CN114700986A

CN114700986A - Six-degree-of-freedom intelligent interactive manipulator

Info

Publication number: CN114700986A
Application number: CN202210372241.3A
Authority: CN
Inventors: 孙益博; 蒋俊
Original assignee: Jiangsu Gamalain Intelligent Technology Research Institute Co ltd
Current assignee: Jiangsu Gamalain Intelligent Technology Research Institute Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-07-05

Abstract

The invention provides a six-degree-of-freedom intelligent interaction manipulator, belongs to the technical field of multi-shaft manipulators, and is used for solving the technical problems that a clamping jaw cannot be automatically replaced and the human-computer interaction experience is poor in the conventional multi-shaft manipulator. The mechanical arm comprises a base and a mechanical arm body, wherein a storage frame is fixed at the upper end of the base, a plurality of storage cavities are arranged in the storage frame, a mounting box is arranged in each storage cavity, a fixing mechanism is arranged in each mounting box, a mechanical clamping jaw is mounted on one side of each mounting box, the mechanical arm body is fixed at the upper end of the storage frame, and a connecting mechanism is arranged at the end part of the mechanical arm body; according to the mechanical arm body, the required mechanical clamping jaw can be automatically replaced, so that the human-computer interaction experience is improved; the mechanical clamping jaw is charged while being stored, so that the use is more convenient; when the mechanical clamping jaw is connected, the mechanical clamping jaw is firstly connected, so that the mechanical clamping jaw is prevented from shaking in the connecting process; after the mechanical clamping jaw is connected, the mechanical clamping jaw and the mechanical arm body are locked, and the mechanical clamping jaw is prevented from shaking in the using process.

Description

Six-degree-of-freedom intelligent interactive manipulator

Technical Field

The invention belongs to the technical field of multi-axis manipulators, and relates to a six-degree-of-freedom intelligent interactive manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like;

the existing mechanical clamping jaw is fixedly connected with the mechanical arm through connecting modes such as bolts, the mechanical arm can only drive the mechanical jaw to move and clamp, the mechanical clamping jaw cannot be automatically replaced aiming at different objects, the mechanical jaw needs to be manually replaced by an operator, the intelligent degree is low, and the man-machine interaction experience is poor.

Based on the design, the six-degree-of-freedom intelligent interactive manipulator is designed.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a six-degree-of-freedom intelligent interactive manipulator, which aims to solve the technical problems that: how to realize the automatic change mechanical clamping jaw of multiaxis arm.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an interactive manipulator of six degrees of freedom intelligence, includes base and arm body, the upper end of base is fixed with the storage frame, be provided with a plurality of storage chambeies in the storage frame, be provided with the mounting box in the storage chamber, be equipped with fixed establishment in the mounting box, mounting box one side is connected with the mounting panel through a plurality of connecting rods, install mechanical clamping jaw on the mounting panel, and the mechanical clamping jaw model in the different storage chambeies is different, the arm body is fixed in storage frame upper end, and is equipped with coupling mechanism between this end of body of arm and the mounting box, the mounting box inboard is fixed with the battery, signal receiver, controller and position sensor.

The working principle of the invention is as follows: through operating personnel input signal, judge the mechanical clamping jaw that needs to use, then arm body automatic movement corresponds the position to required mechanical clamping jaw, and with the tip fixed connection of this mechanical clamping jaw and arm body through coupling mechanism, there is the battery to supply power, can use this mechanical clamping jaw, and the same principle, mechanical clamping jaw does to put back, put back the storage chamber with mechanical clamping jaw, there is fixing mechanism to fix mechanical clamping jaw, can change mechanical clamping jaw automatically, intelligent degree is higher, thereby make human-computer interaction experience better.

