CN114571494B - Multi-degree-of-freedom general heavy-duty lifting manipulator structure based on visual guidance - Google Patents

Abstract

The invention provides a multi-degree-of-freedom universal heavy-duty lifting manipulator structure based on visual guidance, which comprises a rolling mechanism, a swinging mechanism, a pitching mechanism, a revolving mechanism, a fork-shaped angle control mechanism and a shoulder joint unfolding and folding mechanism which are connected in sequence; four mechanical arms which are arranged diagonally are arranged on the fork-shaped angle control mechanism, the mechanical arms are connected with the shoulder joint unfolding and folding mechanism through synchronous unfolding and folding spring supporting rods, and image identification labels are arranged at the tail ends and on the load of the mechanical arms. The invention adopts a foldable structure design, meets the installation size requirement, heavy load hoisting requirement and generalized hoisting requirement of a vehicle-mounted and other limited spaces, and can realize quick, safe and reliable hoisting work; under the condition that the mechanical arm does not need to be replaced, the load with various sizes is hoisted, the hoisting speed is improved, the hoisting time is saved, the manual intervention link is reduced, the labor cost is saved, and the potential safety hazard of the hoisting process to operators is eliminated.

Description

Multi-degree-of-freedom general heavy-duty lifting manipulator structure based on visual guidance

Technical Field

The invention relates to a multi-degree-of-freedom universal heavy-duty lifting manipulator structure based on visual guidance, and belongs to the technical field of heavy-duty lifting manipulators.

Background

As common transfer equipment in the industrial field, the crane is widely applied to the fields of industry, capital construction, national defense, aerospace and the like, and the automation and intellectualization level of the lifting appliance is a key for restricting the technical development of intelligent lifting operation of the crane. At present, general lifting appliances such as steel wire ropes and slings are commonly used for flexible lifting operation, the load shaking is large in the lifting process, manual supporting is needed, the lifting operation time is long, the potential safety hazard is large, the labor cost is high, and the development requirement of the safe lifting operation cannot be met.

At present, in small-size load hoisting and stacking operation, a special hoisting tool is adopted to carry out rigid hoisting, but the hoisting load of most special hoisting tools is small, the interface universalization degree is low, different special hoisting tools are required to be designed aiming at different hoisting objects, the special hoisting tool is complex in structure and high in cost, the heavy load hoisting operation requirement cannot be met, and the popularization and the application are difficult.

The adapter of the six-degree-of-freedom mechanical arm (application number 2021110952519) applied by the company in 2021 adopts a transverse bolt structure, the expansibility and the practicability are poor, the installation size of the mechanical arm is large, and the degree of freedom of the mechanical arm does not meet the use requirement. Therefore, the folding manipulator is designed, the rolling, pitching and swaying angle control mechanisms are added, the pitching joints, the shoulder joints and the wrist joints of the manipulator can be folded and retracted, the size after retraction is smaller, and the vehicle-mounted integrated size requirement can be met; the mechanical arm adapter is further optimized in a longitudinal bolt mode, and the structural mode of the bolt adopts a container universal bolt, so that the universal expansion application is facilitated; the six-dimensional force sensor integrated in the bolt can realize impedance sensing and flexible control, so that the manipulator has higher autonomous sensing capability and adaptability.

Disclosure of Invention

In order to solve the technical problems, the invention provides a multi-freedom-degree general heavy-duty lifting manipulator structure based on visual guidance, which realizes the universalization, intellectualization and unmanned operation of the lifting manipulator by cooperatively controlling the manipulator structure through multi-joint serial-parallel connection, by referring to the characteristics of traditional steel wire rope and sling lifting operation and adopting modularized and universalization adapter structure, machine visual measurement guidance and force-position mixed sensing control.

The invention is realized by the following technical scheme.

The invention provides a multi-degree-of-freedom universal heavy-duty lifting manipulator structure based on visual guidance, which comprises a rolling mechanism, a swinging mechanism, a pitching mechanism, a revolving mechanism, a fork-shaped angle control mechanism and a shoulder joint unfolding and folding mechanism which are connected in sequence; the fork-shaped angle control mechanism is provided with a plurality of manipulators which are arranged diagonally, the manipulators are connected with the shoulder joint unfolding and folding mechanism through synchronous unfolding and folding spring supporting rods to form a foldable structure, and the tail end and the load of the manipulators are provided with image identification labels; among the multiple groups of manipulators, at least one group of diagonal manipulators is a fixed manipulator, and the other group of diagonal manipulators is a movable manipulator.

