CN218698815U - Intelligent manipulator - Google Patents

Abstract

The utility model discloses an intelligent manipulator, which comprises a frame body, a vertical driving mechanism, a transverse driving mechanism, a longitudinal driving mechanism and a clamping mechanism, wherein the vertical driving mechanism, the transverse driving mechanism and the longitudinal driving mechanism are all arranged on the frame body and are used for correspondingly driving the clamping mechanism to move vertically, transversely and longitudinally; the clamping mechanism comprises two clamping arms which are opposite to each other and a clamping piece which is used for driving the two clamping arms to be close to or far away from each other, the lower ends of the two opposite sides of the two clamping arms are provided with clamping blocks, the two clamping blocks are used for being matched and clamped on the two sides of the blank material processing station, the front sides of the two clamping arms and the positions above the clamping blocks are provided with clamping plates, and the two ends, close to each other, of the two clamping plates are provided with clamping grooves for the clamping plates to stably clamp finished products. In the utility model discloses in, ability greatly reduced equipment cost to also reduce occupation space, realize miniaturized design, the implementation of convenient intelligent production.

Description

Intelligent manipulator

Technical Field

The utility model relates to an automation equipment technical field especially relates to an intelligent manipulator.

Background

With the development of society and the continuous progress of science and technology, the automation industry rapidly grows, and the mechanization and automation degree in the mechanical and electronic field is greatly improved. Due to the increase of labor cost, traditional intensive enterprises mainly based on manpower cannot meet the progress of social development. In production, the production efficiency is improved, the cost is reduced, the time is saved, and the human resources are the direction which needs to be changed by the current enterprises.

To this end, various production and processing all-in-one machines have been released in the market, through the integrated various processing equipment that have in production and processing all-in-one machine, in order to realize the effect that comes out for the finished product from blank material back automatic processing, wherein, production and processing all-in-one machine wants to realize the process from blank to finished product, needs the cooperation of manipulator, needs to let the manipulator take blank material to the processing equipment department that corresponds and process, treat to process the completion back, lets the manipulator take out the finished product again, in order to realize the production and processing of product through automatic mode, production effect is high, and reduces the cost of labor.

However, since the manipulator is used for holding both the blank and the finished product due to the different structures of the blank and the finished product, the conventional manipulator is difficult to adapt to the use of the production and processing integrated machine, and if two separate manipulators are used for holding the blank and the finished product respectively, the cost of the equipment is increased, and more space is occupied. Specifically, fig. 1 in the drawings of the specification is a schematic structural diagram of a blank, fig. 2 in the drawings of the specification is a schematic structural diagram of a finished product after processing, a columnar structure at the front end of the blank in fig. 1 is a clamping position for a clamp to clamp the blank, and a rectangular block-shaped structure at the rear end of the blank is a processing position to be processed; therefore, when the manipulator grabs the blank, firstly the manipulator needs to grab the processing position of the blank, then the clamping position of the blank is placed into the clamp for clamping and fixing, and then after the processing of the processing position of the blank is completed, the original manipulator cannot clamp the processing position due to the change of the shape after the processing of the processing position, and the finished product cannot be taken out smoothly.

Consequently, this application need design a section can centre gripping blank, can centre gripping off-the-shelf manipulator again to satisfy the miniaturized design of production and processing all-in-one and reduce the cost of equipment, be convenient for realize intelligent production simultaneously, improve production efficiency.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing an intelligent manipulator that adaptability is high to reduce the manipulator and occupy production space, also reduce equipment cost.

