CN112497205A

CN112497205A - Manipulator that can adjust in a flexible way

Info

Publication number: CN112497205A
Application number: CN202011465703.3A
Authority: CN
Inventors: 吕怀莲; 张小芳; 赵克红
Original assignee: Yantai Engineering and Technology College
Current assignee: Yantai Engineering and Technology College
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-03-16

Abstract

The invention discloses a mechanical arm capable of being flexibly adjusted, and particularly relates to the technical field of mechanical arms. According to the manipulator clamping mechanism, the driving cylinder pushes the movable ring to move on the manipulator fixing rod, the driving rod is matched to drive the mechanical clamping arm to rotate and clamp, the clamping action of the manipulator is realized, the clamping force of the manipulator is adjusted by adjusting the extension length of the driving cylinder, the manipulator is flexibly clamped, and the manipulator is convenient to use.

Description

Manipulator that can adjust in a flexible way

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator capable of being flexibly adjusted.

Background

The mechanical fingers can imitate some action functions of human hands and arms, and are used for grabbing, carrying objects or operating an automatic operating device of a tool according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. The robot arm can replace a person to carry out heavy work so as to realize mechanization and automation of production, is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like, and is the most different from the arm of a human in the aspects of flexibility and endurance in the current life and the development of science and technology in the future. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. In the machining and manufacturing industry, some procedures need to clamp a workpiece to be machined and then turn the workpiece to be machined at a certain angle, so that one side face of the workpiece is aligned with a machining device; the existing device for clamping and turning the workpiece to be machined can only change the position of the workpiece to be machined with one degree of rotational freedom, and can not enable six side surfaces of the front side, the rear side, the left side, the right side, the upper side and the lower side of the workpiece to be machined to be respectively aligned with a machining device.

The prior art has the following defects: the manipulator structure is thick rotates not too nimble, and the manipulator drive is inconvenient, and the manipulator presss from both sides tight difficulty, influences the tight adjustment of clamp of manipulator, influences the use of manipulator.

Disclosure of Invention

Therefore, the embodiment of the invention provides a manipulator capable of being flexibly adjusted, wherein the movable ring is pushed to move on the manipulator fixing rod by driving the air cylinder, the mechanical clamping arm is driven by matching with the driving rod to rotate and clamp, so that the clamping action of the manipulator is realized, the clamping force of the manipulator is adjusted by adjusting the extension length of the driving air cylinder, the manipulator is flexibly clamped, and the use of the manipulator is convenient, so that the problems caused by the fact that the manipulator is not flexibly used, the manipulator is inconvenient to clamp and adjust, and the use of the manipulator is influenced in the prior art are solved.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions: a flexibly adjustable manipulator comprises a mechanical base, wherein a rotating base is movably arranged at the top of the mechanical base, a mechanical support cylinder is fixedly arranged at the top of the rotating base, a lifting threaded column is fixedly arranged inside the mechanical support cylinder, a lifting machine base is arranged on one side outside the mechanical support cylinder, a lifting sleeve is arranged at the bottom of the lifting machine base, the lifting sleeve is sleeved with the mechanical support cylinder, a mechanical transverse support is fixedly arranged in the middle of the lifting machine base, telescopic support rods are arranged at the top and the bottom of the mechanical transverse support, telescopic bases are fixedly arranged at the outer ends of the two telescopic support rods, and a manipulator cylinder is fixedly arranged outside the telescopic bases;

the vertical downward setting of manipulator cylinder output, the fixed manipulator driving frame that is provided with of manipulator cylinder output, the fixed manipulator fixed rod that is provided with in manipulator driving frame bottom, the fixed manipulator installation head that is provided with of manipulator dead lever bottom, the mechanical installation head both sides are all articulated to be provided with mechanical centre gripping arm, the outside cover of manipulator dead lever is equipped with the movable ring, it is provided with the actuating lever to articulate between the mechanical centre gripping arm outside and the movable ring outside, the manipulator drives the outside fixed actuating cylinder that is provided with of frame, it articulates the setting with the movable ring to drive the actuating cylinder output.