The manipulator is of a two-stage arm structure, the two-stage arm is divided into a large arm and a small arm, and the length of the large arm is larger than that of the small arm.

The fixed mechanical arm comprises a fixed large arm and a small arm connected with the fixed large arm through an elbow joint pitching mechanism, and a shoulder joint of the fixed large arm is connected with the slewing mechanism by adopting a heavy pin type weighing sensor as a connecting shaft; the movable mechanical arm comprises a movable large arm and a small arm connected with the movable large arm through an elbow joint pitching mechanism, and a shoulder joint of the movable large arm is connected with a fork-shaped angle control mechanism by adopting a heavy pin type weighing sensor as a connecting shaft;

the elbow joints of the movable large arm and the fixed large arm are respectively provided with a plurality of layers of leaf spring type elbow joint damping reeds, and the elbow joint damping reeds are contacted with the small arm; the initial ends of the movable large arm and the small arm of the fixed large arm are respectively provided with a wrist joint rolling mechanism, and the tail ends of the movable large arm and the small arm are respectively provided with a wrist joint pitching mechanism, an adapter slewing mechanism and a universal adapter.

The small arm is of a fork-shaped hollow structure, and a six-dimensional force sensor is arranged in the adapter slewing mechanism.

The manipulator is provided with a visual camera, and the pitching mechanism is provided with a controller.

The rolling mechanism comprises a rolling oil cylinder, one end of the rolling oil cylinder is connected with a rotary encoder, the other end of the rolling oil cylinder is connected with a rolling actuator through a mounting flange, and a rolling connecting rod is arranged on the rolling actuator.

The swing mechanism comprises a deflection oil cylinder and a deflection actuator connected with the deflection oil cylinder through a deflection connecting rod, and a deflection shaft is arranged on the deflection oil cylinder.

The pitching mechanism comprises a pitching oil cylinder, and one end of the pitching oil cylinder is sequentially connected with a pitching actuator, a pitching lever and a pitching connecting rod.

The slewing mechanism comprises a slewing bearing, a slewing reducer and a slewing motor are arranged on one side of the slewing bearing, and a horizontal sensor is arranged on the slewing bearing.

The fork-shaped angle control mechanism comprises a fixed arm support and a movable arm support, and the shoulder joint unfolding and folding mechanism comprises a motor, a planet wheel speed reducer and a ball screw pair.

The invention has the beneficial effects that: the whole is designed by adopting a foldable structural layout, and the space size of the whole after folding is small, so that the vehicle-mounted integration is convenient; the three-degree-of-freedom gesture adjusting mechanism is added, so that the three degrees of freedom of the manipulator can be adjusted in rolling, pitching and turning, and the flexibility and the control precision of the manipulator control are improved; the four shoulder joints are driven in a centralized way, and the synchronous unfolding and folding principle of the umbrella-shaped structure is utilized, so that the number of shoulder joint driving elements is reduced, and the miniaturization integration is realized; the shoulder joint driving mechanism adopts an umbrella-shaped connecting rod structure, so that the driving moment of the motor is reduced, and the driving power of the motor is reduced; the elbow joint is provided with a spring damping limit structure, so that the singular point vibration of the manipulator can be restrained.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of the structure of the forearm in FIG. 1;

FIG. 3 is a schematic view of the roll mechanism of FIG. 1;

FIG. 4 is a schematic view of the swing mechanism of FIG. 1;

FIG. 5 is a schematic view of the structure of the pitch mechanism of FIG. 1;

FIG. 6 is a schematic view of the swing mechanism of FIG. 1;

FIG. 7 is a schematic view of the fork angle control mechanism of FIG. 1;

FIG. 8 is a drawing showing the invention in a retracted state on a folding crane;

FIG. 9 is an expanded state view of the present invention on a folding crane;

in the figure: 1-roll mechanism, 2-roll mechanism, 3-pitch mechanism, 4-turn mechanism, 5-fork angle control mechanism, 6-shoulder joint deployment and retraction mechanism, 7-synchronous deployment and retraction spring brace, 8-movable boom, 9-fixed boom, 10-elbow pitch mechanism, 11-elbow vibration reed, 12-wrist roll mechanism, 13-forearm, 14-wrist pitch mechanism, 15-adapter turn mechanism, 16-universal adapter, 17-vision camera, 18-controller, 19-six-dimensional force sensor, 20-rotary encoder, 21-mounting flange, 22-roll link, 23-roll actuator, 24-yaw axis, 25-yaw link, 26-yaw actuator, 27-pitch actuator, 28-pitch lever, 29-pitch link, 30-turn motor, 31-level sensor, 32-turn support, 33-turn speed reducer, 34-fixed arm support, 35-movable arm support.

