CN214080044U

CN214080044U - Flexible positioner

Info

Publication number: CN214080044U
Application number: CN202022801547.5U
Authority: CN
Inventors: 李碧锋; 杨黄锐; 秦承华; 杨欢
Original assignee: Dongfeng Wuhan Industrial Co ltd
Current assignee: Dongshi Wuhan Industrial Co ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-08-31
Anticipated expiration: 2030-11-27

Abstract

The utility model relates to a flexible positioner, which comprises a base structure, a fixed clamp mechanism, a sliding clamp mechanism and a main clamp mechanism; the base structure comprises a base frame and a sliding rail structure transversely arranged on the base frame; the fixed clamp mechanism comprises a fixed base arranged on the base frame and positioned at one end of the sliding rail structure, and a first rotary clamp structure arranged at the top of the fixed base; the sliding clamp mechanism comprises a sliding base arranged on the sliding rail structure in a sliding mode and a second rotating clamp structure arranged at the top of the sliding base, and the second rotating clamp structure and the first rotating clamp structure are matched with each other correspondingly; the main fixture mechanism is connected between the second rotary fixture structure and the first rotary fixture structure and used for clamping a product to be welded. The utility model discloses need develop many sets of frock clamp among the correlation technique can be solved, lead to with high costs, the unable problem that obtains the guarantee of product quality.

Description

Flexible positioner

Technical Field

The utility model relates to a frock clamp technical field, in particular to flexible machine of shifting.

Background

In the production and processing processes of automobile parts, some products need to be welded, but the optimal posture of a welding gun cannot be put out in the welding process, so that the penetration percent of partial welding seams of welded finished products is low, and the welding of workers cannot meet the requirements of human engineering. At present, in order to produce qualified products, a plurality of sets of tool fixtures are developed to clamp the products, the input cost is relatively high, the dimensional stability of the products clamped for multiple times is difficult to control, and the products need to be repaired and corrected after welding is completed, so that the quality of the products is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a flexible machine of shifting can solve and need develop many sets of frock clamp among the correlation technique, leads to with high costs, and product quality can't obtain the problem of guarantee.

In a first aspect, the utility model provides a flexible machine of shifting, include:

the base structure comprises a base frame and a sliding rail structure transversely arranged on the base frame;

the fixed clamp mechanism comprises a fixed base arranged on the base frame and positioned at one end of the slide rail structure, and a first rotary clamp structure arranged at the top of the fixed base;

the sliding clamp mechanism comprises a sliding base arranged on the sliding rail structure in a sliding mode and a second rotating clamp structure arranged at the top of the sliding base, and the second rotating clamp structure and the first rotating clamp structure are matched with each other correspondingly; and the number of the first and second groups,

and the main clamp mechanism is connected between the second rotary clamp structure and the first rotary clamp structure and is used for clamping a product to be welded.

In some embodiments, the first rotating clamp structure includes a first rotating support arranged on the fixed base, a first rotating shaft rotatably arranged on the first rotating support, and a first clamping plate arranged at one end of the first rotating shaft;

the second rotating clamp structure comprises a second rotating support arranged on the sliding base, a second rotating shaft rotatably penetrating through the second rotating support, and a second clamping plate arranged at one end of the second rotating shaft; the second splint with first splint sets up relatively, just main anchor clamps mechanism connect in first splint with between the second splint.

In some embodiments, the stationary clamp mechanism includes a rotational drive structure disposed at a top portion of the stationary base, the rotational drive structure being coupled to the first rotational shaft;

the rotation driving structure comprises a gearbox structure arranged at the top of the fixed base and a rotating hand wheel connected with an input shaft of the gearbox structure, and an output shaft of the gearbox structure is connected with the first rotating shaft.

In some embodiments, the stationary clamp mechanism includes a rotational self-locking structure provided on the first rotational shaft;

the rotation self-locking structure comprises a self-locking ratchet wheel fixed on the first rotation shaft and a self-locking connecting rod structure arranged on the fixed base, and the self-locking connecting rod structure is matched with the self-locking ratchet wheel and used for locking or loosening the self-locking ratchet wheel.

In some embodiments, the self-locking connecting rod structure includes a driving connecting rod, a first intermediate connecting rod, a second intermediate connecting rod, a self-locking rod and a return spring, wherein the middle of the driving connecting rod is hinged to the fixed base, the first intermediate connecting rod is hinged to one end of the driving connecting rod, the second intermediate connecting rod is hinged to the other end of the first intermediate connecting rod, the self-locking rod is hinged to the second intermediate connecting rod and correspondingly matched with a wheel groove of the self-locking ratchet wheel, the return spring is connected between the other end of the driving connecting rod and the fixed base, the self-locking rod is slidably connected to the fixed base, and the middle of the second intermediate connecting rod is hinged to the fixed base.