Further, the manipulator driving frame is the slope form setting, it is the slope setting to drive actuating cylinder corresponding manipulator driving frame, the movable ring bottom is provided with reset spring, reset spring cup joints the setting with the manipulator dead lever.

Furthermore, the mechanical clamping arm is in arc-shaped bending arrangement, a clamping cushion block is fixedly arranged at the bottom end of the mechanical clamping arm, and the clamping cushion block is made of wear-resistant rubber materials.

Further, both sides are all fixed around a mechanical support section of thick bamboo and are provided with movable connection groove, the outside threaded connection of lift screw thread post is provided with the screw thread piece, both sides are all fixed around the screw thread piece and are provided with the connecting block, connecting block and movable connection groove swing joint and with lift sleeve fixed connection.

Further, lift sleeve and screw thread piece quantity all set up to two, and lift sleeve corresponds the setting with screw thread piece level, the inside both sides of spread groove are all fixed and are provided with the support guide rail, the fixed guide way that is provided with in screw thread piece outside, screw thread piece and support guide rail swing joint, the fixed driving motor that is provided with in mechanical support section of thick bamboo top, driving motor output end and lift screw thread post fixed connection.

Furthermore, a fixed sliding rail is fixedly arranged on one side, close to the lifting machine base, of the mechanical support frame barrel, the fixed sliding rail and the mechanical support frame barrel are arranged in the same axial direction, a sliding roller is fixedly arranged on the inner side of the lifting machine base, and the sliding roller is connected with the fixed sliding rail in a sliding mode.

Furthermore, a movable support block is fixedly arranged between the other ends of the two telescopic support rods, a support sliding rod is fixedly arranged inside the mechanical transverse support, connecting guide wheels are fixedly arranged at the top and the bottom of the movable support block and movably connected with the support sliding rod, and a pushing cylinder is hinged between the top of the lifting machine base and the top of the movable support block.

Further, a buffer cushion block is sleeved at one end of the support sliding rod, the movable support block is matched with the buffer cushion block, a buffer spring is arranged on one side of the buffer cushion block, the buffer spring is sleeved with the support sliding rod, a fixed guide wheel is fixedly arranged at one end of the mechanical transverse support, and the telescopic support rod is movably connected with the fixed guide wheel.

Further, a rotating motor is fixedly arranged on one side of the top of the rotating seat, a rotating gear is fixedly arranged at the output end of the rotating motor, a guide rack is fixedly arranged on the surface of the mechanical base, the guide rack is arc-shaped and corresponds to the rotating axis of the rotating seat, and the rotating gear is meshed with the guide rack.

The embodiment of the invention has the following advantages:

1. according to the manipulator telescopic clamping mechanism, stretching and shrinking of a manipulator are achieved through stretching of the manipulator cylinder, the driving cylinder pushes the movable ring to move on the manipulator fixing rod, the driving rod is matched to drive the mechanical clamping arm to rotate and clamp, clamping action of the manipulator is achieved, clamping force of the manipulator is adjusted through adjusting the stretching length of the driving cylinder, clamping of the manipulator is flexible, and the manipulator is convenient to use;

2. according to the invention, through a mechanical support cylinder, a lifting threaded column is utilized to drive a threaded block to move, the threaded block is transmitted with a lifting sleeve through a connecting block, and further drives a lifting machine base to carry out lifting operation, support guide rails are fixedly arranged on two sides of a movable connecting groove, a guide groove on the threaded block is connected with the support guide rails, the lifting stability of the threaded block is improved, the lifting stability of a manipulator is improved, a pushing cylinder pushes the movable support block to drive a telescopic support rod to extend and contract, a telescopic seat is made to carry out telescopic operation, a connecting guide wheel is in sliding connection with a support slide rod, the telescopic stability of the telescopic support rod is improved, the telescopic stability of the manipulator is further improved, and the manipulator is convenient to;