Detailed Description

The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the above.

Example 1

As shown in fig. 1 to 9, the invention adopts a flange type mounting interface to be connected with a crane body, realizes the adjustment of three attitude angles of a manipulator rolling angle, a yaw angle and a pitch angle through a rolling mechanism 1, a swinging mechanism 2 and a pitch mechanism 3, and realizes the adjustment of the attitude angles through driving a multi-link mechanism by the rolling mechanism 1, the swinging mechanism 2 and the pitch mechanism 3 through a rolling oil cylinder, a deflection oil cylinder and a pitch oil cylinder, including but not limited to realizing the adjustment function of the attitude angles of the manipulator by driving execution elements such as an oil cylinder, a mechanical cylinder, a motor and the like.

Specifically, the displacement amplification is realized by adopting the multi-link mechanism, and the device has a larger joint angle adjusting range under a limited driving stroke, so that the manipulator is convenient to withdraw and fold. Wherein, the rolling mechanism 1 and the swinging mechanism 2 adopt a multi-link mechanism, and the pitching mechanism 3 adopts a multi-link and lever mechanism.

Further, the manipulator comprises four manipulator arms which are diagonally arranged, wherein two groups of manipulator arms are diagonally arranged and are fixed manipulator arms, the other two groups of manipulator arms are movable manipulator arms, the fixed manipulator arms realize the adjustment of the rotation angle of the manipulator arms through a rotation mechanism 4, and the movable manipulator arms realize the adjustment of the diagonal included angles of the four groups of manipulator arms through a fork-shaped angle control mechanism 5; wherein, four groups of robotic arms adopt eccentric diagonal layout, and the lowest included angle of diagonal can reach 0 degree.

Preferably, the mechanical arm adopts a two-stage arm structure design, the big arm comprises a movable big arm and a fixed big arm, the fixed big arm and the small arm adopt different-length designs, and the small arm is shorter.

Specifically, the shoulder joint unfolding and folding mechanism 6 and the synchronous unfolding and folding spring support rod 7 are adopted, the synchronous unfolding and folding actions of the four groups of mechanical arm shoulder joints are realized through the driving of the ball screw, the synchronous unfolding and folding spring support rod 7 is made of but not limited to 60Si2CrA spring steel materials, and the shoulder joint unfolding and folding driving is realized through the driving structure of a motor, a planetary gear reducer and a ball screw pair.

Specifically, the shoulder joint of the large arm adopts a heavy pin shaft type weighing sensor as a connecting shaft, so that the real-time sensing of the load can be realized; the large arm and the small arm are connected and driven through an elbow joint pitching mechanism 10 to realize 180-degree unfolding and folding movement, a multi-layer plate spring type vibration damping reed 11 is designed on the elbow joint, and the vibration damping reed 11 is made of but not limited to 60Si2CrA spring steel materials;

furthermore, the elbow joint pitching mechanism 10 adopts a torque motor and a harmonic reducer to realize low-rotation-speed and high-torque output, the bearing components of the large arm and the small arm are symmetrically distributed, and the motor and the reducer are arranged in a side-by-side way;

further, the connecting shaft is made of but not limited to 40Cr wear-resistant alloy structural steel, and the manipulator body is made of but not limited to Q690 and Q960 high-strength welding structural steel.

Specifically, the manipulator end uses the wrist joint roll mechanism 12, the wrist joint pitch mechanism 14, and the adapter swing mechanism 15 to adjust the attitude angle of the universal adapter 16.

Preferably, the forearm 13 is designed in a fork-shaped hollow structure, so that the wrist pitching mechanism 14 can rotate at a negative angle.

Specifically, the six-dimensional force sensor 19 is built in the adapter slewing mechanism 15, and the adapter slewing mechanism 15 adopts, but is not limited to, a disc spring force limiting mechanism to perform over-range protection on the six-dimensional force sensor 19.

Further, the universal adapter 16 adopts a mushroom head plug pin structure, the end part of the plug pin adopts a chamfer structure, the plug pin pulling face adopts a triangular inclined plane or an arc surface to realize pulling positioning and centering, the mushroom head quick-release connection adopts the forms of, but not limited to, threaded connection, flange connection and the like, and any lifting shaft adopting the structural form and the appearance is within the scope of the claims of the invention.