An intelligent manipulator comprises a frame body, and a vertical driving mechanism, a transverse driving mechanism, a longitudinal driving mechanism and a clamping mechanism which are all arranged on the frame body, wherein the vertical driving mechanism, the transverse driving mechanism and the longitudinal driving mechanism are used for correspondingly driving the clamping mechanism to move vertically, transversely and longitudinally;

the clamping mechanism comprises two clamping arms which are opposite to each other and clamping pieces which are used for driving the two clamping arms to be close to or far away from each other, the lower ends of the two opposite sides of the two clamping arms are respectively provided with a clamping block, the two clamping blocks are used for being matched and clamped on the two sides of the blank material processing station, the two clamping arms are arranged on the front sides of the clamping arms and above the clamping blocks, clamping grooves are formed in the two ends, close to each other, of the clamping plates, and the clamping plates are used for stably clamping finished products.

The utility model discloses in, can drive through vertical actuating mechanism, horizontal actuating mechanism and vertical actuating mechanism fixture removes along three direction to be convenient for fixture to grab blank material and hold processing equipment department and process, two tight pieces of clamp of two arm lock lower parts of fixture can cooperate the centre gripping in the processing position both sides of blank material rear end, so that send the tight position of clamp of blank material front end into anchor clamps department and carry out the centre gripping fixed, so that processing equipment processes the processing position of blank material, treat to process and accomplish the back, because processing position shape changes, so through two the two of clamp arm front side the clamp plate can be banded and is pressed from both sides the region between tight position and the processing position, in order to realize the stable centre gripping to finished product, thereby the intelligent manipulator of this application can adapt to blank material and finished product transport work, and adaptability is high, need not additionally to add manipulator or spare part and can accomplish the blank material and the off-the-shelf centre gripping transport of this application, can greatly reduced equipment cost to also reduce occupation space, realize miniaturized design, make things convenient for the implementation of intelligent production.

Preferably, the longitudinal driving mechanism includes a longitudinal mounting seat, a longitudinal moving rod, a longitudinal sliding seat, a longitudinal sliding rail, a longitudinal rack, a longitudinal servo motor and a longitudinal driving gear, the longitudinal sliding seat is fixed on the upper portion of the longitudinal mounting seat, the longitudinal sliding rail is axially fixed at the bottom of the longitudinal moving rod, the longitudinal moving rod is connected to the longitudinal sliding seat through the longitudinal sliding rail and can longitudinally move relative to the longitudinal sliding seat, the longitudinal rack is axially fixed at the upper portion of the longitudinal moving rod, the longitudinal servo motor is fixed on the longitudinal mounting seat, the longitudinal driving gear is fixed on an output shaft of the longitudinal servo motor, the longitudinal driving gear is engaged with the longitudinal rack, and one end of the longitudinal moving rod, which is far away from the longitudinal mounting seat, is connected with the clamping mechanism;

the vertical driving mechanism and the horizontal driving mechanism are used for correspondingly driving the longitudinal installation seat to move vertically and horizontally.

Preferably, the longitudinal driving mechanism further comprises a cylinder mounting seat and a longitudinal driving cylinder which are both arranged below the longitudinal mounting seat, the longitudinal driving cylinder is fixed on the cylinder mounting seat, and the output end of the longitudinal driving cylinder is fixed with the bottom of the longitudinal mounting seat and one end of the longitudinal driving cylinder close to the clamping mechanism;

the vertical driving mechanism and the horizontal driving mechanism are used for correspondingly driving the air cylinder mounting seat to move vertically and horizontally.

Preferably, the longitudinal driving mechanism further comprises a cylinder guide sliding seat and a cylinder guide sliding rail, the cylinder guide sliding seat is fixed on the upper portion of the cylinder mounting seat, the cylinder guide sliding rail is fixed at the bottom of the longitudinal mounting seat and extends longitudinally, and the cylinder guide sliding rail is connected to the cylinder guide sliding seat and can move longitudinally relative to the cylinder guide sliding seat.

Preferably, the longitudinal rack is a helical rack and the longitudinal driving gear is a helical gear.