3. according to the invention, the rotating gear is driven by the rotating motor and meshed and connected with the guide rack, so that the rotating base is driven to rotate on the mechanical base, the orientation of the lifting base on the mechanical support cylinder is adjusted, the rotating use of the manipulator is realized, and the flexible use of the manipulator is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided without inventive effort by those skilled in the art.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the limit conditions that the present invention can be implemented, so that the present invention has no technical essence, and any structural modification, ratio relationship change or size adjustment should still fall within the scope that the technical contents disclosed in the present invention can cover without affecting the efficacy and the achievable purpose of the present invention.

FIG. 1 is a schematic view of the overall structure provided by the present invention;

FIG. 2 is a schematic view of the structure of part A of FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the overall structure of the movable ring provided by the present invention;

FIG. 4 is a schematic diagram of the overall structure of the mechanical clamping arm provided by the present invention;

FIG. 5 is a schematic diagram of the overall structure of the mechanical support cartridge according to the present invention;

FIG. 6 is a schematic view of the structure of part B shown in FIG. 1 according to the present invention;

FIG. 7 is a schematic top cross-sectional view of a thread block provided in accordance with the present invention;

FIG. 8 is a schematic side sectional view of a movable support block according to the present invention;

FIG. 9 is a schematic view of the overall structure of the thread block provided in the present invention;

FIG. 10 is a schematic top view of the guide rack of the present invention;

in the figure: 1 mechanical base, 2 rotary base, 3 mechanical support cylinder, 4 lifting threaded column, 5 lifting machine base, 6 lifting sleeve, 7 mechanical transverse support, 8 telescopic support rod, 9 telescopic base, 10 mechanical arm cylinder, 11 mechanical arm driving frame, 12 mechanical arm fixing rod, 13 mechanical arm mounting head, 14 mechanical clamping arm, 15 movable ring, 16 driving rod, 17 driving cylinder, 18 reset spring, 19 clamping cushion block, 20 movable connecting groove, 21 threaded block, 22 connecting block, 23 support guide rail, 24 guide groove, 25 driving motor, 26 fixed sliding rail, 27 sliding roller, 28 movable support block, 29 support sliding rod, 30 connecting guide wheel, 31 pushing cylinder, 32 buffer cushion block, 33 buffer spring, 34 fixed guide wheel, 35 rotary motor, 36 rotary gear and 37 guide tooth rail.

Detailed Description

Other advantages and features of the present invention will become readily apparent to those skilled in the art from the following detailed description, wherein it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to the attached drawings 1-10 of the specification, the flexibly adjustable manipulator of the embodiment comprises a mechanical base 1, a rotating base 2 is movably arranged at the top of the mechanical base 1, a mechanical support barrel 3 is fixedly arranged at the top of the rotating base 2, a lifting threaded column 4 is fixedly arranged inside the mechanical support barrel 3, a lifting machine base 5 is arranged at one side of the outer portion of the mechanical support barrel 3, a lifting sleeve 6 is arranged at the bottom of the lifting machine base 5, the lifting sleeve 6 is sleeved with the mechanical support barrel 3, a mechanical transverse support 7 is fixedly arranged in the middle of the lifting machine base 5, telescopic support rods 8 are arranged at the top and the bottom of the mechanical transverse support 7, telescopic bases 9 are fixedly arranged at the outer ends of two telescopic support rods 8, a manipulator cylinder 10 is fixedly arranged at the outer portion of each telescopic base 9, and the manipulator cylinder 10 is telescopic, the mechanical arm is extended and contracted, the lifting sleeve 6 slides on the mechanical support cylinder 3 to drive the lifting base 5 to carry out lifting operation, and the mechanical arm is adjusted to lift;