Preferably, two-dimensional or three-dimensional image identification tags are arranged on the tail end of the manipulator and the load, and the manipulator positioning measurement and hoisting action guidance are realized through machine vision, including but not limited to measurement means such as monocular vision, binocular vision, laser radar, ultrasonic radar and the like.

It can be understood that the method of machine vision measurement guidance and multi-joint redundancy layering cooperative control is adopted, coarse positioning action and mechanical arm step by step fine positioning are executed through the crane, and high-precision positioning grabbing and placing operation of the load is realized.

It will be appreciated that the elbow pitch mechanism 10, the wrist roll mechanism 12, the wrist pitch mechanism 14, and the adaptor swivel mechanism 15 operate in the same manner as the pitch mechanism 3, the roll mechanism 1, and the swivel mechanism 4.

Aiming at the problem of lower positioning precision of the tail end of the existing crane, the invention designs a rolling mechanism, a swinging mechanism and a pitching mechanism to carry out tail end gesture adjustment and lifting point position fine adjustment, and the mechanisms can realize small-displacement input-large-angle output angle amplification by designing multi-link transmission, thereby improving the positioning control precision of the tail end of the crane and being convenient for realizing automatic lifting and stacking operation under the condition of not changing the structure of the existing crane; the horizontal sensor and the inclination angle sensor are designed on the crane tail end adjusting mechanism, the gesture of the manipulator is measured in real time, and the rolling mechanism, the deflection mechanism and the pitching mechanism are controlled to realize the gesture adjustment and the maintenance of the manipulator.

The invention designs a master-slave mechanical arm structure, adopts a bionic technology to simulate the degree of freedom configuration of a human arm, designs a driving mechanism of each degree of freedom of a shoulder joint, an elbow joint and a wrist joint of the mechanical arm, and realizes the position control precision of the tail end adapter; each joint adopts a plane revolute pair, a joint driving motor-speed reducer assembly is designed, and a foldable mechanical arm structure is designed; the large arm and the small arm of the mechanical arm are designed to be different in length, the small arm is short, and the mechanical arm is divided into a main bearing fixed arm and a movable arm for measuring and auxiliary bearing; the arm of the manipulator adopts a hollowed-out design, so that a large joint angle adjustment amount can be realized; the designed wrist joint has three-degree-of-freedom adjusting capability, and can realize the posture angle adjustment of the tail end adapter; the adapter is provided with a six-dimensional force sensing structure, and an over-range protection mechanism is provided for the six-dimensional force sensor; the adapter adopts a mushroom head structure capable of being replaced quickly, and quick interface adaptation of different hoisting objects can be realized.

Further, a visual guiding system is designed for the manipulator, a visual system is adopted to collect position images and three-dimensional point cloud information of visual labels of objects, and the position and the gesture of the objects are obtained through processing of a controller; the layered control method of each joint of the multi-degree-of-freedom manipulator is designed, and the manipulator is rapidly grabbed and hoisted by adopting redundancy and cooperative control algorithm.

Example 2

As shown in fig. 1 to 9, the invention is composed of a manipulator posture adjusting mechanism rolling mechanism 1, a swinging mechanism 2, a pitching mechanism 3, a revolving mechanism 4, a fork-shaped angle control mechanism 5, a manipulator arm shoulder joint expanding and contracting mechanism 6, a synchronous expanding and contracting spring stay 7, a movable large arm 8, a fixed large arm 9, an elbow joint pitching mechanism 10, an elbow joint vibration damping reed 11, a wrist joint rolling mechanism 12, a small arm 13, a wrist joint pitching mechanism 14, an adapter revolving mechanism 15, a universal adapter 16, a machine vision system vision camera 17, a control system controller 18, a crane and the like.

Referring to fig. 1 and 2, in this embodiment, an electrohydraulic hybrid driving system is adopted by the general heavy-duty lifting manipulator, and a step-by-step layered control method is adopted to realize high-precision control of the tail end of the lifting manipulator. In the embodiment, the rolling angle, yaw angle and pitch angle of the lifting manipulator are adjusted through the rolling mechanism 1, the swinging mechanism 2 and the pitching mechanism 3. After the lifted object is determined, the four groups of arms of the manipulator realize the position adjustment of the adapter of the manipulator by controlling the fork angle control mechanism 5, the shoulder joint unfolding and folding mechanism 6, the elbow joint pitching mechanism 10, the wrist joint rolling mechanism 12, the wrist joint pitching mechanism 14 and the adapter slewing mechanism 15 so as to match the lifting interface position and the gesture of the target object. The lifting operation of the heavy object is realized through the lifting universal adapter 16 matched with the target lifting interface.