The fixing mechanism comprises a rotating rod arranged on the inner wall of the mounting box in a rotating mode, a driving motor used for driving the rotating rod to rotate is fixed to the outer side of the mounting box, a cam is fixed to the outer side of the rotating rod, a plurality of round holes are formed in the upper end of the mounting box, a positioning rod is slidably arranged in the round holes, a transverse rod is fixed to the lower end of the positioning rod, an extrusion rod is fixed to the lower end of the transverse rod, the lower end of the extrusion rod abuts against the side end of the cam, a pressure spring is arranged between the upper end of the transverse rod and the inner wall of the mounting box, a limiting hole is formed in the inner wall of the storage cavity, and the positioning rod is inserted into the limiting hole.

Structure more than adopting, driving motor can drive the cam and rotate, and when the less one side of cam radius offseted with the stripper bar, the stripper bar moved down under pressure spring's effect to drive the locating lever and take out from spacing hole, can take out the mounting box rather than the mechanical clamping jaw who corresponds this moment and use, otherwise also can fix the mechanical clamping jaw who is using again in the storage chamber.

The square hole has been seted up to the upper end of mounting box, is fixed with charging plug on the horizontal pole, and charging plug slides and sets up in the square hole, is provided with the socket that charges on the storage intracavity wall, and charging plug inserts and establishes on the socket that charges.

Structure more than adopting, when the locating lever stretches out, charging plug will stretch out for can charge to the battery after the mounting box is fixed, guarantee battery power, need not the manual charging of operating personnel, it is more convenient to charge.

The connecting mechanism comprises a connecting disc fixed at the end part of the mechanical arm body, an elliptical hole and a plurality of positioning holes are formed in the connecting disc, a connecting rod is rotatably arranged at the side end of the mounting box, an elliptical block matched with the elliptical hole is fixed at the end part of the connecting rod, a plurality of limiting blocks matched with the positioning holes are fixed at the side end of the mounting box, and a transmission assembly is arranged between the rotating rod and the connecting rod.

Structure more than adopting, when installation mechanical clamping jaw, the arm body drives the connection pad and removes, aligns elliptical hole and oval piece, then makes oval piece pass the elliptical hole, and during the stopper inserted the locating hole that corresponds the position just this moment, transmission assembly transmitted the rotation of dwang to the connecting rod on, the connecting rod rotates for oval piece and elliptical hole diverge, can fix the mounting box on the connection pad.

The transmission assembly comprises a sleeve which is sleeved on the rotating rod in a sliding manner, a limiting strip is arranged on the outer side of the rotating rod, a limiting groove matched with the limiting strip is arranged on the inner wall of the sleeve, an oblique arc groove and a positive arc groove which are communicated with each other are formed in the outer side of the sleeve, a support is fixed on the inner wall of the mounting box, a sliding block is fixed at the upper end of the support and is arranged in the positive arc groove in a sliding manner, two first push blocks which are symmetrically distributed are fixed at one end of the sleeve close to the connecting rod, a deep groove is formed at one end of the connecting rod far away from the elliptical block, two side grooves are formed at the side end of the deep groove, a safety assembly is arranged on the inner wall of the deep groove, a moving ring is sleeved on the outer side of the connecting rod in a sliding manner, two convex blocks are fixed on the inner wall of the moving ring and are arranged in the side grooves in a sliding manner, two second push blocks which are symmetrically distributed are fixed at the side end of the moving ring close to the sleeve, two pull rods which are symmetrically distributed are fixed at the side end of the connecting function, two connecting seats are fixed on the inner wall of the mounting box, the end part of the pull rod is hinged with a tension spring, the other end of the tension spring is hinged with the connecting seats, and a supporting rod is fixed at the bottom of the mounting box.