the output end of the manipulator cylinder 10 is vertically and downwards arranged, the output end of the manipulator cylinder 10 is fixedly provided with a manipulator driving frame 11, the bottom of the manipulator driving frame 11 is fixedly provided with a manipulator fixing rod 12, the bottom of the manipulator fixing rod 12 is fixedly provided with a manipulator mounting head 13, two sides of the manipulator mounting head 13 are both provided with a mechanical clamping arm 14 in a hinged manner, a movable ring 15 is sleeved outside the manipulator fixing rod 12, a driving rod 16 is hinged between the outer side of the mechanical clamping arm 14 and the outer side of the movable ring 15, the outer part of the manipulator driving frame 11 is fixedly provided with a driving cylinder 17, the output end of the driving cylinder 17 is hinged with the movable ring 15, the driving cylinder 17 pushes the movable ring 15 to move on the manipulator fixing rod 12, the driving rod 16 is matched to drive the mechanical clamping arm 14 to, the clamping power degree of the manipulator is adjusted by adjusting the extension length of the driving cylinder 17, the manipulator is flexibly clamped, and the manipulator is convenient to use.

Further, manipulator driving frame 11 is the slope form setting, it corresponds manipulator driving frame 11 and is the slope setting to drive actuating cylinder 17, the 15 bottoms of activity circle are provided with reset spring 18, reset spring 18 cup joints the setting with manipulator dead lever 12, drives actuating cylinder 17 and corresponds manipulator driving frame 11 and is the slope setting for it staggers to drive actuating cylinder 17 and manipulator cylinder 10, avoids two cylinders to influence each other, makes things convenient for the operation of manipulator, and manipulator driving frame 11 conveniently drives the installation of actuating cylinder 17 fixed simultaneously.

Further, mechanical centre gripping arm 14 is the crooked setting of arc, mechanical centre gripping arm 14 bottom mounting is provided with centre gripping cushion 19, centre gripping cushion 19 is made by wear-resisting rubber materials, and the crooked mechanical centre gripping arm 14 that sets up of arc is convenient to the centre gripping of article, and centre gripping cushion 19 improves the centre gripping stability.

Further, both sides are all fixed around a mechanical support section of thick bamboo 3 and are provided with movable connection groove 20, 4 outside threaded connection of lift screw post are provided with screw block 21, both sides are all fixed around screw block 21 and are provided with connecting block 22, connecting block 22 with movable connection groove 20 swing joint and with 6 fixed connection of lift sleeve, lift screw post 4 drives screw block 21 motion, through the connecting block 22 transmission between screw block 21 and the lift sleeve 6, drive lift seat 5 and carry out the lift operation, utilize the lift of lift seat 5's lift realization manipulator, improve the flexibility of manipulator.

Further, lift sleeve 6 and screw block 21 quantity all set up to two, and lift sleeve 6 corresponds the setting with screw block 21 level, the inside both sides of movable connecting groove 20 are all fixed and are provided with support guide rail 23, screw block 21 external fixation is provided with guide way 24, screw block 21 and support guide rail 23 swing joint, the fixed driving motor 25 that is provided with in 3 top ends of machinery support section of thick bamboo, driving motor 25 output and 4 fixed connection of lift screw post, lift sleeve 6 set up to two sets ofly with screw block 21, improve drive stability, movable connecting groove 20 both sides are all fixed and are provided with support guide rail 23, and guide way 24 on the screw block 21 is connected with support guide rail 23, improves screw block 21's lift stability, improves the lift stability of manipulator.

Further, the fixed slip rail 26 that is provided with in one side that a mechanical support section of thick bamboo 3 is close to lift frame 5, fixed slip rail 26 sets up with a mechanical support section of thick bamboo 3 axial is the same, the inboard fixed slip gyro wheel 27 that is provided with of lift frame 5, slip gyro wheel 27 and fixed slip rail 26 sliding connection, fixed slip rail 26 carries out sliding connection with slip gyro wheel 27 for sliding friction between lift frame 5 and the mechanical support section of thick bamboo 3 changes rolling friction into, and convenient lift frame 5 moves in a mechanical support section of thick bamboo 3 outside, improves the lift flexibility of manipulator.

