drive the electric cylinder 3 to rotate, then the electric cylinder 3 is controlled to stretch and retract, so as to place the clamping mechanism 6 and the bearing metering component 7 on a filling station of the harvester, wherein the bearing plate 73 of the bearing metering component 7 is positioned below the snake skin bag in an initial state, the snake skin slides down from the hanging rod 85 after being filled with a certain amount of rice, the loading amount of the snake skin bag is monitored in real time by the cooperation of the pressure sensor 72 and the digital display screen 74, and is filled to a certain amount, customizing and filling, bundling the snakeskin bag, controlling the piston rod of the hydraulic cylinder 65 to extend out through the control box 9, the piston rod pushes the movable claw 64 to be close to the fixed claw 63 through the connecting seat 641 until the clamping is finished, then controlling the rotary mechanism 2 and the electric cylinder 3 to work to transfer the snakeskin bag which is clamped and fixed out of the rice filling station, after the snakeskin bag is transferred out, controlling the second servo motor 44 to rotate, driving the swing rod 42 to rotate through the meshing transmission of the first straight gear 43 and the second straight gear 45, driving the connecting frame 5 to swing until the snakeskin bag swings from a vertical state to a horizontal state, then controlling the piston rod of the hydraulic cylinder 65 to contract, pulling the movable claw 64 to be far away from the fixed claw 63 through the connecting seat 641 until the clamping is released, finishing the first transfer, controlling the second servo motor 44 to rotate reversely, enabling the clamping mechanism 6 and the bearing metering component 7 to reset, and repeating the circulation to harvest, fill and transfer the paddy.

The circuits and controls involved in the present invention are prior art and will not be described in detail herein.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The utility model provides a take flip structure's intelligent machine hand which characterized in that includes:

a robot arm (1);

the rotating mechanism (2) is used for driving the mechanical arm to rotate, the rotating mechanism (2) is fixedly arranged on the mechanical arm (1), and an electric cylinder (3) is arranged in the rotating mechanism (2);

the swing mechanism (4) is used for driving the manipulator to swing, the swing mechanism (4) is fixedly arranged on the telescopic end of the electric cylinder (3), and the output end of the swing mechanism (4) is fixedly provided with a connecting frame (5);

the clamping mechanism (6) is used for realizing that the clamping mechanism (6) of the manipulator clamps the materials and is fixedly arranged on the connecting frame (5);

and the bearing metering component (7) is used for fixedly installing the bearing metering component (7) on the clamping mechanism (6) for carrying out bearing metering on the clamped material.

2. The intelligent mechanical arm with the turnover structure is characterized in that the rotating mechanism (2) comprises a rotating shaft (21), a rotating bracket (22), a first conical gear (23), a first servo motor (24) and a second conical gear (25), the rotating shaft (21) is rotatably arranged on the mechanical arm (1), and a rotating bracket (22) is fixedly arranged on the rotating shaft (21), the rotating bracket (22) is fixedly connected with the electric cylinder (3), the first conical gear (23) is sleeved in the middle of the rotating shaft (21), the first servo motor (24) is fixedly arranged on the mechanical arm (1) and is positioned on one side of the rotating shaft (21), and a second conical gear (25) is sleeved on an output shaft of the first servo motor (24), the second conical gear (25) is meshed with the first conical gear (23).

3. The intelligent manipulator with the overturning structure as claimed in claim 2, wherein the electric cylinder (3) is a TP-C4GR cylinder type double-guide-rod electric cylinder.

4. The intelligent manipulator with the turnover structure of claim 1, wherein the swing mechanism (4) comprises a connection box (41), a swing lever (42), a first spur gear (43), a second servo motor (44) and a second spur gear (45), the connecting box (41) is fixedly connected with the telescopic end of the electric cylinder (3), the swinging rod (42) is rotatably arranged on the connecting box (41), one end of the swinging rod (42) passes through the connecting box (41) and is fixedly connected with the connecting frame (5), the other end of the swinging rod (42) is sleeved with a first straight gear (43), the second servo motor (44) is fixedly arranged on the side wall of the connecting box (41), and the output shaft of the second servo motor (44) extends into the connecting box (41) and is sleeved with a second straight gear (45), and the second straight gear (45) is meshed with the first straight gear (43).

5. The intelligent manipulator with the overturning structure according to claim 4, wherein the number of the second servo motors (44) is two, and the two second servo motors (44) are provided with the connecting boxes (41) symmetrically.

6. The intelligent manipulator with the overturning structure of claim 1, wherein the clamping mechanism (6) comprises a support rod (61), a support beam (62), a fixed jaw (63), a movable jaw (64) and a hydraulic cylinder (65), the support rod (61) is fixedly installed on the connecting frame (5), the support beams (62) are symmetrically installed on the support rod (61), the fixed jaw (63) is fixedly connected to one side of each of the two support beams (62), the movable jaw (64) is hinged to one side of each of the two support beams (62), a connecting seat (641) is welded to the side wall of each of the movable jaws (64), the front end of each support beam (62) is hinged to the hydraulic cylinder (65), and a piston rod of each hydraulic cylinder (65) is hinged to the connecting seat (641).

7. The intelligent manipulator with the turnover structure of claim 6, wherein a reinforcing rib plate (66) is installed between the two support beams (62) and the connecting frame (5), and rubber strips (67) are adhered to the clamping surfaces of the fixed claws (63) and the movable claws (64).

8. The intelligent mechanical arm with the turnover structure is characterized in that the bearing and metering assembly (7) comprises a bottom plate (71), a pressure sensor (72), a bearing plate (73) and a digital display screen (74), the bottom plate (71) is fixedly installed at the bottom end of the supporting rod (61), the bearing plate (73) is fixedly installed on the bottom plate (71), the pressure sensor (72) is embedded in the bearing plate (73), the digital display screen (74) is fixedly installed on the connecting frame (5), and the digital display screen (74) is electrically connected with the pressure sensor (72).

9. The intelligent mechanical arm with the turnover structure is characterized in that one end, far away from the rotating mechanism (2), of the mechanical arm (1) is fixedly connected with a mounting seat (11), a strip plate (12) is welded on the mounting seat (11), one end, far away from the mechanical arm (1), of the strip plate (12) is fixedly provided with a control box (9), the control box (9) is connected with an external power supply through a power line, and the control box (9) is electrically connected with a first servo motor (24), an electric cylinder (3), a second servo motor (44), a hydraulic cylinder (65) and a pressure sensor (72) through cables.

10. The intelligent manipulator with the overturning structure according to claim 9, wherein auxiliary supports (8) are further arranged on the strip plate (12) between the mechanical arm (1) and the control box (9), two auxiliary supports (8) are symmetrically arranged on the strip plate (12), each auxiliary support (8) comprises a fixed seat (81), a guide rod (82), a sliding block (83), a spring (84) and a hanging rod (85), the fixed seat (81) is fixedly arranged on the strip plate (12), an installation cavity is arranged on the fixed seat (81) in a penetrating manner, the guide rod (82) is fixedly arranged in the installation cavity, the sliding block (83) is connected onto the guide rod (82) in a sliding manner, the hanging rod (85) is fixedly arranged on the sliding block (83), the spring (84) is sleeved on the guide rod (82), and one end of the spring (84) is fixedly connected with the bottom end of the sliding block (83), the other end of the spring (84) is fixedly connected with the fixed seat (81).

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