Preferably, vertical actuating mechanism includes vertical straight line module and vertical servo motor, vertical straight line module is fixed in on the support body along vertical direction, vertical servo motor's output shaft is connected with the input transmission of vertical straight line module, horizontal actuating mechanism connects in the output of vertical straight line module, in order to drive horizontal actuating mechanism is along vertical movement, vertical actuating mechanism connects on horizontal actuating mechanism to drive vertical actuating mechanism along lateral shifting through horizontal actuating mechanism, fixture connects on vertical actuating mechanism, in order to drive fixture along longitudinal shifting through vertical actuating mechanism.

Preferably, vertical actuating mechanism still includes connecting axle and vertical drive assembly, the support body is the rectangular frame who is vertical setting, vertical straight line module is equipped with two, two vertical straight line module corresponds the both sides that are fixed in the support body, the connecting axle rotates and connects in the lower part of support body, just the both ends of connecting axle correspond with two the input of vertical straight line module is coaxial fixed, vertical servo motor passes through vertical drive assembly drives the connecting axle rotates, two interconnect has between the output of vertical straight line module horizontal actuating mechanism.

Preferably, the vertical transmission assembly comprises a driving synchronous pulley, a driven synchronous pulley and a synchronous belt, the driving synchronous pulley is fixed on an output shaft of the vertical servo motor, the driven synchronous pulley is sleeved on the fixed connecting shaft, and the synchronous belt is wound between the driving synchronous pulley and the driven synchronous pulley.

Preferably, the horizontal driving mechanism comprises a horizontal straight line module and a horizontal servo motor, two ends of the horizontal straight line module are correspondingly connected with two ends of the frame body, the output ends of the vertical straight line modules are fixedly connected, an output shaft of the horizontal servo motor is in transmission connection with the input end of the horizontal straight line module, and the vertical driving mechanism is fixed at the output end of the horizontal straight line module.

Preferably, the clamping part is a clamping jaw cylinder, and two output ends of the clamping jaw cylinder are correspondingly and fixedly connected with the two clamping arms.

Compared with the prior art, the intelligent manipulator of this application can adapt to carry out the centre gripping to the finished product after blank and the processing, and adaptability is high, can reduce the cost of equipment in the automated production, simultaneously, intelligent manipulator is through reasonable design to reduce the occupation to the space, be convenient for arrange in the production and processing all-in-one, also be convenient for realize the miniaturized design of production and processing all-in-one.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a blank of the present invention;

FIG. 2 is a schematic structural view of the finished product of the present invention;

fig. 3 is a schematic view of an overall structure of an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a longitudinal driving mechanism according to an embodiment of the present invention;

FIG. 5 is an enlarged view taken at A in FIG. 4;

fig. 6 is a schematic structural diagram of another view angle of the longitudinal driving mechanism according to an embodiment of the present invention.

Reference numerals are as follows: 100. a blank material; 110. a clamping position; 120. processing stations; 1. a frame body; 2. a vertical drive mechanism; 21. a vertical straight line module; 22. a vertical servo motor; 23. a connecting shaft; 24. a driving synchronous pulley; 25. a passive synchronous pulley; 26. a synchronous belt; 3. a lateral drive mechanism; 31. a transverse straight line module; 32. a transverse servo motor; 4. a longitudinal drive mechanism; 41. a longitudinal mounting seat; 42. a longitudinal travel bar; 43. a longitudinal slide; 44. a longitudinal slide rail; 45. a longitudinal rack; 46. a longitudinal servo motor; 47. a longitudinal drive gear; 48. a longitudinal drive assembly; 481. a cylinder mounting seat; 482. a longitudinal driving cylinder; 483. a cylinder guide slide seat; 484. the cylinder guides the slide rail; 5. a clamping mechanism; 51. clamping arms; 52. a clamping block; 53. a clamping plate; 54. a clamping groove; 55. and a clamping member.

Detailed Description

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like, referred to or may be referred to in this specification, are defined relative to their configuration, and are relative concepts. Therefore, it may be changed according to different positions and different use states. Therefore, these and other directional terms should not be construed as limiting terms.

The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of implementations consistent with certain aspects of the present disclosure.

