CN111673708A

CN111673708A - Intelligent manipulator

Info

Publication number: CN111673708A
Application number: CN202010568554.7A
Authority: CN
Inventors: 刘晨辉
Original assignee: Individual
Current assignee: Shandong Shuangxin Abrasive Material Co ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2020-09-18
Anticipated expiration: 2040-06-19
Also published as: CN111673708B

Abstract

The invention relates to a manipulator, in particular to an intelligent manipulator which comprises a moving mechanism I, an obstacle crossing mechanism, a moving mechanism II, a rotating mechanism, a lifting mechanism, a mechanical arm, a gripping arm and a lifting mechanism, wherein the moving mechanism I and the moving mechanism II can jointly or independently move to drive a device to move; the lifting mechanism, the mechanical arm and the grasping arm are driven by the rotating mechanism to rotate, the relative position of the grasping arm is adjusted, the horizontal heights of the mechanical arm and the grasping arm are adjusted by the lifting mechanism, the relative position of the grasping arm is adjusted, the mechanical arm can adjust the position of the grasping arm at multiple positions and multiple angles, the grasping arm can simulate the motion process of artificial fingers, and the lifting mechanism can assist in grasping and assisting in crossing obstacles.

Description

Intelligent manipulator

Technical Field

The invention relates to a manipulator, in particular to an intelligent manipulator.

Background

For example, publication No. CN107443411A discloses a gripper of a smart manipulator, which is characterized in that the gripper of the smart manipulator is a double-finger gripper type, the finger end of the gripper can be intelligently selected according to the shape characteristics of the clamped object, and the finger end has four types, namely a thick-tooth finger, a thin-tooth finger, a pointed finger and a V-shaped finger, and has different speeds to clamp objects with different shapes and weights; the invention has the disadvantage that the human finger cannot be simulated to move.

Disclosure of Invention

The invention aims to provide an intelligent mechanical arm which can simulate human fingers to move.

The purpose of the invention is realized by the following technical scheme:

the utility model provides an intelligent manipulator, includes moving mechanism I, hinders mechanism, moving mechanism II, slewing mechanism, elevating system, arm, gripping arm and lift mechanism more, moving mechanism II is provided with two, and the arm is provided with two, and the gripping arm is provided with two, lifts the mechanism and is provided with two, is connected with on the moving mechanism I and hinders the mechanism more, and two moving mechanism II respectively fixed connection be at the both ends of controlling that hinders the mechanism more, fixedly connected with slewing mechanism on the moving mechanism I, the last fixedly connected with elevating system of slewing mechanism, two arms respectively fixed connection be in elevating system's the left and right sides, two gripping arms respectively fixed connection on two arms, two lift mechanisms are connected respectively on two moving mechanism II.

As the technical scheme is further optimized, the intelligent manipulator comprises a moving mechanism I, a mounting platform and a moving crawler I, wherein the mounting platform is fixedly connected to the upper end of the moving mechanism I, the moving crawler I is connected to the lower end of the moving mechanism I, and the moving crawler I comprises a driving pulley I, a driven pulley I and a crawler I.

As a further optimization of the technical scheme, the obstacle crossing mechanism comprises an obstacle crossing motor, telescopic mechanisms I and a driving shaft, wherein the obstacle crossing motor is fixedly connected in a moving frame I, the obstacle crossing motor is a double-output-shaft motor, the two ends of an output shaft of the obstacle crossing motor are fixedly connected with the telescopic mechanisms I, and the telescopic ends of the two telescopic mechanisms I are fixedly connected with the driving shaft.

According to the technical scheme, the intelligent manipulator comprises a moving mechanism II, a transverse moving support I, a moving crawler II and a transverse moving motor, wherein the transverse moving support I is fixedly connected to the upper end of the moving mechanism II, the moving crawler II is connected to the lower end of the moving mechanism II, the moving crawler II comprises a driving belt wheel II, a driven belt wheel II and a crawler II, the number of the moving mechanisms II is two, the middle parts of the two moving frames II are respectively and fixedly connected to two driving shafts, and the transverse moving motor is fixedly connected to the transverse moving support I.