In this embodiment, four groups of vision cameras 17 are adopted to perform target positioning measurement, so that accurate positioning coordinate information of the tail end of the manipulator and a target object can be obtained, and automatic grabbing, lifting and stacking operations based on vision guidance are realized.

Referring to fig. 3, 4 and 5, in the present embodiment, the roll mechanism 1, the swing mechanism 2 and the pitch mechanism 3 are driven by a connecting rod and a linear actuator, so as to realize large moment and large angle output, and the attitude angle feedback is performed by the rotary encoder 20 and the level sensor 31; in order to enable the hoisting manipulator to be folded in a direction parallel to the crane, vehicle-mounted integration is realized, the pitching mechanism 3 adopts a pitching lever 28 and a pitching connecting rod 29 to conduct angle amplification, and large-angle pitching motion of-30 degrees to +120 degrees is realized.

In this embodiment, the universal hoisting manipulator is mounted at the tail end of the crane, and is mounted and connected by adopting the flange 21, and can be changed through an interface, and is conveniently connected with different types of cranes in other modes.

Referring to fig. 6, when the lifting manipulator drives the load to perform a rotary motion, the rotary motor 30 and the rotary speed reducer 33 are used to perform rotary driving, the rotary support 32 is used to carry the load mass, and the rotary friction torque is reduced by adopting rolling friction.

Referring to fig. 7, the fixed arm support 34 and the movable arm support 35 adopt an eccentric structure design, so that a large diagonal clamping angle adjusting range of the mechanical arm can be realized, and the minimum included angle of the diagonal can reach 0 degrees, thereby being convenient for lifting small-size articles.

Fig. 8 and 9 show 1 typical embodiment of the universal hoisting manipulator, and the invention is applied to the tail end of the telescopic boom of the folding crane, so that the folding crane can be folded and retracted along with the folding crane, and unmanned hoisting operation based on visual guidance can be realized by synchronous automatic unfolding.

The control method of the embodiment comprises the following steps: firstly, realizing large-range motion track tracking control through a crane; secondly, realizing interface adaptation of the hoisted object through a shoulder joint, an elbow joint and a wrist joint of the manipulator; then, adjusting the integral attitude angle of the lifting manipulator through the rolling, deflection and pitching of the manipulator; finally, the wrist joint roll, pitch and adapter rotation are used for realizing the terminal fine positioning control and the flexible bolt operation, and meanwhile, a six-dimensional force sensor 19 is used for realizing the terminal force-position mixed flexible control.

In summary, the invention relates to a general heavy type full-automatic foldable lifting manipulator structure arranged at the tail end of a folding arm type, a straight arm type or a bridge type or a portal crane, which adopts visual guidance, multi-joint redundancy cooperative control, interface general adaptation, force-position hybrid perception and the like, and can realize general lifting of various articles; the foldable structure is particularly suitable for the situations that the installation space is limited and the requirements of vehicle-mounted, airborne, steamship and other working platforms are met, and the automatic and unmanned hoisting operation scene is realized, so that the operation time can be shortened, and the universalization and intellectualization level of hoisting equipment can be improved.

Compared with the prior art, the invention has the beneficial effects that:

1. a plurality of adjustable degrees of freedom are designed, so that the progressive accurate adjustment of the position of the tail end lifting point can be realized, and the problem of poor control precision of the lifting point caused by the fact that the position of the tail end lifting point is far from the rotation center in the operation of the existing crane is solved;

2. the multi-degree-of-freedom connecting rod parallel robot structure is suitable for hoisting loads of any size, the complex hoisting point position longitudinal and transverse adjusting mechanisms of the existing special hoisting manipulator are simplified, the adapter adopts a container hoisting universal interface specified by national standards, and the universalization level of the manipulator is improved;

3. the device meets the mounting size requirement of a vehicle-mounted and other limited space, the heavy-load hoisting requirement and the generalized hoisting requirement, and can realize quick, safe and reliable hoisting work; the mechanical arm is not required to be replaced, loads with various sizes are hoisted at will, so that the hoisting speed is increased, the hoisting time is saved, the manual intervention link is reduced, the labor cost is saved, and the potential safety hazard to operators in the hoisting process is eliminated;