By adopting the structure, when the rotating rod rotates, the sleeve is driven to rotate, the sliding block slides along the positive arc groove, when the sleeve rotates, under the action of the two tension springs, the connecting rod synchronously rotates along the sleeve, when the sleeve rotates for 90 degrees, the sliding block is positioned at the junction of the positive arc groove and the oblique arc groove, the pull rod abuts against the end part of the supporting rod, the tension springs cannot continuously drive the connecting rod to rotate, when the elliptical block rotates for 90 degrees, the connecting disc is fixed with the mounting box, then the rotating rod continuously drives the sleeve to rotate, the sliding block slides along the oblique arc groove, the sleeve moves towards the direction far away from the moving ring while rotating, at the moment, the first push block is gradually far away from the second push block, under the action of the insurance component, the moving ring and the sleeve synchronously translate, when the sleeve moves, the position radius of the cam abutting against the extrusion rod gradually decreases, and the fixing mechanism unlocks, the mechanical jaws can then be used.

The safety assembly comprises a fixing ring fixed on the side wall of the mounting box, two symmetrically distributed safety holes are formed in the fixing ring, the connecting rod penetrates through the fixing ring, two symmetrically distributed sliding holes are formed in the side end of the connecting rod, the sliding holes and the safety holes are distributed in an interval mode, a safety block is arranged in the sliding holes in a sliding mode, a fixing shaft is arranged at the side end of the safety block, a moving plate is fixedly connected to the lug respectively, the moving plate is located inside the deep groove, an inclined groove opening is formed in the inner side of the moving plate, the fixing shaft is arranged in the inclined groove opening in a sliding mode, a circular plate is fixed at the end of the moving plate, and a thrust spring is arranged between the circular plate and the bottom of the deep groove.

Structure more than adopting, when the connecting rod rotates 90, make safety block and safety opening align, this moment along with sheathed tube translation, thrust spring's elasticity can extrude the shift ring towards same direction, make movable plate synchronous movement, under the effect of oblique notch and fixed axle, promote the safety block to the outside, make the safety block insert in the safety opening, further restrict the rotation of connecting rod, prevent that mechanical clamping jaw from taking place to rock when using, the same reason, when placing mechanical clamping jaw, the sleeve pipe can extrude the shift ring at first, make the safety block shrink, then just can drive the shift ring and rotate.

CCD industrial cameras are installed at the end portions of the mechanical arm bodies, and signal transmitters are installed inside the installation boxes.

By adopting the structure, the mechanical clamping jaw can be moved and clamped by the first visual angle record, and man-machine interaction feeling is improved.

Compared with the prior art, the six-degree-of-freedom intelligent interactive manipulator has the following advantages:

1. through storage frame, fixed establishment and coupling mechanism for the arm body can change required mechanical clamping jaw automatically, increases intelligent degree, improves the human-computer interaction and experiences.

2. Through fixed establishment, charge mechanical clamping jaw when storage mechanical clamping jaw, it is more convenient to charge, improves the result of use.

3. Through transmission assembly, when connecting mechanical clamping jaw, at first connect, then unblock fixed establishment, the connection is more stable, prevents that mechanical clamping jaw from rocking at the connection in-process.

4. Through the insurance subassembly, after connecting mechanical clamping jaw, lock mechanical clamping jaw and arm body, prevent that mechanical clamping jaw from rocking in the use.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of an end of a robot arm body according to the present invention;

FIG. 3 is a schematic view of the construction of the mounting box and mechanical jaws of the present invention;

FIG. 4 is a schematic view of the back of the mounting box of the present invention;

FIG. 5 is a schematic view of the lower axial side structure of the inner part of the mounting box of the present invention;

FIG. 6 is a schematic view of the upper axis side of the inner part of the mounting box of the present invention;

FIG. 7 is a schematic structural view of the transmission assembly of the present invention;