Further, two fixed movable support blocks 28 that are provided with between the telescopic bracket pole 8 other end, the inside fixed support slide bar 29 that is provided with of mechanical horizontal support 7, movable support block 28 top and bottom are all fixed and are provided with the connection guide pulley 30, connect guide pulley 30 and support slide bar 29 swing joint, it is provided with push cylinder 31 to articulate between 5 tops of lift frame and the movable support block 28 top, and push cylinder 31 promotes movable support block 28, drives telescopic bracket pole 8 and stretches out and contract for telescopic seat 9 carries out flexible operation, connects guide pulley 30 and support slide bar 29 sliding connection, improves telescopic bracket pole 9's flexible stability, improves the flexible stability of manipulator, makes things convenient for the nimble use of manipulator.

Further, a pot head of support slide bar 29 is equipped with cushion block 32, movable support piece 28 and cushion block 32 match the setting, cushion block 32 one side is provided with buffer spring 33, buffer spring 33 cup joints the setting with support slide bar 29, the fixed guide pulley 34 that is provided with of machinery traversing support 7 one end, telescopic bracket pole 8 and fixed guide pulley 34 swing joint, when telescopic bracket pole 8 contracts, movable support piece 28 compresses tightly cushion block 32, utilizes buffer spring 33's elasticity to carry out the atress buffering, and the impact force when avoiding telescopic bracket pole 8 to contract influences the use of manipulator, improves the stability in use of manipulator.

Further, 2 fixed rotating electrical machines 35 that are provided with in top one side of roating seat 2, the fixed rotating gear 36 that is provided with of rotating electrical machines 35 output, 1 fixed surface of mechanical base is provided with direction rack 37, direction rack 37 is convex setting, and the circular arc axle center corresponds 2 rotatory axle centers of roating seat and sets up, rotating gear 36 and direction rack 37 meshing set up, and rotating electrical machines 35 drives rotating gear 36, and rotating gear 36 is connected with direction rack 37 meshing, drives roating seat 2 and rotates on mechanical base 1, adjusts the orientation of the 3 ascending frame 5 that falls of mechanical support section of thick bamboo, realizes the rotatory use of manipulator, makes things convenient for the nimble use of manipulator.

The implementation scenario is specifically as follows: when the invention is used, the rotating motor 35 drives the rotating gear 36, the rotating gear 36 is meshed with the guide toothed rail 37 to drive the rotating base 2 to rotate on the mechanical base 1, the orientation of the lifting machine base 5 on the mechanical support cylinder 3 is adjusted, the rotary use of the mechanical arm is realized, the flexible use of the mechanical arm is convenient, the driving motor 25 drives the lifting threaded column 4 to rotate, the lifting threaded column 4 drives the threaded block 21 to move, the threaded block 21 and the lifting sleeve 6 are transmitted through the connecting block 22, the lifting sleeve 6 and the threaded block 21 are arranged into two groups, the driving stability is improved, the lifting machine base 5 is driven to carry out lifting operation, the fixed sliding rail 26 is in sliding connection with the sliding roller 27, the sliding friction between the lifting machine base 5 and the mechanical support cylinder 3 is converted into rolling friction, and the lifting machine base 5 is convenient to move outside the mechanical support cylinder 3, the lifting flexibility of the manipulator is improved, the support guide rails 23 are fixedly arranged on two sides of the movable connecting groove 20, the guide grooves 24 on the thread blocks 21 are connected with the support guide rails 23, the lifting stability of the thread blocks 21 is improved, the lifting stability of the manipulator is improved, the pushing cylinder 31 pushes the movable support blocks 28 to drive the telescopic support rods 8 to extend and contract, so that the telescopic base 9 is subjected to telescopic operation, the connecting guide wheels 30 are in sliding connection with the support slide rods 29, the telescopic stability of the telescopic support rods 9 is improved, the telescopic stability of the manipulator is improved, when the telescopic support rods 8 contract, the movable support blocks 28 compress the buffer cushion blocks 32, the elastic force of the buffer springs 33 is utilized for stress buffering, the impact force generated when the telescopic support rods 8 contract is prevented from influencing the use of the manipulator, the use stability of the manipulator is improved, and the manipulator cylinder 10 expands, carry out stretching out and contracting of manipulator, it promotes movable ring 15 and moves on manipulator dead lever 12 to drive actuating cylinder 17, cooperation drive rod 16 drives mechanical centre gripping arm 14 and rotates the centre gripping, realize the centre gripping action of manipulator, the adjustment drives the centre gripping dynamics of the extension length adjustment manipulator of actuating cylinder 17, the crooked mechanical centre gripping arm 14 that sets up of arc is convenient to the centre gripping of article, centre gripping cushion 19 improves the centre gripping stability, the manipulator centre gripping is nimble, make things convenient for the use of manipulator, it corresponds manipulator actuating frame 11 and is the slope setting to drive actuating cylinder 17, make things convenient for actuating cylinder 17 and manipulator cylinder 10 to stagger, avoid two cylinders to influence each other, make things convenient for the operation of manipulator, manipulator actuating frame 11 makes things convenient for the installation of actuating cylinder 17 fixed simultaneously.