The terminology used in the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The utility model relates to an intelligent manipulator, it is used for can accomplishing the off-the-shelf centre gripping of blank 100 through a manipulator and transports, and it can reduce the application quantity of spare part in the automated production, the assembly of the manipulator of also being convenient for, and then also can reduce in the production and processing all-in-one, and the space size that the manipulator occupy is convenient for realize the miniaturized design of production and processing all-in-one.

As shown in fig. 3 to 6, the intelligent manipulator includes a frame body 1, and a vertical driving mechanism 2, a horizontal driving mechanism 3, a longitudinal driving mechanism 4, and a clamping mechanism 5, all disposed on the frame body 1, where the vertical driving mechanism 2, the horizontal driving mechanism 3, and the longitudinal driving mechanism 4 are configured to correspondingly drive the clamping mechanism 5 to move vertically, horizontally, and longitudinally;

the clamping mechanism 5 comprises two clamping arms 51 which are opposite to each other and a clamping piece 55 which is used for driving the two clamping arms 51 to be close to or far away from each other, the lower ends of two opposite sides of the two clamping arms 51 are respectively provided with a clamping block 52, the two clamping blocks 52 are used for being clamped on two sides of a processing position 120 of a blank material 100 in a matched mode so as to clamp the blank material 100, a clamping plate 53 is arranged on the front side of each clamping arm 51 and above the clamping block 52, the two clamping plates 53 extend towards the two clamping arms 51, and clamping grooves 54 are formed in two ends, close to each other, of the two clamping plates 53 so that the clamping plates 53 can stably clamp finished products.

In the utility model, the clamping mechanism 5 can be driven to move along three directions by the vertical driving mechanism 2, the horizontal driving mechanism 3 and the vertical driving mechanism 4, so that the clamping mechanism 5 can hold the blank 100 to the processing equipment for processing, two clamping blocks 52 at the lower parts of two clamping arms 51 of the clamping mechanism 5 can be clamped at two sides of the processing position 120 at the rear end of the blank 100 in a matching way, so that the clamping position 110 at the front end of the blank 100 can be sent to the clamping equipment for clamping and fixing, so that the processing equipment can process the processing position 120 of the blank 100, after the processing is finished, owing to add station 120 shape and change, so through two of arm lock 51 front side the region between clamping position 110 and the processing position 120 can be banded to clamping plate 53 to the realization is to finished product stable centre gripping, thereby the intelligent manipulator of this application can adapt to blank 100 and off-the-shelf transport work, adaptability is high, need not additionally to add manipulator or spare part and can accomplish the blank 100 and the off-the-shelf centre gripping transport of this application, can greatly reduced equipment cost, and also reduce occupation space, realize miniaturized design, make things convenient for the implementation of intelligent production.

In this embodiment, the clamping member 55 is a clamping jaw cylinder, two output ends of the clamping jaw cylinder are correspondingly and fixedly connected with the two clamping arms 51, and then the clamping jaw cylinder is used for realizing the mutual approaching or separating of the two clamping arms 51.

In this embodiment, the longitudinal driving mechanism 4 includes a longitudinal mounting seat 41, a longitudinal moving rod 42, a longitudinal sliding seat 43, a longitudinal sliding rail 44, a longitudinal rack 45, a longitudinal servo motor 46, and a longitudinal driving gear 47, the longitudinal sliding seat 43 is fixed on the upper portion of the longitudinal mounting seat 41, the longitudinal sliding rail 44 is fixed on the bottom of the longitudinal moving rod 42 along the axial direction, the longitudinal moving rod 42 is connected to the longitudinal sliding seat 43 through the longitudinal sliding rail 44 and can move along the longitudinal direction relative to the longitudinal sliding seat 43, the longitudinal rack 45 is fixed on the upper portion of the longitudinal moving rod 42 along the axial direction, the longitudinal servo motor 46 is fixed on the longitudinal mounting seat 41, the longitudinal driving gear 47 is fixed on the output shaft of the longitudinal servo motor 46, the longitudinal driving gear 47 is engaged with the longitudinal rack 45, the end of the longitudinal moving rod 42 far away from the longitudinal mounting seat 41 is connected with the clamping mechanism 5, and the clamping jaw cylinder of the clamping mechanism 5 is fixed on the end of the longitudinal moving rod 42; the vertical driving mechanism 2 and the horizontal driving mechanism 3 are used for correspondingly driving the longitudinal installation seat 41 to move along the vertical direction and the horizontal direction.