As a further optimization of the technical scheme, the intelligent manipulator comprises a rotating mechanism, wherein the rotating mechanism comprises a rotating support, a gear ring, a driving motor and four planetary wheels, the gear ring is rotatably connected to the rotating support, the rotating support is fixedly connected to the upper end of a movable frame I, the driving motor is fixedly connected to an installation platform, the four planetary wheels are rotatably connected to the installation platform, the inner sides of the four planetary wheels are in meshing transmission with an output shaft of the driving motor, and the outer sides of the four planetary wheels are in meshing transmission with the gear ring.

According to the intelligent manipulator, the lifting mechanism comprises a lifting bottom plate, a support frame, a telescopic mechanism II and a transverse support II, the lifting bottom plate is fixedly connected to a gear ring, the support frame is fixedly connected to the lifting bottom plate, the telescopic mechanism II is fixedly connected to the support frame, and the transverse support II is fixedly connected to the telescopic end of the telescopic mechanism II.

According to the technical scheme, the intelligent manipulator comprises a telescoping mechanism III, a rotating motor I, a swinging connecting rod I, a rotating motor II, a swinging connecting rod II and a telescoping mechanism IV, wherein the telescoping end of the telescoping mechanism III is fixedly connected with the rotating motor I, the swinging connecting rod I is fixedly connected onto an output shaft of the rotating motor I, the rotating motor II is fixedly connected onto the swinging connecting rod I, the swinging connecting rod II is fixedly connected onto an output shaft of the rotating motor II, the telescoping mechanism IV is fixedly connected onto the swinging connecting rod II, the two telescoping mechanisms III are respectively and fixedly connected to the left side and the right side of a transverse support II.

As a further optimization of the technical scheme, the intelligent manipulator comprises a grabbing arm, grabbing motors, grabbing belt wheels I, grabbing connecting rods I, grabbing belt wheels II, grabbing connecting rods II, finger motors I, grabbing connecting rods III and finger motors II, wherein the grabbing arm comprises the grabbing support, the grabbing motors, the grabbing belt wheels I, the grabbing connecting rods II, the finger motors I, the grabbing connecting rods III and the finger motors II, the grabbing arm is fixedly connected with the grabbing arm, the output shafts of the grabbing arm and the grabbing arm are fixedly connected with the grabbing belt wheels I, the grabbing connecting rods I are respectively and rotatably connected with the grabbing support, the grabbing belt wheels II are respectively and rotatably connected with the grabbing belt wheels I, the finger motors I are respectively and rotatably connected with the grabbing connecting rods I, the output shafts of the two finger motors I are respectively and fixedly connected with the grabbing connecting rods II, the finger motors II are respectively and fixedly connected with the grabbing connecting, and the output shafts of the two finger motors II are fixedly connected with gripping connecting rods III, and the telescopic ends of the two telescopic mechanisms IV are fixedly connected with gripping supports.

According to the technical scheme, the intelligent manipulator comprises a lifting slide block, a telescopic mechanism V, a connecting rod, a telescopic mechanism VI and a lifting support, wherein the telescopic mechanism V is fixedly connected to the lifting slide block, the connecting rod is fixedly connected to the telescopic end of the telescopic mechanism V, the telescopic mechanism VI is fixedly connected to the connecting rod, the lifting support is fixedly connected to the telescopic end of the telescopic mechanism VI, the two lifting slide blocks are respectively connected to the two transverse moving supports I in a sliding mode, and the two lifting slide blocks are respectively connected to output shafts of the two transverse moving motors through threads.

The intelligent manipulator has the beneficial effects that:

according to the intelligent manipulator, the device can be driven to move by the common or independent movement of the moving mechanism I and the moving mechanism II, and the relative position between the moving mechanism I and the moving mechanism II is driven to change by the obstacle crossing mechanism, so that the device has certain obstacle crossing capability; the lifting mechanism, the mechanical arm and the grasping arm are driven by the rotating mechanism to rotate, the relative position of the grasping arm is adjusted, the horizontal heights of the mechanical arm and the grasping arm are adjusted by the lifting mechanism, the relative position of the grasping arm is adjusted, the mechanical arm can adjust the position of the grasping arm at multiple positions and multiple angles, the grasping arm can simulate the motion process of artificial fingers, and the lifting mechanism can assist in grasping and assisting in crossing obstacles.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.