4. the visual guiding technology, the force-position hybrid sensing technology and the high-precision layering control technology are adopted, so that the automation degree of the operation of the hoisting manipulator is improved, the manual intervention is reduced, and the safety and the reliability of the hoisting operation are improved;

5. when lifting a heavy object, the multi-degree-of-freedom connecting rod robot is straightened by load gravity, and is similar to the lifting operation of a steel wire rope, the manipulator only receives axial tension, and each joint driving motor does not bear load torque, so that the manipulator bearing mechanism is simplified, compared with a common special lifting manipulator, the weight of the manipulator is greatly reduced, and the load mass ratio of the lifting manipulator is improved.

Claims (9)

1. The utility model provides a general heavy load hoist and mount manipulator structure of multi freedom based on vision guide, includes roll mechanism (1), swing mechanism (2), first every single move mechanism (3), rotation mechanism (4), fork angle control mechanism (5), shoulder joint exhibition receive mechanism (6), its characterized in that connects gradually: the fork-shaped angle control mechanism (5) is provided with a plurality of manipulators which are arranged diagonally, the manipulators are connected with the shoulder joint unfolding and folding mechanism (6) through synchronous unfolding and folding spring supporting rods (7) to form a foldable structure, and the tail end and the load of the manipulators are provided with image identification labels; at least one diagonal manipulator of the multiple groups of manipulators is a fixed manipulator, and the other diagonal manipulator is a movable manipulator;

the fixed mechanical arm comprises a fixed large arm (9) and a small arm (13) connected with the fixed large arm (9) through an elbow joint pitching mechanism (10), and a shoulder joint of the fixed large arm (9) is connected with the slewing mechanism (4) by adopting a heavy pin shaft type weighing sensor as a connecting shaft; the movable mechanical arm comprises a movable large arm (8) and a small arm (13) connected with the movable large arm (8) through an elbow joint pitching mechanism (10), and a shoulder joint of the movable large arm (8) is connected with the fork-shaped angle control mechanism (5) by adopting a heavy pin shaft type weighing sensor as a connecting shaft;

the elbow joints of the movable large arm (8) and the fixed large arm (9) are respectively provided with a multi-layer plate spring type elbow joint vibration damping reed (11), and the elbow joint vibration damping reed (11) is contacted with the small arm (13); the starting ends of the movable large arm (8) and the small arm (13) of the fixed large arm (9) are respectively provided with a wrist joint rolling mechanism (12), and the tail ends of the movable large arm and the small arm are respectively provided with a wrist joint pitching mechanism (14), an adapter slewing mechanism (15) and a universal adapter (16).

2. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the length of the movable large arm (8) is longer than that of the small arm connected with the movable large arm (8), and the length of the fixed large arm (9) is longer than that of the small arm connected with the fixed large arm (9).

3. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the small arm (13) is of a fork-shaped hollow structure, and a six-dimensional force sensor (19) is arranged in the adapter slewing mechanism (15).

4. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the manipulator is provided with a visual camera (17), and the first pitching mechanism (3) is provided with a controller (18).

5. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the rolling mechanism (1) comprises a rolling oil cylinder, one end of the rolling oil cylinder is connected with a rotary encoder (20), the other end of the rolling oil cylinder is connected with a rolling actuator (23) through a mounting flange (21), and a rolling connecting rod (22) is arranged on the rolling actuator (23).

6. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the swing mechanism (2) comprises a deflection oil cylinder and a deflection actuator (26) connected with the deflection oil cylinder through a deflection connecting rod (25), and a deflection shaft (24) is arranged on the deflection oil cylinder.

7. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the first pitching mechanism (3) comprises a pitching oil cylinder, and one end of the pitching oil cylinder is sequentially connected with a pitching actuator (27), a pitching lever (28) and a pitching connecting rod (29).

8. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the slewing mechanism (4) comprises a slewing bearing (32), a slewing reducer (33) and a slewing motor (30) are arranged on one side of the slewing bearing (32), and a horizontal sensor (31) is arranged on the slewing bearing (32).

9. The vision-guided multi-degree-of-freedom universal heavy-duty lifting manipulator structure of claim 1, wherein: the fork-shaped angle control mechanism (5) comprises a fixed arm support (34) and a movable arm support (35), and the shoulder joint unfolding and folding mechanism (6) comprises a motor, a planet gear reducer and a ball screw pair.

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