In some embodiments, the slide rail structure includes two slide rods arranged side by side on the base frame, and two guide rods arranged in one-to-one correspondence with the two slide rods, and the guide rods are located above the slide rods;

the two sides of the bottom of the sliding base are respectively provided with a sliding block in a protruding manner, the sliding block is provided with a sliding groove, and the sliding rod is slidably clamped in the sliding groove; two sides of the sliding base are respectively provided with a guide hole, and the two guide rods penetrate through the two guide holes in a one-to-one correspondence manner.

In some embodiments, a plurality of limiting seats are sequentially arranged on the base frame along the extending direction of the sliding rod, and the plurality of limiting seats are all positioned between the two guide rods;

each limiting seat is provided with a first limiting hole; a second limiting hole corresponding to the first limiting hole is formed in the bottom end of the sliding base; the sliding clamp mechanism comprises a positioning pin which is inserted into the first limiting hole and the second limiting hole.

In some embodiments, the main clamp mechanism includes a main clamp base plate connected between the second rotary clamp structure and the first rotary clamp structure, a middle positioning clamp structure disposed at a middle portion of the main clamp base plate, and end positioning clamp structures disposed at both ends of the main clamp base plate, respectively.

In some embodiments, the middle positioning fixture structure includes a middle positioning base disposed on the main fixture substrate, a middle positioning holder disposed on the top of the middle positioning base, and a middle positioning driving fixture disposed on the side of the middle positioning base.

In some embodiments, the end positioning jig structure includes a bottom supporting positioning jig provided on the main jig base plate, and one end side positioning jig provided on each of both sides of the main jig base plate, and the two end side positioning jigs are provided on both sides of the bottom supporting positioning jig.

The utility model provides a beneficial effect that technical scheme brought includes: the product can be clamped without developing a plurality of sets of tool fixtures, the product can be adjusted to the optimal welding posture according to the requirement, the welding is convenient, the cost is low, the dimensional stability of the product is easy to control, and the product quality is guaranteed.

The embodiment of the utility model provides a flexible machine of shifting is through setting up the slide rail structure in base structure one side to slide and set up slip fixture mechanism in the slide rail structure, set up corresponding mounting fixture mechanism at the opposite side of base structure, can be through adjusting the position of slip fixture mechanism on the slide rail structure, with the distance between adjustment slip fixture mechanism and the mounting fixture mechanism, with the main fixture mechanism that adapts to different length and treat the welding product, need not to develop many sets of frock clamp and carry out the centre gripping to the product. Moreover, the first rotary fixture structure is arranged on the fixed base of the fixed fixture mechanism, the corresponding second rotary fixture structure is arranged on the sliding base of the sliding fixture mechanism, the main fixture mechanism clamped between the first rotary fixture structure and the second rotary fixture structure and the product to be welded can be rotated, the product to be welded can be conveniently adjusted to the optimal welding angle, the penetration qualification rate of part of welding seams of a welded finished product can be improved, and the welding of workers can meet the requirements of human engineering. Moreover, the main clamp mechanism between the first rotary clamp structure and the second rotary clamp structure is arranged, so that the welding product can be clamped at one time, the size stability of the product is guaranteed, and the repair and correction are not needed after the welding is finished.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of a flexible positioner according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a flexible positioner according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a flexible positioner (when the main clamping mechanism is removed) according to an embodiment of the present invention;

fig. 4 is a schematic view of a three-dimensional structure of a main fixture mechanism of the flexible positioner according to the embodiment of the present invention.

In the figure: 10. a product to be welded; 100. a base structure; 110. a base frame; 120. a slide rail structure; 122. a slide bar; 124. a guide bar; 126. a limiting seat; 130. an operating bench; 200. a fixture mechanism is fixed; 210. a fixed base; 220. a first rotating support; 230. a first rotating shaft; 240. a first splint; 250. a rotation driving structure; 252. rotating a hand wheel; 254. a gearbox structure; 260. a rotation self-locking structure; 262. a self-locking ratchet wheel; 264. a self-locking connecting rod structure; 300. a slide clamp mechanism; 310. a sliding base; 320. a second rotating support; 330. a second rotating shaft; 340. a second splint; 400. a main clamp mechanism; 410. a main clamp substrate; 420. an end positioning clamp structure; 422. the bottom supports the positioning fixture; 424. positioning clamps at the side edges of the end parts; 426. an end part telescopic positioning clamp; 430. a middle positioning fixture structure; 432. a middle positioning base; 434. the middle positioning driving clamp; 436. the auxiliary positioning drives the clamp.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the production and processing processes of automobile parts, some products need to be welded, but the optimal posture of a welding gun cannot be put out in the welding process, so that the penetration percent of partial welding seams of welded finished products is low, and the welding of workers cannot meet the requirements of human engineering. At present, in order to produce qualified products, a plurality of sets of tool fixtures are developed to clamp the products, the input cost is relatively high, the dimensional stability of the products clamped for multiple times is difficult to control, and the products need to be repaired and corrected after welding is completed, so that the quality of the products is reduced. In order to solve the technical problem, the utility model provides a flexible machine of shifting.