FIG. 1 is a schematic diagram of the overall structure of the intelligent manipulator of the invention;

FIG. 2 is a schematic diagram of the overall structure of the intelligent manipulator of the invention;

FIG. 3 is a schematic structural diagram of a moving mechanism I of the present invention;

FIG. 4 is a schematic view of the obstacle crossing mechanism of the present invention;

FIG. 5 is a schematic structural diagram of a moving mechanism II of the present invention;

FIG. 6 is a schematic view of the rotating mechanism of the present invention;

FIG. 7 is a schematic view of the lift mechanism of the present invention;

FIG. 8 is a schematic view of a robotic arm configuration of the present invention;

FIG. 9 is a schematic view of a grasping arm structure of the present invention;

fig. 10 is a schematic structural view of the lifting mechanism of the present invention.

In the figure: a moving mechanism I1; a moving frame I101; a mounting platform 102; a movable crawler belt I103; an obstacle crossing mechanism 2; an obstacle crossing motor 201; a telescoping mechanism I202; a drive shaft 203; a moving mechanism II 3; moving the frame II 301; a transverse moving bracket I302; a moving crawler belt II 303; a traverse motor 304; a rotating mechanism 4; rotating the bracket 401; a ring gear 402; a drive motor 403; a planet wheel 404; a lifting mechanism 5; a lifting bottom plate 501; a support frame 502; a telescoping mechanism II 503; the bracket II 504 is transversely moved; a mechanical arm 6; a telescoping mechanism III 601; a rotating motor I602; a swing connecting rod I603; rotating a motor II 604; a swing connecting rod II 605; a telescoping mechanism IV 606; a grip arm 7; a grip bracket 701; a grip motor 702; a gripping belt wheel I703; a grasping connecting rod I704; a gripping pulley II 705; a gripping link II 706; a finger motor I707; a gripping link III 708; a finger motor II 709; a lifting mechanism 8; lifting the sliding block 801; a telescoping mechanism V802; a connecting rod 803; a telescoping mechanism VI 804; lift the rack 805.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The first embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 10, and an intelligent manipulator comprises a moving mechanism i 1, an obstacle crossing mechanism 2, a moving mechanism ii 3, a rotating mechanism 4, a lifting mechanism 5, a mechanical arm 6, a gripping arm 7 and a lifting mechanism 8, the two moving mechanisms II 3 are arranged, the two mechanical arms 6 are arranged, the two gripping arms 7 are arranged, the two lifting mechanisms 8 are arranged, the moving mechanism I1 is connected with the obstacle crossing mechanism 2, the two moving mechanisms II 3 are respectively and fixedly connected to the left end and the right end of the obstacle crossing mechanism 2, the moving mechanism I1 is fixedly connected with the rotating mechanism 4, the rotating mechanism 4 is fixedly connected with the lifting mechanism 5, the two mechanical arms 6 are respectively and fixedly connected to the left side and the right side of the lifting mechanism 5, the two gripping arms 7 are respectively and fixedly connected to the two mechanical arms 6, and the two lifting mechanisms 8 are respectively connected to the two moving mechanisms II 3; the device can be driven to move by the common or independent movement of the moving mechanism I1 and the moving mechanism II 3, and the relative position between the moving mechanism I1 and the moving mechanism II 3 is driven to change by the obstacle crossing mechanism 2, so that the device has certain obstacle crossing capability; drive elevating system 5, arm 6 and grabbing arm 7 through slewing mechanism 4 and rotate, adjust the relative position of grabbing arm 7, adjust the level of arm 6 and grabbing arm 7 through elevating system 5, adjust the relative position of grabbing arm 7, arm 6 can be the position of arm 7 is grabbed in the adjustment of multiposition multi-angle, the motion process of artifical finger can be simulated to grabbing arm 7, lift mechanism 8 can assist and snatch and supplementary obstacle surmounting.

The second embodiment is as follows:

the embodiment is described below with reference to fig. 1 to 10, and the embodiment will be further described, where the moving mechanism i 1 includes a moving frame i 101, a mounting platform 102 and a moving track i 103, the mounting platform 102 is fixedly connected to the upper end of the moving frame i 101, the moving track i 103 is connected to the lower end of the moving frame i 101, and the moving track i 103 includes a driving pulley i, a driven pulley i and a track i.