The working principle is as follows:

referring to the attached drawings 1-4, when the manipulator is used, the manipulator cylinder 10 extends and retracts to extend and retract the manipulator, the driving cylinder 17 pushes the movable ring 15 to move on the manipulator fixing rod 12, and the driving rod 16 is matched to drive the mechanical clamping arm 14 to rotate and clamp, so that the clamping action of the manipulator is realized, the clamping force of the manipulator is adjusted by adjusting the extending length of the driving cylinder 17, the manipulator is flexibly clamped, and the manipulator is convenient to use;

referring to the attached drawings 1, 5-9, a driving motor 25 drives a lifting threaded column 4 to rotate, the lifting threaded column 4 drives a threaded block 21 to move, the threaded block 21 and a lifting sleeve 6 are driven by a connecting block 22 to drive a lifting machine base 5 to perform lifting operation, support guide rails 23 are fixedly arranged on two sides of a movable connecting groove 20, a guide groove 24 on the threaded block 21 is connected with the support guide rails 23, the lifting stability of the threaded block 21 is improved, and the lifting stability of a manipulator is improved;

referring to fig. 1 and 10, when the manipulator is used, the rotating motor 35 drives the rotating gear 36, the rotating gear 36 is meshed with the guide rack 37 to be connected, the rotating base 2 is driven to rotate on the mechanical base 1, the orientation of the lifting base 5 on the mechanical support cylinder 3 is adjusted, the rotary use of the manipulator is realized, and the manipulator can be flexibly used conveniently.

Although the invention has been described in detail hereinabove with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

The points to be explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a manipulator that can adjust in a flexible way, includes mechanical base (1), its characterized in that: the mechanical base (1) is movably provided with a rotating base (2) at the top, a mechanical support barrel (3) is fixedly arranged at the top of the rotating base (2), a lifting threaded column (4) is fixedly arranged inside the mechanical support barrel (3), a lifting machine base (5) is arranged on one side of the outer portion of the mechanical support barrel (3), a lifting sleeve (6) is arranged at the bottom of the lifting machine base (5), the lifting sleeve (6) is sleeved with the mechanical support barrel (3), a mechanical transverse support (7) is fixedly arranged in the middle of the lifting machine base (5), telescopic support rods (8) are arranged at the top and the bottom of the mechanical transverse support (7), telescopic bases (9) are fixedly arranged at the outer ends of the two telescopic support rods (8), and a mechanical arm cylinder (10) is fixedly arranged outside the telescopic bases (9);

the vertical downward setting of manipulator cylinder (10) output, the fixed manipulator driving frame (11) that is provided with of manipulator cylinder (10) output, the fixed manipulator dead lever (12) that is provided with in manipulator driving frame (11) bottom, manipulator dead lever (12) bottom mounting is provided with manipulator installation head (13), the mechanical centre gripping arm (14) that all articulates in manipulator installation head (13) both sides is provided with, the outside cover of manipulator dead lever (12) is equipped with movable circle (15), the articulated actuating lever (16) that is provided with between the mechanical centre gripping arm (14) outside and movable circle (15) outside, manipulator driving frame (11) external fixation is provided with and drives actuating cylinder (17), it articulates with movable circle (15) and sets up to drive actuating cylinder (17) output.

