Multi-degree-of-freedom general heavy-load hoisting manipulator structure based on visual guidance

The invention provides a multi-degree-of-freedom general heavy-load hoisting manipulator structure based on visual guidance. The multi-degree-of-freedom general heavy-load hoisting manipulator structure comprises a rolling mechanism, a swinging mechanism, a pitching mechanism, a slewing mechanism, a fork-shaped angle control mechanism and a shoulder joint unfolding and folding mechanism which are connected in sequence, four groups of diagonally arranged manipulators are arranged on the fork-shaped angle control mechanism, the manipulators are connected with the shoulder joint unfolding and folding mechanism through synchronous unfolding and folding spring supporting rods, and image identification tags are arranged at the tail ends of the manipulators and the load. According to the invention, a foldable structural design is adopted, so that the vehicle-mounted and other limited space installation size requirements, heavy-load hoisting requirements and universal hoisting requirements are met, and rapid, safe an