The third concrete implementation mode:

the following describes the present embodiment with reference to fig. 1 to 10, and the present embodiment further describes an embodiment two, where the obstacle crossing mechanism 2 includes an obstacle crossing motor 201, a telescopic mechanism i 202, and a driving shaft 203, the obstacle crossing motor 201 is fixedly connected in the moving frame i 101, the obstacle crossing motor 201 is a dual output shaft motor, both ends of an output shaft of the obstacle crossing motor 201 are fixedly connected with the telescopic mechanism i 202, and both telescopic ends of the two telescopic mechanisms i 202 are fixedly connected with the driving shaft 203.

The fourth concrete implementation mode:

the embodiment is described below with reference to fig. 1 to 10, and the third embodiment is further described in the present embodiment, the moving mechanism ii 3 includes a moving frame ii 301, a traverse bracket i 302, a moving crawler ii 303, and a traverse motor 304, the upper end of the moving frame ii 301 is fixedly connected with the traverse bracket i 302, the lower end of the moving frame ii 301 is connected with the moving crawler ii 303, the moving crawler ii 303 includes a driving pulley ii, a driven pulley ii, and a crawler ii, the two moving mechanisms ii 3 are provided, the middle portions of the two moving frames ii 301 are respectively and fixedly connected to the two driving shafts 203, and the traverse motor 304 is fixedly connected to the traverse bracket i 302.

The fifth concrete implementation mode:

the following describes the present embodiment with reference to fig. 1 to 10, and the present embodiment further describes an embodiment four, where the rotating mechanism 4 includes a rotating support 401, a gear ring 402, a driving motor 403, and planet wheels 404, the rotating support 401 is rotatably connected with the gear ring 402, the rotating support 401 is fixedly connected to the upper end of the moving frame i 101, the driving motor 403 is fixedly connected to the mounting platform 102, the number of the planet wheels 404 is four, the four planet wheels 404 are rotatably connected to the mounting platform 102, the inner sides of the four planet wheels 404 are in meshing transmission with the output shaft of the driving motor 403, and the outer sides of the four planet wheels 404 are in meshing transmission with the gear ring 402.

The sixth specific implementation mode:

the embodiment is described below with reference to fig. 1 to 10, and the fifth embodiment is further described in the present embodiment, where the lifting mechanism 5 includes a lifting bottom plate 501, a support frame 502, a telescopic mechanism ii 503 and a traverse bracket ii 504, the lifting bottom plate 501 is fixedly connected to the gear ring 402, the support frame 502 is fixedly connected to the lifting bottom plate 501, the telescopic mechanism ii 503 is fixedly connected to the support frame 502, and the telescopic end of the telescopic mechanism ii 503 is fixedly connected to the traverse bracket ii 504.

The seventh embodiment:

the embodiment is described below with reference to fig. 1 to 10, and the embodiment will be further described, where the robot arm 6 includes a telescoping mechanism iii 601, a rotating motor i 602, a swinging link i 603, a rotating motor ii 604, a swinging link ii 605 and a telescoping mechanism iv 606, the telescoping end of the telescoping mechanism iii 601 is fixedly connected with the rotating motor i 602, the output shaft of the rotating motor i 602 is fixedly connected with the swinging link i 603, the swinging link i 603 is fixedly connected with the rotating motor ii 604, the output shaft of the rotating motor ii 604 is fixedly connected with the swinging link ii 605, the swinging link ii 605 is fixedly connected with the telescoping mechanism iv 606, two robotic arms 6 are provided, and the two telescoping mechanisms iii 601 are respectively and fixedly connected to the left and right sides of the traverse support ii 504.