2. The flexibly adjustable manipulator of claim 1, wherein: the manipulator driving frame (11) is the slope form setting, it is the slope setting to drive actuating cylinder (17) and correspond manipulator driving frame (11), activity circle (15) bottom is provided with reset spring (18), reset spring (18) cup joint the setting with manipulator dead lever (12).

3. The flexibly adjustable manipulator of claim 1, wherein: the mechanical clamping arm (14) is in arc-shaped bending arrangement, a clamping cushion block (19) is fixedly arranged at the bottom end of the mechanical clamping arm (14), and the clamping cushion block (19) is made of wear-resistant rubber materials.

4. The flexibly adjustable manipulator of claim 1, wherein: both sides are all fixed around a mechanical support section of thick bamboo (3) and are provided with movable connection groove (20), the outside threaded connection of lift screw thread post (4) is provided with screw block (21), both sides are all fixed around screw block (21) and are provided with connecting block (22), connecting block (22) and movable connection groove (20) swing joint and with lift sleeve (6) fixed connection.

5. The flexibly adjustable manipulator of claim 4, wherein: lifting sleeve (6) and screw block (21) quantity all set up to two, and lifting sleeve (6) correspond the setting with screw block (21) level, the inside both sides of movable connection groove (20) are all fixed and are provided with support guide rail (23), screw block (21) external fixation is provided with guide way (24), screw block (21) and support guide rail (23) swing joint, a mechanical support section of thick bamboo (3) top is fixed and is provided with driving motor (25), driving motor (25) output and lift screw post (4) fixed connection.

6. The flexibly adjustable manipulator of claim 1, wherein: the mechanical support frame is characterized in that a fixed sliding rail (26) is fixedly arranged on one side, close to the lifting machine base (5), of the mechanical support frame barrel (3), the fixed sliding rail (26) is axially arranged in the same way as the mechanical support frame barrel (3), a sliding roller (27) is fixedly arranged on the inner side of the lifting machine base (5), and the sliding roller (27) is connected with the fixed sliding rail (26) in a sliding mode.

7. The flexibly adjustable manipulator of claim 1, wherein: two fixed movable support block (28) that is provided with between telescopic bracket pole (8) the other end, the inside fixed support slide bar (29) that is provided with of machinery horizontal support (7), movable support block (28) top and bottom are all fixed and are provided with connecting guide pulley (30), connecting guide pulley (30) and support slide bar (29) swing joint, it is provided with propelling movement cylinder (31) to articulate between lift frame (5) top and movable support block (28) top.

8. The flexibly adjustable manipulator of claim 7, wherein: support slide bar (29) pot head is equipped with cushion block (32), movable support piece (28) and cushion block (32) match the setting, cushion block (32) one side is provided with buffer spring (33), buffer spring (33) and support slide bar (29) cup joint the setting, the fixed guide pulley (34) that is provided with of machinery transverse support (7) one end, telescopic bracket pole (8) and fixed guide pulley (34) swing joint.

9. The flexibly adjustable manipulator of claim 1, wherein: the fixed rotating electrical machines (35) that are provided with in roating seat (2) top one side, rotating electrical machines (35) output end is fixed and is provided with rotating gear (36), mechanical base (1) fixed surface is provided with direction rack (37), direction rack (37) are convex setting, and the circular arc axle center corresponds roating seat (2) rotation axis setting, rotating gear (36) and direction rack (37) meshing setting.