FIG. 8 is a schematic diagram of a disassembled structure of the safety assembly of the present invention;

in the figure: 1. a base; 2. a storage rack; 3. a storage chamber; 4. mounting a box; 5. a fixing mechanism; 501. a drive motor; 502. rotating the rod; 503. a cam; 504. a circular hole; 505. positioning a rod; 506. a cross bar; 507. an extrusion stem; 508. a pressure spring; 509. a charging plug; 6. mounting a plate; 7. a mechanical clamping jaw; 8. a mechanical arm body; 9. a connecting mechanism; 901. a connecting disc; 902. an elliptical hole; 903. positioning holes; 904. a connecting rod; 905. an elliptical block; 906. a limiting block; 907. a sleeve; 908. a limiting strip; 909. a diagonal arc-shaped groove; 910. a right circular arc groove; 911. a support; 912. a slider; 913. a first push block; 914. deep grooves; 915. a side groove; 916. a moving ring; 917. a second push block; 918. a pull rod; 919. a connecting seat; 920. a tension spring; 921. a fixing ring; 922. a safety hole; 923. a slide hole; 924. a safety block; 925. a fixed shaft; 926. moving the plate; 927. a beveled slot opening; 928. a circular plate; 929. a thrust spring; 930. a support bar; 10. a storage battery; 11. a controller; 12. a position sensor; 13. a signal receiver; 14. a CCD industrial camera; 15. a signal emitter.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1-8, the embodiment provides a six-degree-of-freedom intelligent interactive manipulator, which includes a base 1 and a mechanical arm body 8, a storage frame 2 is fixed at the upper end of the base 1, a plurality of storage cavities 3 are arranged in the storage frame 2, a mounting box 4 is arranged in the storage cavity 3, a fixing mechanism 5 is arranged in the mounting box 4, one side of the mounting box 4 is connected with a mounting plate 6 through a plurality of connecting rods, a mechanical clamping jaw 7 is arranged on the mounting plate 6, models of the mechanical clamping jaws 7 in different storage cavities 3 are different, the mechanical arm body 8 is fixed at the upper end of the storage frame 2, a connecting mechanism 9 is arranged between the end of the mechanical arm body 8 and the mounting box 4, and a storage battery 10, a signal receiver 13, a controller 11 and a position sensor 12 are fixed at the inner side of the mounting box 4; through operating personnel input signal, judge mechanical clamping jaw 7 that needs to use, then 8 automatic movement of arm body correspond the position to required mechanical clamping jaw 7, and through coupling mechanism 9 with the tip fixed connection of this mechanical clamping jaw 7 with arm body 8, there is battery 10 to supply power, can use this mechanical clamping jaw 7, and on the same principle, mechanical clamping jaw 7 also can be put back, put back storage chamber 3 back with mechanical clamping jaw 7, there is fixing mechanism 5 to fix mechanical clamping jaw 7, can change mechanical clamping jaw 7 automatically, intelligent degree is higher, thereby make the human-computer interaction experience better.

The fixing mechanism 5 comprises a rotating rod 502 which is rotatably arranged on the inner wall of the mounting box 4, a driving motor 501 which is used for driving the rotating rod 502 to rotate is fixed on the outer side of the mounting box 4, a cam 503 is fixed on the outer side of the rotating rod 502, a plurality of round holes 504 are formed in the upper end of the mounting box 4, a positioning rod 505 is slidably arranged in the round hole 504, a cross rod 506 is fixed at the lower end of the positioning rod 505, an extrusion rod 507 is fixed at the lower end of the cross rod 506, the lower end of the extrusion rod 507 abuts against the side end of the cam 503, a pressure spring 508 is arranged between the upper end of the cross rod 506 and the inner wall of the mounting box 4, a limiting hole is formed in the inner wall of the storage cavity 3, and the positioning rod 505 is inserted into the limiting hole; the driving motor 501 can drive the cam 503 to rotate, when the smaller radius side of the cam 503 is abutted to the extrusion rod 507, the extrusion rod 507 moves downwards under the action of the pressure spring 508, and drives the positioning rod 505 to be drawn out from the limiting hole, at this time, the mounting box 4 and the corresponding mechanical clamping jaw 7 can be taken out and used, and on the contrary, the mechanical clamping jaw 7 in use can be fixed in the storage cavity 3 again.