The specific implementation mode is eight:

the present embodiment is described below with reference to fig. 1 to 10, and the seventh embodiment is further described in the present embodiment, where the grasping arm 7 includes a grasping support 701, a grasping motor 702, a grasping pulley i 703, a grasping link i 704, a grasping pulley ii 705, a grasping link ii 706, a finger motor i 707, a grasping link iii 708, and a finger motor ii 709, two grasping motors 702 are fixedly connected to the grasping support 701, two grasping pulleys i 703 are fixedly connected to output shafts of the two grasping motors 702, two grasping links i 704 are provided, the two grasping links i 704 are both rotatably connected to the grasping support 701, two grasping pulleys ii 705 are fixedly connected to the rotational joints of the two grasping links i 704 and the grasping support 701, the two grasping pulleys ii 705 are respectively in belt transmission connection with the two grasping pulleys i 703, the two grasping links 704 i are both rotatably connected to the finger motor i 707, equal fixedly connected with gripping connecting rod II 706 on the output shaft of two finger motors I707, equal fixedly connected with finger motor II 709 on two gripping connecting rod II 706, equal fixedly connected with gripping connecting rod III 708 on the output shaft of two finger motor II 709, equal fixedly connected with gripping support 701 on the flexible end of two telescopic machanism IV 606.

The specific implementation method nine:

the following describes the present embodiment with reference to fig. 1 to 10, and the present embodiment further describes an eighth embodiment, where the lifting mechanism 8 includes a lifting slide block 801, a telescopic mechanism v 802, a connecting rod 803, a telescopic mechanism vi 804 and a lifting support 805, the telescopic mechanism v 802 is fixedly connected to the lifting slide block 801, the telescopic end of the telescopic mechanism v 802 is fixedly connected to the connecting rod 803, the telescopic mechanism vi 804 is fixedly connected to the connecting rod 803, the telescopic end of the telescopic mechanism vi 804 is fixedly connected to the lifting support 805, the two lifting slide blocks 801 are respectively slidably connected to the two traverse supports i 302, and the two lifting slide blocks 801 are respectively connected to output shafts of the two traverse motors 304 through threads.

The invention relates to an intelligent manipulator, which has the working principle that:

as shown in fig. 3, the moving track i 103 comprises a driving pulley i, a driven pulley i and a track i, wherein a power source can be installed on the driving pulley i, the driving pulley i can rotate actively, and the driving pulley i drives the driven pulley i to rotate through the track i, so as to drive the device to move; as shown in fig. 5, the moving track ii 303 includes a driving pulley ii, a driven pulley ii and a track ii, a power source can be installed on the driving pulley ii, the driving pulley ii can rotate actively, the driving pulley ii drives the driven pulley ii to rotate through the track ii, so as to drive the device to move, and the device can be driven to move by the moving mechanism i 1 and the moving mechanism ii 3 together or independently; when the device needs to cross obstacles, the obstacle crossing motor 201 is started, the output shaft of the obstacle crossing motor 201 starts to rotate, the output shaft of the obstacle crossing motor 201 drives the telescopic mechanism I202 and the driving shaft 203 to rotate, because the driving shaft 203 is eccentrically arranged, when the obstacle crossing motor 201 rotates, the two driving shafts 203 respectively drive the two moving mechanisms II 3 to be separated from the ground, or under the support of the two moving mechanisms II 3, the moving mechanism I1 is separated from the ground, the moving mechanism I1 and the moving mechanism II 3 are alternately separated from the ground, the state of a person in walking is simulated, the device has a certain obstacle crossing function, when the height of the moving mechanism I1 and the moving mechanism II 3 separated from the ground needs to be adjusted, the telescopic mechanism I202 is started, the telescopic mechanism II 503, the telescopic mechanism III 601, the telescopic mechanism IV 606, the telescopic mechanism 802 and the telescopic mechanism VI 804 can be hydraulic cylinders or electric push rods, the length of the telescopic end of the telescopic mechanism I202 is changed, and the height of the moving mechanism I1 and the moving mechanism II 3 separated from the ground is adjusted; the driving motor 403 is started, the inner sides of the four planet wheels 404 are in meshing transmission with the output shaft of the driving motor 403, the outer sides of the four planet wheels 404 are in meshing transmission with the gear ring 402, the output shaft of the driving motor 403 drives the four planet wheels 404 to rotate, the four planet wheels 404 drive the gear ring 402 to rotate, the gear ring 402 drives the lifting mechanism 5, the mechanical arm 6 and the grasping arm 7 to rotate, the relative position of the grasping arm 7 is adjusted, and different use requirements are met; starting the telescopic mechanism II 503, enabling the telescopic end of the telescopic mechanism II 503 to move, adjusting the horizontal heights of the mechanical arm 6 and the grasping arm 7 by the telescopic end of the telescopic mechanism II 503, and adjusting the relative position of the grasping arm 7 to meet different use requirements; when the telescopic mechanism III 601 is started, the relative distance between the mechanical arm 6 and the rotating mechanism 4 can be adjusted, the rotating motor I602 drives the swinging connecting rod I603 to move when being started, the deflection angle of the swinging connecting rod I603 is adjusted, the rotating motor II 604 drives the swinging connecting rod II 605 to move when being started, the deflection angle of the swinging connecting rod II 605 is adjusted, the extending length of the gripping arm 7 is adjusted when the telescopic mechanism IV 606 is started, and the position of the gripping arm 7 can be adjusted by the mechanical arm 6 at multiple positions and multiple angles; when the grasping arm 7 needs to grasp an object, the grasping motor 702 is started, the output shaft of the grasping motor 702 starts to rotate, the output shaft of the grasping motor 702 drives the grasping belt wheel I703 to rotate, the grasping belt wheel I703 drives the grasping belt wheel II 705 to rotate, the grasping belt wheel II 705 drives the corresponding grasping connecting rod I704 to deflect, the grasping connecting rod I704 drives the finger motor I707 to deflect, the output shaft of the finger motor I707 drives the grasping connecting rod II 706 to deflect when rotating, the grasping connecting rod II 706 drives the finger motor II 709 to deflect, the grasping connecting rod III 708 is driven to deflect when the output shaft of the finger motor II 709 rotates, the grasping motor 702, the finger motor I707 and the finger motor II 709 are mutually matched to move to drive the corresponding grasping connecting rod I704, the grasping connecting rod II 706 and the grasping connecting rod III 708 move to simulate the movement mode of human fingers; the transverse moving motor 304 is started to adjust the relative position of the lifting mechanism 8, the telescopic mechanism V802 and the telescopic mechanism VI 804 are started to adjust the relative horizontal height of the lifting support 805, and when the horizontal height of the lifting support 805 changes, the ground can be supported by the auxiliary device for obstacle crossing movement, or the lifting support 805 lifts an object for auxiliary gripping movement.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. The utility model provides an intelligent mechanical hand, includes moving mechanism I (1), hinders mechanism (2), moving mechanism II (3), slewing mechanism (4), elevating system (5), arm (6), grabs and holds arm (7) and lift mechanism (8), its characterized in that: moving mechanism II (3) are provided with two, arm (6) are provided with two, it is provided with two to grab arm (7), it is provided with two to lift mechanism (8), be connected with obstacle crossing mechanism (2) on moving mechanism I (1), two moving mechanism II (3) fixed connection respectively are at both ends about obstacle crossing mechanism (2), fixedly connected with slewing mechanism (4) are gone up in moving mechanism I (1), slewing mechanism (4) are gone up fixedly connected with elevating system (5), two arm (6) fixed connection respectively are in the left and right sides of elevating system (5), two grab arm (7) fixed connection respectively are on two arm (6), two are lifted mechanism (8) and are connected respectively on two moving mechanism II (3).

2. The intelligent manipulator according to claim 1, wherein: moving mechanism I (1) is including moving frame I (101), mounting platform (102) and removal track I (103), and the upper end fixedly connected with mounting platform (102) of moving frame I (101), the lower extreme of moving frame I (101) are connected with and move track I (103), and move track I (103) including driving pulley I, driven pulley I and track I.

3. The intelligent manipulator according to claim 2, wherein: obstacle crossing mechanism (2) is including crossing obstacle motor (201), telescopic machanism I (202) and drive shaft (203), and obstacle crossing motor (201) fixed connection is in moving frame I (101), and obstacle crossing motor (201) is dual output shaft motor, crosses the equal fixedly connected with telescopic machanism I (202) in both ends of obstacle crossing motor (201) output shaft, the equal fixedly connected with drive shaft (203) of the flexible end of two telescopic machanism I (202).

4. The intelligent manipulator according to claim 3, wherein: moving mechanism II (3) are including moving frame II (301), sideslip support I (302), remove II (303) of track and sideslip motor (304), the upper end fixedly connected with sideslip support I (302) of moving frame II (301), the lower extreme of moving frame II (301) is connected with and removes II (303) of track, it includes driving pulley II to remove II (303) of track, driven pulley II and track II, moving mechanism II (3) are provided with two, the middle part difference fixed connection of two moving frame II (301) is on two drive shafts (203), fixedly connected with sideslip motor (304) on sideslip support I (302).