As shown in fig. 1 to 2, the utility model provides a flexible positioner, including base structure 100, locate the mounting fixture mechanism 200 and the slide jig mechanism 300 of base structure 100 both sides respectively to and locate the main fixture mechanism 400 between mounting fixture mechanism 200 and the slide jig mechanism 300. The fixed clamp mechanism 200 is fixedly disposed on the base structure 100, the sliding clamp mechanism 300 is slidably disposed on the base structure 100, and the main clamp mechanism 400 is connected between the fixed clamp mechanism 200 and the sliding clamp mechanism 300 and used for clamping the product 10 to be welded.

Specifically, the base structure 100 may include a base frame 110 and a sliding rail structure 120 transversely disposed on the base frame 110. Furthermore, the fixing clamp mechanism 200 may include a fixing base 210 disposed on the base frame 110 and located at one end of the sliding rail structure 120, and a first rotating clamp structure disposed on the top of the fixing base 210. Moreover, the sliding fixture mechanism 300 may include a sliding base 310 slidably disposed on the sliding rail structure 120, and a second rotating fixture structure disposed on the top of the sliding base 310, wherein the second rotating fixture structure and the first rotating fixture structure are correspondingly engaged with each other. Also, the above-described main clamp mechanism 400 may be connected between the second rotary clamp structure and the first rotary clamp structure for clamping the product 10 to be welded.

The flexible positioner is characterized in that the sliding rail structure 120 is arranged on one side of the base structure 100, the sliding fixture mechanism 300 is arranged on the sliding rail structure 120 in a sliding mode, the corresponding fixed fixture mechanism 200 is arranged on the other side of the base structure 100, the position of the sliding fixture mechanism 300 on the sliding rail structure 120 can be adjusted, the distance between the sliding fixture mechanism 300 and the fixed fixture mechanism 200 can be adjusted, the flexible positioner is suitable for main fixture mechanisms 400 with different lengths and products 10 to be welded, and a plurality of sets of tool fixtures are not required to be developed to clamp the products. Moreover, by arranging the first rotary fixture structure on the fixed base 210 of the fixed fixture mechanism 200 and arranging the corresponding second rotary fixture structure on the sliding base 310 of the sliding fixture mechanism 300, the main fixture mechanism 400 clamped between the first rotary fixture structure and the second rotary fixture structure and the product to be welded can be rotated, the product to be welded can be conveniently adjusted to the optimal welding angle, the partial weld penetration qualification rate of the welded product can be improved, and the welding of workers can meet the requirements of ergonomics. Moreover, the main clamp mechanism 400 arranged between the first rotary clamp structure and the second rotary clamp structure can clamp the product 10 to be welded at one time, so that the dimensional stability of the product is guaranteed, and the product does not need to be repaired or corrected after welding.

Further, the first rotating fixture structure includes a first rotating support 220 disposed on the fixing base 210, a first rotating shaft 230 rotatably disposed on the first rotating support 220, and a first clamping plate 240 disposed at one end of the first rotating shaft 230. Moreover, the second rotating fixture structure may include a second rotating support 320 disposed on the sliding base 310, a second rotating shaft 330 rotatably disposed on the second rotating support 320, and a second clamping plate 340 disposed at one end of the second rotating shaft 330. Moreover, the second clamping plate 340 is disposed opposite to the first clamping plate 240, and the main clamp mechanism 400 is detachably connected between the first clamping plate 240 and the second clamping plate 340. By detachably connecting the main clamp mechanism 400 between the first clamping plate 240 of the first rotary clamp structure and the second clamping plate 340 of the second rotary clamp structure, the main clamp mechanism 400 and the to-be-welded product 10 clamped by the main clamp mechanism can rotate along with the first rotating shaft 230 and the second rotating shaft 220, and the welding angle of the to-be-welded product 10 can be conveniently adjusted.