A square hole is formed in the upper end of the mounting box 4, a charging plug 509 is fixed on the cross rod 506, the charging plug 509 is arranged in the square hole in a sliding mode, a charging socket is arranged on the inner wall of the storage cavity 3, and the charging plug 509 is inserted into the charging socket; when the locating lever 505 stretches out, the charging plug 509 stretches out, so that the storage battery 10 can be charged after the mounting box 4 is fixed, the electric quantity of the storage battery 10 is ensured, manual charging by an operator is not needed, and the charging is more convenient.

The connecting mechanism 9 comprises a connecting disc 901 fixed at the end of the mechanical arm body 8, an elliptical hole 902 and a plurality of positioning holes 903 are formed in the connecting disc 901, a connecting rod 904 is rotatably arranged at the side end of the mounting box 4, an elliptical block 905 matched with the elliptical hole 902 is fixed at the end of the connecting rod 904, a plurality of limiting blocks 906 matched with the positioning holes 903 are fixed at the side end of the mounting box 4, and a transmission assembly is arranged between the rotating rod 502 and the connecting rod 904; when installing mechanical clamping jaw 7, arm body 8 drives connection pad 901 and removes, aligns elliptical hole 902 and oval piece 905, then makes oval piece 905 pass elliptical hole 902, and stopper 906 inserts just in the locating hole 903 of corresponding position this moment, and the transmission assembly is transmitting the rotation of dwang 502 to connecting rod 904 on, and connecting rod 904 rotates for oval piece 905 and elliptical hole 902 diverge, can fix mounting box 4 on connection pad 901.

The transmission assembly comprises a sleeve 907 slidably sleeved on the rotating rod 502, a limit strip 908 is arranged on the outer side of the rotating rod 502, a limit groove matched with the limit strip 908 is arranged on the inner wall of the sleeve 907, an inclined arc groove 909 and a right arc groove 910 which are mutually communicated are arranged on the outer side of the sleeve 907, a support 911 is fixed on the inner wall of the mounting box 4, a slide block 912 is fixed at the upper end of the support 911, the slide block 912 is slidably arranged in the right arc groove 910, two first push blocks 913 symmetrically distributed are fixed at one end of the sleeve 907 close to the connecting rod 904, a deep groove 914 is arranged at one end of the connecting rod 904 far away from the oval block 905, two side grooves 915 are arranged at the side end of the deep groove 914, a safety assembly is arranged on the inner wall of the deep groove 914, a moving ring 916 is slidably sleeved on the outer side of the connecting rod 904, two convex blocks are fixed on the inner wall of the moving ring 916 and slidably arranged in the side grooves 915, two second push blocks 917 symmetrically distributed are fixed at the side end of the moving ring 916 close to the sleeve 907, two symmetrically distributed pull rods 918 are fixed at the side end of the connecting function 904, two connecting seats 919 are fixed on the inner wall of the mounting box 4, a tension spring 920 is hinged to the end of the pull rod 918, the other end of the tension spring 920 is hinged to the connecting seats 919, and a support rod 930 is fixed at the bottom of the mounting box 4; when the rotating rod 502 rotates, the sleeve 907 is driven to rotate, at the moment, the sliding block 912 slides along the right circular groove 910, when the sleeve 907 rotates, under the action of the two tension springs 920, the connecting rod 904 rotates synchronously along the sleeve 907, when the sleeve 907 rotates 90 degrees, the sliding block 912 is positioned at the junction of the right circular groove 910 and the oblique circular groove 909, at the moment, the pull rod 918 abuts against the end of the supporting rod 930, the tension spring 920 cannot continuously drive the connecting rod 904 to rotate, at the moment, the elliptical block 905 rotates 90 degrees, the connecting disc 901 and the mounting box 4 are fixed, then the rotating rod 502 continuously drives the sleeve 907 to rotate, at the moment, the sliding block 912 slides along the oblique circular groove 909, the sleeve 907 moves towards the direction far away from the moving ring 916 while rotating, at the moment, the first push block 913 gradually moves away from the second push block 917, under the action of the safety component, the moving ring 916 synchronously translates with the sleeve 907, and at the same time when the sleeve 907 moves, the position radius where the cam 503 abuts against the extrusion rod 507 gradually decreases, the securing mechanism 5 is now unlocked and the mechanical jaw 7 is ready for use.