When the longitudinal driving mechanism 4 works, the longitudinal driving gear 47 is driven to rotate by the longitudinal servo motor 46, so that the longitudinal moving rod 42 is driven to move longitudinally by the longitudinal rack 45, and further the clamping mechanism 5 is driven to move longitudinally, and the longitudinal sliding seat 43 and the longitudinal sliding rail 44 are arranged, so that the longitudinal moving rod 42 can stably move longitudinally.

Preferably, the longitudinal rack 45 is a helical rack, and the longitudinal driving gear 47 is a helical gear to stably drive the longitudinal moving rod 42 to move in the longitudinal direction.

Further, the longitudinal driving mechanism 4 further comprises a longitudinal driving assembly 48, the longitudinal driving assembly 48 comprises a cylinder mounting seat 481 and a longitudinal driving cylinder 482 which are both arranged below the longitudinal mounting seat 41, the longitudinal driving cylinder 482 is fixed on the cylinder mounting seat 481, and an output end of the longitudinal driving cylinder 482 is fixed with the bottom of the longitudinal mounting seat 41 and one end of the longitudinal mounting seat close to the clamping mechanism 5; the vertical driving mechanism 2 and the horizontal driving mechanism 3 are used for correspondingly driving the air cylinder mounting seat 481 to move vertically and horizontally.

The purpose of the longitudinal driving cylinder 482 is to allow the clamping mechanism 5 to have a larger stroke in the longitudinal direction, and at the same time, the longitudinal driving mechanism 4 does not occupy too much space in the longitudinal direction, because compared with the prior art in which only a single driving structure is adopted in one direction, the length of the driving structure needs to be increased in order to have a longer stroke in the current direction, for example, in the mode of only adopting a cylinder, in order to obtain a larger stroke, the length of the cylinder body of the cylinder needs to be increased, so that a longer stroke can be obtained, but the length of the cylinder body is increased, and the occupied area in the single direction is increased undoubtedly, which affects the miniaturization design of the production and processing integrated machine.

Further, the longitudinal driving mechanism 4 further includes a cylinder guide sliding seat 483 and a cylinder guide sliding rail 484, the cylinder guide sliding seat 483 is fixed to an upper portion of the cylinder mounting seat 481, the cylinder guide sliding rail 484 is fixed to a bottom portion of the longitudinal mounting seat 41 and extends in the longitudinal direction, and the cylinder guide sliding rail 484 is connected to the cylinder guide sliding seat 483 and is movable in the longitudinal direction with respect to the cylinder guide sliding seat 483.

Through the arrangement of the cylinder guide sliding seat 483 and the cylinder guide sliding rail 484, on one hand, the cylinder guide sliding seat 483 plays a role in supporting below the longitudinal installation seat 41, and is difficult to stably support the longitudinal installation seat 41 and a plurality of parts on the longitudinal installation seat 41 only by using a cylinder, and on the other hand, the cylinder guide sliding seat 483 plays a role in guiding so that the longitudinal installation seat 41 can stably move along the longitudinal direction.