5. The intelligent manipulator according to claim 4, wherein: slewing mechanism (4) are including rotating support (401), ring gear (402), driving motor (403) and planet wheel (404), it is connected with ring gear (402) to rotate on rotating support (401), it is connected in the upper end of moving frame I (101) to rotate support (401), driving motor (403) fixed connection is on mounting platform (102), planet wheel (404) are provided with four, four planet wheel (404) are all rotated and are connected on mounting platform (102), the inboard of four planet wheel (404) all meshes the transmission with the output shaft of driving motor (403), the outside of four planet wheel (404) all meshes the transmission with ring gear (402).

6. The intelligent manipulator according to claim 5, wherein: the lifting mechanism (5) comprises a lifting bottom plate (501), a support frame (502), a telescopic mechanism II (503) and a transverse moving support II (504), the lifting bottom plate (501) is fixedly connected to the gear ring (402), the support frame (502) is fixedly connected to the lifting bottom plate (501), the telescopic mechanism II (503) is fixedly connected to the support frame (502), and the transverse moving support II (504) is fixedly connected to the telescopic end of the telescopic mechanism II (503).

7. The intelligent manipulator according to claim 6, wherein: the mechanical arm (6) comprises a telescoping mechanism III (601), a rotating motor I (602), a swinging connecting rod I (603), a rotating motor II (604), a swinging connecting rod II (605) and a telescoping mechanism IV (606), the telescoping end of the telescoping mechanism III (601) is fixedly connected with the rotating motor I (602), the swinging connecting rod I (603) is fixedly connected to the output shaft of the rotating motor I (602), the rotating motor II (604) is fixedly connected to the swinging connecting rod I (603), the swinging connecting rod II (605) is fixedly connected to the output shaft of the rotating motor II (604), the telescoping mechanism IV (606) is fixedly connected to the swinging connecting rod II (605), the mechanical arm (6) is provided with two telescoping mechanisms III (601) which are respectively fixedly connected to the left side and the right side of the transverse moving support II (504).

8. The intelligent manipulator according to claim 7, wherein: the gripping arm (7) comprises a gripping support (701), gripping motors (702), gripping belt wheels I (703), gripping connecting rods I (704), gripping belt wheels II (705), gripping connecting rods II (706), finger motors I (707), gripping connecting rods III (708) and finger motors II (709), wherein the gripping support (701) is fixedly connected with two gripping motors (702), the output shafts of the two gripping motors (702) are fixedly connected with the gripping belt wheels I (703), the number of the gripping connecting rods I (704) is two, the two gripping connecting rods I (704) are rotatably connected to the gripping support (701), the rotating joints of the two gripping connecting rods I (704) and the gripping support (701) are fixedly connected with the gripping belt wheels II (705), the two gripping belt wheels II (705) are respectively in belt transmission connection with the two gripping belt wheels I (703), the two gripping connecting rods I (704) are rotatably connected with the finger motors I (707), equal fixedly connected with gripping connecting rod II (706) on the output shaft of two finger motors I (707), equal fixedly connected with finger motor II (709) on two gripping connecting rod II (706), equal fixedly connected with gripping connecting rod III (708) on the output shaft of two finger motors II (709), equal fixedly connected with gripping support (701) on the flexible end of two telescopic machanism IV (606).

9. The intelligent manipulator according to claim 8, wherein: lifting mechanism (8) including lifting slider (801), telescopic machanism V (802), connecting rod (803), telescopic machanism VI (804) and lifting support (805), lifting slider (801) is gone up fixedly connected with telescopic machanism V (802), telescopic machanism V's (802) flexible end fixedly connected with connecting rod (803), fixedly connected with telescopic machanism VI (804) is gone up in connecting rod (803), telescopic end fixedly connected with of telescopic machanism VI (804) lifts support (805), two lifting slider (801) sliding connection respectively are on two sideslip supports I (302), two lifting slider (801) are respectively through threaded connection on the output shaft of two sideslip motors (304).