The safety assembly comprises a fixing ring 921 fixed on the side wall of the mounting box 4, and two symmetrically distributed safety holes 922 are formed in the fixing ring 921, the connecting rod 904 penetrates through the fixing ring 921, two symmetrically distributed sliding holes 923 are formed in the side end of the connecting rod 904, the sliding holes 923 and the safety holes 922 are distributed alternately, a safety block 924 is arranged in the sliding holes 923 in a sliding mode, a fixing shaft 925 is arranged at the side end of the safety block 924, a moving plate 926 is fixedly connected to the protruding block respectively, the moving plate 926 is located inside the deep groove 914, an inclined notch 927 is formed in the inner side of the moving plate 926, the fixing shaft 925 is arranged in the inclined notch 927 in a sliding mode, a circular plate 928 is fixed at the end of the moving plate 926, and a thrust spring 929 is arranged between the circular plate 928 and the groove bottom of the deep groove 914; when the connecting rod 904 rotates by 90 °, the safety block 924 is aligned with the safety hole 922, at this time, along with the translation of the sleeve 907, the elastic force of the thrust spring 929 presses the moving ring 916 to the same direction, so that the moving plate 926 moves synchronously, under the action of the inclined notch 927 and the fixed shaft 925, the safety block 924 is pushed outwards, so that the safety block 924 is inserted into the safety hole 922, the rotation of the connecting rod 904 is further limited, the mechanical clamping jaw 7 is prevented from shaking in use, and similarly, when the mechanical clamping jaw 7 is placed, the sleeve 907 presses the moving ring 916 firstly, so that the safety block 924 contracts, and then the moving ring 916 is driven to rotate.

The end part of the mechanical arm body 8 is provided with a CCD industrial camera 14, and a signal emitter 15 is arranged in the mounting box 4; the movement and clamping of the mechanical clamping jaw 7 can be recorded at a first visual angle, and man-machine interaction feeling is improved.

The fixing modes are all the most common fixing connection modes in the field, such as welding, bolt connection and the like; the above electrical components such as the storage battery 10, the signal receiver 13, the controller 11, the position sensor 12, the CCD industrial camera 14, the signal emitter 15, the charging plug 509, the driving motor 501, etc. are all prior art products, and can be directly purchased and used in the market, and the detailed principle is not repeated.

The working principle of the invention is as follows:

the mechanical clamping jaw 7 which needs to be used is judged by inputting a signal by an operator, then the mechanical arm body 8 drives the connecting disc 901 to move, the elliptical hole 902 is aligned with the elliptical block 905, then the elliptical block 905 passes through the elliptical hole 902, at the moment, the limiting block 906 is just inserted into the positioning hole 903 at the corresponding position, the driving motor 501 drives the rotating rod 502 to rotate, when the rotating rod 502 rotates, the sleeve 907 is driven to rotate, at the moment, the sliding block 912 slides along the regular arc groove 910, when the sleeve 907 rotates, the connecting rod 904 rotates synchronously along the sleeve 907 under the action of the two tension springs 920, when the sleeve 907 rotates 90 degrees, the sliding block 912 is positioned at the junction of the regular arc groove 910 and the oblique arc groove 909, at the moment, the pull rod 918 abuts against the end of the supporting rod 930, the tension spring 920 cannot drive the connecting rod 904 to rotate continuously, at the moment, the elliptical block rotates 905, the connecting disc 901 is fixed with the mounting box 4, then the rotating rod 502 drives the sleeve 907 to rotate continuously, at this time, the sliding block 912 slides along the inclined arc groove 909, the sleeve 907 moves away from the moving ring 916 while rotating, and at this time, the first pushing block 913 gradually moves away from the second pushing block 917, when the connecting rod 904 rotates 90 °, the safety block 924 aligns with the safety hole 922, at this time, along with the translation of the sleeve 907, the elastic force of the pushing spring 929 presses the moving ring 916 towards the same direction, so that the moving plate 926 moves synchronously, under the action of the inclined notch 927 and the fixed shaft 925, the safety block 924 is pushed outwards, so that the safety block 924 is inserted into the safety hole 922, the rotation of the connecting rod 904 is further limited, the mechanical clamping jaw 7 is prevented from shaking when in use, when the sleeve 907 moves, the position radius of the cam 503 abutting against the pressing rod 507 gradually decreases, and when the smaller radius side of the cam 503 abuts against the pressing rod 507, the pressing rod 507 moves downwards under the action of the pressure spring 508, and drive locating lever 505 and take out from spacing hole, can take out mounting box 4 and the mechanical clamping jaw 7 that corresponds this moment and use, can also use opposite step to fix mechanical clamping jaw 7 in storage chamber 3 with the same principle, and at the in-process that uses mechanical clamping jaw 7, CCD industry camera 14 can be got with the removal of first visual angle record mechanical clamping jaw 7 and clamp moreover, improves human-computer interaction and feels

In conclusion, the mechanical arm body 8 can automatically replace the required mechanical clamping jaw 7 through the storage frame 2, the fixing mechanism 5 and the connecting mechanism 9, the intelligent degree is increased, and the human-computer interaction experience is improved; by the fixing mechanism 5, the mechanical clamping jaw 7 is charged while the mechanical clamping jaw 7 is stored, so that the charging is more convenient, and the using effect is improved; through the transmission assembly, when the mechanical clamping jaw 7 is connected, the connection is firstly carried out, then the fixing mechanism 5 is unlocked, the connection process is more stable, and the mechanical clamping jaw 7 is prevented from shaking in the connection process; through the insurance subassembly, after connecting mechanical clamping jaw 7, lock mechanical clamping jaw 7 and arm body 8, prevent that mechanical clamping jaw 7 from rocking in the use.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A six-degree-of-freedom intelligent interactive manipulator comprises a base (1) and a mechanical arm body (8), it is characterized in that a storage rack (2) is fixed at the upper end of the base (1), a plurality of storage cavities (3) are arranged in the storage rack (2), a mounting box (4) is arranged in each storage cavity (3), a fixing mechanism (5) is arranged in each mounting box (4), one side of each mounting box (4) is connected with a mounting plate (6) through a plurality of connecting rods, a mechanical clamping jaw (7) is arranged on each mounting plate (6), and the models of the mechanical clamping jaws (7) in different storage cavities (3) are different, a mechanical arm body (8) is fixed at the upper end of the storage rack (2), and a connecting mechanism (9) is arranged between the end part of the mechanical arm body (8) and the mounting box (4), and a storage battery (10), a signal receiver (13), a controller (11) and a position sensor (12) are fixed on the inner side of the mounting box (4).

2. The six-degree-of-freedom intelligent interactive manipulator according to claim 1, the fixing mechanism (5) comprises a rotating rod (502) which is rotatably arranged on the inner wall of the mounting box (4), a driving motor (501) for driving the rotating rod (502) to rotate is fixed on the outer side of the mounting box (4), a cam (503) is fixed on the outer side of the rotating rod (502), a plurality of round holes (504) are formed in the upper end of the mounting box (4), a positioning rod (505) is arranged in the round hole (504) in a sliding manner, a cross rod (506) is fixed at the lower end of the positioning rod (505), an extrusion rod (507) is fixed at the lower end of the cross rod (506), the lower end of the extrusion rod (507) is abutted against the side end of the cam (503), a pressure spring (508) is arranged between the upper end of the cross rod (506) and the inner wall of the mounting box (4), a limiting hole is formed in the inner wall of the storage cavity (3), and the positioning rod (505) is inserted into the limiting hole.