In this embodiment, vertical actuating mechanism 2 includes vertical straight line module 21 and vertical servo motor 22, vertical straight line module 21 is fixed in on the support body 1 along vertical direction, vertical servo motor 22's output shaft is connected with the input transmission of vertical straight line module 21, horizontal actuating mechanism 3 is connected in the output of vertical straight line module 21, in order to drive horizontal actuating mechanism 3 is along vertical removal, vertical actuating mechanism 4 is connected on horizontal actuating mechanism 3 to drive vertical actuating mechanism 4 through horizontal actuating mechanism 3 and follow horizontal removal, fixture 5 is connected on vertical actuating mechanism 4, in order to drive fixture 5 through vertical actuating mechanism 4 and follow vertical removal, thereby realize fixture 5 along vertical, horizontal and vertical removal.

Preferably, vertical actuating mechanism 2 still includes connecting axle 23 and vertical transmission assembly, support body 1 is the rectangular frame who is vertical setting, vertical straight line module 21 is equipped with two, two vertical straight line module 21 corresponds the both sides that are fixed in support body 1, connecting axle 23 rotates to be connected in the lower part of support body 1, just the both ends of connecting axle 23 correspond and two the coaxial fixed of input of vertical straight line module 21, vertical servo motor 22 passes through vertical transmission assembly drive connecting axle 23 rotates, two interconnect has between the output of vertical straight line module 21 horizontal actuating mechanism 3.

The vertical servo motor 22 drives the connecting shaft 23 to rotate through the vertical transmission assembly, and then can drive the two output ends of the two vertical linear modules 21 to synchronously move vertically, so as to synchronously drive the transverse driving mechanism 3 to stably move vertically.

Preferably, the vertical transmission assembly includes a driving synchronous pulley 24, a driven synchronous pulley 25, and a synchronous belt 26, the driving synchronous pulley 24 is fixed on the output shaft of the vertical servo motor 22, the driven synchronous pulley 25 is sleeved on the fixed connecting shaft 23, and the synchronous belt 26 is wound between the driving synchronous pulley 24 and the driven synchronous pulley 25 to realize that the vertical servo motor 22 drives the connecting shaft 23 to rotate.

In this embodiment, the transverse driving mechanism 3 includes a transverse straight line module 31 and a transverse servo motor 32, two ends of the transverse straight line module 31 are correspondingly and fixedly connected with output ends of two vertical straight line modules 21 on two sides of the frame body 1, an output shaft of the transverse servo motor 32 is in transmission connection with an input end of the transverse straight line module 31, the longitudinal driving mechanism 4 is fixed at the output end of the transverse straight line module 31, and specifically, the cylinder mounting seat 481 of the longitudinal driving mechanism 4 is fixed at the output end of the transverse straight line module 31.

The transverse servo motor 32 can drive the output end of the transverse linear module 31 to move in the transverse direction, so as to drive the longitudinal driving mechanism 4 to move in the transverse direction.

To sum up, for prior art, the intelligent manipulator of this application can adapt to carry out the centre gripping to blank 100 and the finished product after the processing, and adaptability is high, can reduce the cost of equipment in the automated production, simultaneously, intelligent manipulator is through reasonable design to reduce the occupation to the space, be convenient for arrange in the production and processing all-in-one, also be convenient for realize the miniaturized design of production and processing all-in-one.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims (10)

1. An intelligent manipulator which is characterized in that: the device comprises a frame body, a vertical driving mechanism, a transverse driving mechanism, a longitudinal driving mechanism and a clamping mechanism, wherein the vertical driving mechanism, the transverse driving mechanism, the longitudinal driving mechanism and the clamping mechanism are all arranged on the frame body;

the clamping mechanism comprises two clamping arms which are opposite to each other and clamping pieces which are used for driving the two clamping arms to be close to or far away from each other, the lower ends of the two opposite sides of the two clamping arms are respectively provided with a clamping block, the two clamping blocks are used for being matched and clamped on the two sides of the blank material processing station, the two clamping arms are arranged on the front sides of the clamping arms and above the clamping blocks, clamping grooves are formed in the two ends, close to each other, of the clamping plates, and the clamping plates are used for stably clamping finished products.