3. The six-degree-of-freedom intelligent interaction manipulator according to claim 2, wherein a square hole is formed in the upper end of the mounting box (4), a charging plug (509) is fixed on the cross rod (506), the charging plug (509) is slidably arranged in the square hole, a charging socket is arranged on the inner wall of the storage cavity (3), and the charging plug (509) is inserted into the charging socket.

4. The six-degree-of-freedom intelligent interactive manipulator according to claim 2, wherein the connecting mechanism (9) comprises a connecting disc (901) fixed to the end of the manipulator body (8), an elliptical hole (902) and a plurality of positioning holes (903) are formed in the connecting disc (901), a connecting rod (904) is rotatably arranged at the side end of the mounting box (4), an elliptical block (905) matched with the elliptical hole (902) is fixed to the end of the connecting rod (904), a plurality of limiting blocks (906) matched with the positioning holes (903) are fixed to the side end of the mounting box (4), and a transmission assembly is arranged between the rotating rod (502) and the connecting rod (904).

5. The six-degree-of-freedom intelligent interactive manipulator according to claim 4, wherein the transmission assembly comprises a sleeve (907) slidably sleeved on the rotating rod (502), a limiting strip (908) is arranged on the outer side of the rotating rod (502), a limiting groove matched with the limiting strip (908) is arranged on the inner wall of the sleeve (907), an inclined arc groove (909) and a regular arc groove (910) which are communicated with each other are formed on the outer side of the sleeve (907), a bracket (911) is fixed on the inner wall of the mounting box (4), a sliding block (912) is fixed on the upper end of the bracket (911), the sliding block (912) is slidably arranged in the regular arc groove (910), two first push blocks (913) which are symmetrically distributed are fixed on one end of the sleeve (907) close to the connecting rod (904), a deep groove (914) is formed on one end of the connecting rod (904) far away from the oval block (905), and two side grooves (915) are formed on the side ends of the deep groove (914), deep groove (914) inner wall is equipped with the insurance subassembly, connecting rod (904) outside slip cover is equipped with shift ring (916), and be fixed with two lugs on shift ring (916) inner wall, and two lugs slide and set up in side groove (915), shift ring (916) are close to the side of sleeve pipe (907) and are fixed with second ejector pad (917) of two symmetric distributions, connection function (904) side is fixed with pull rod (918) of two symmetric distributions, be fixed with two connecting seats (919) on mounting box (4) inner wall, the tip of pull rod (918) articulates there is extension spring (920), the other end and the connecting seat (919) of extension spring (920) articulate, mounting box (4) bottom is fixed with bracing piece (930).

6. The six-degree-of-freedom intelligent interactive manipulator according to claim 5, wherein the safety assembly comprises a fixing ring (921) fixed on the side wall of the mounting box (4), the fixing ring (921) is provided with two safety holes (922) distributed symmetrically, the connecting rod (904) passes through the fixing ring (921), the side end of the connecting rod (904) is provided with two sliding holes (923) distributed symmetrically, the sliding holes (923) and the safety holes (922) are distributed alternately, a safety block (924) is arranged in the sliding holes (923) in a sliding manner, the side end of the safety block (924) is provided with a fixing shaft (925), the protruding block is respectively and fixedly connected with a moving plate (926), the moving plate (926) is located inside the deep groove (914), an inclined notch (927) is formed in the inner side of the moving plate (926), the fixing shaft (925) is arranged in the inclined notch (927) in a sliding manner, a circular plate (928) is fixed at the end of the moving plate (926), and a thrust spring (929) is arranged between the circular plate (928) and the groove bottom of the deep groove (914).

7. The six-degree-of-freedom intelligent interactive manipulator according to claim 1 or 2, characterized in that a CCD industrial camera (14) is mounted at the end of the manipulator body (8), and a signal emitter (15) is mounted inside the mounting box (4).