2. An intelligent manipulator according to claim 1, wherein: the longitudinal driving mechanism comprises a longitudinal mounting seat, a longitudinal moving rod, a longitudinal sliding seat, a longitudinal sliding rail, a longitudinal rack, a longitudinal servo motor and a longitudinal driving gear, wherein the longitudinal sliding seat is fixed at the upper part of the longitudinal mounting seat;

the vertical driving mechanism and the horizontal driving mechanism are used for correspondingly driving the longitudinal installation seat to move vertically and horizontally.

3. An intelligent manipulator according to claim 2, wherein: the longitudinal driving mechanism further comprises a cylinder mounting seat and a longitudinal driving cylinder which are arranged below the longitudinal mounting seat, the longitudinal driving cylinder is fixed on the cylinder mounting seat, and the output end of the longitudinal driving cylinder is fixed with the bottom of the longitudinal mounting seat and one end of the longitudinal driving cylinder, which is close to the clamping mechanism;

the vertical driving mechanism and the horizontal driving mechanism are used for correspondingly driving the air cylinder mounting seat to move vertically and horizontally.

4. An intelligent manipulator according to claim 3, wherein: the longitudinal driving mechanism further comprises a cylinder guide sliding seat and a cylinder guide sliding rail, the cylinder guide sliding seat is fixed on the upper portion of the cylinder mounting seat, the cylinder guide sliding rail is fixed at the bottom of the longitudinal mounting seat and extends longitudinally, and the cylinder guide sliding rail is connected to the cylinder guide sliding seat and can move longitudinally relative to the cylinder guide sliding seat.

5. An intelligent manipulator according to claim 2, wherein: the longitudinal rack is a helical rack, and the longitudinal driving gear is a helical gear.

6. An intelligent manipulator according to claim 1, characterised in that: vertical actuating mechanism includes vertical straight line module and vertical servo motor, vertical straight line module is fixed in on the support body along vertical direction, vertical servo motor's output shaft is connected with the input transmission of vertical straight line module, horizontal actuating mechanism connects in the output of vertical straight line module, in order to drive horizontal actuating mechanism follows vertical migration, vertical actuating mechanism connects on horizontal actuating mechanism to drive vertical actuating mechanism along lateral migration through horizontal actuating mechanism, fixture connects on vertical actuating mechanism to drive fixture along longitudinal migration through vertical actuating mechanism.

7. An intelligent manipulator according to claim 6, wherein: vertical actuating mechanism still includes connecting axle and vertical drive assembly, the rectangular frame of support body for being vertical setting, vertical straight line module is equipped with two, two vertical straight line module corresponds the both sides that are fixed in the support body, the connecting axle rotates to be connected in the lower part of support body, just the both ends of connecting axle correspond and two the input of vertical straight line module is coaxial fixed, vertical servo motor passes through vertical drive assembly drives the connecting axle rotates two interconnect has between the output of vertical straight line module horizontal actuating mechanism.

8. An intelligent manipulator according to claim 7, wherein: the vertical transmission assembly comprises a driving synchronous belt wheel, a driven synchronous belt wheel and a synchronous belt, the driving synchronous belt wheel is fixed on an output shaft of the vertical servo motor, the driven synchronous belt wheel is sleeved on the fixed connecting shaft, and the synchronous belt is wound between the driving synchronous belt wheel and the driven synchronous belt wheel.

9. An intelligent manipulator according to claim 7, characterised in that: the horizontal driving mechanism comprises a horizontal straight line module and a horizontal servo motor, two ends of the horizontal straight line module correspond to two sides of the frame body, the output end of the vertical straight line module is fixedly connected with the output end of the frame body, the output shaft of the horizontal servo motor is in transmission connection with the input end of the horizontal straight line module, and the vertical driving mechanism is fixed at the output end of the horizontal straight line module.

10. An intelligent manipulator according to any of claims 1-9, wherein: the clamping piece is a clamping jaw cylinder, and two output ends of the clamping jaw cylinder are correspondingly and fixedly connected with the two clamping arms.

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