Also, the fixing jig mechanism 200 may include a rotation driving structure 250 provided at the top of the fixing base 210, and the rotation driving structure 250 may be connected to the first rotation shaft 230. The first rotating shaft 230 can be driven to rotate on the first rotating support 220 by the rotating driving structure 250, so as to drive the main clamping mechanism 400 to rotate together. Specifically, as shown in fig. 3, the rotation driving structure 250 may include a gear box structure 254 disposed on the top of the fixed base 210, and a rotating handwheel 252 connected to an input shaft of the gear box structure 254, and an output shaft of the gear box structure 254 is connected to the first rotating shaft 230. The rotating hand wheel 252 is rotated to drive the gear box structure 254 to rotate the first rotating shaft 230 through the gear box structure 254, so that the first rotating shaft 230 and the main clamp mechanism 400 can be conveniently and simply driven to rotate through the rotating hand wheel 252.

In addition, the fixing clamp mechanism 200 may include a rotation self-locking structure 260 disposed on the first rotation shaft 230, and the rotation self-locking structure 260 may lock the first rotation shaft 230, so that the main clamp mechanism 400 clamped between the first clamping plate 240 and the second clamping plate 340 may be maintained at any angular position, thereby facilitating welding of the to-be-welded product 10 clamped on the main clamp mechanism 400. Specifically, the rotation self-locking structure 260 may include a self-locking ratchet 262 fixed on the first rotation shaft 230, and a self-locking link structure 264 provided on the fixed base 210, wherein the self-locking link structure 264 is engaged with the self-locking ratchet 262 for locking or unlocking the self-locking ratchet 262. By driving the self-locking link structure 264, the self-locking link structure 264 can be extended and retracted, so that the end of the self-locking link structure 264 is clamped in the ratchet groove of the self-locking ratchet 264, or the end of the self-locking link structure 264 is separated from the self-locking ratchet 262, thereby locking or unlocking the self-locking ratchet 262 and the first rotating shaft 230.

Further, the self-locking link structure 264 may include a driving link hinged to the fixed base 210 at a middle portion thereof, a first intermediate link hinged to one end of the driving link, a second intermediate link hinged to the other end of the first intermediate link, a self-locking lever hinged to the second intermediate link and correspondingly engaged with the wheel groove of the self-locking ratchet 262, and a return spring connected between the other end of the driving link and the fixed base 210, wherein the self-locking lever is slidably connected to the fixed base 210, and the middle portion of the second intermediate link is hinged to the fixed base 210. The first intermediate link and the second intermediate link can be driven to rotate by rotating one end of the driving link, so as to drive the self-locking rod to move telescopically along the height direction of the fixed base 210, and the end part of the self-locking rod can be separated from or combined with the ratchet groove of the self-locking ratchet 262. The automatic reset of the driving link rod can be realized by the reset spring connected between the driving link rod and the fixed base 210, so that the self-locking lever can be driven to automatically reset, and the self-locking lever can automatically keep a locking state with the self-locking ratchet 262 under the condition that the self-locking lever is not operated. In addition, the bottom of the fixing base 210 may further be provided with a first connecting seat and a second connecting seat respectively, the middle of the driving connecting rod may be hinged to the first connecting seat, and the middle of the second middle connecting rod may be hinged to the second connecting seat. Furthermore, the second connecting seat may be higher than the first connecting seat, so that the first intermediate link and the second intermediate link are disposed above the driving link. In addition, a telescopic limiting block may be protruded from a side of the fixing base 210, a telescopic limiting hole is formed through the telescopic limiting block, and the self-locking rod is correspondingly matched with the ratchet groove of the self-locking ratchet 262 after passing through the telescopic limiting hole of the telescopic limiting block. In addition, the end of the driving connecting rod can be provided with an operating pedal, an operator can drive the self-locking rod to stretch out and draw back by stepping on the operating pedal so as to lock or unlock the self-locking ratchet 262, and the operation is simple and convenient.

In addition, the slide rail structure 120 may include two sliding rods 122 disposed side by side on the base frame 110, and two guiding rods 124 disposed corresponding to the two sliding rods 122 one by one, and the guiding rods 124 are located above the sliding rods 122. Moreover, the sliding blocks are respectively protruded from two sides of the bottom of the sliding base 310, sliding grooves are formed on the sliding blocks, and the sliding rods 122 are slidably engaged in the sliding grooves. Moreover, two sides of the sliding base 310 are respectively provided with a guiding hole, and the two guiding rods 124 are correspondingly inserted into the two guiding holes one by one. The sliding block arranged at the bottom of the sliding base 310 can be connected with the sliding rod 122 in a sliding manner; the guide rod 124 disposed above the sliding rod 122 can guide and limit the sliding base 310 and the sliding block.

In addition, the base frame 110 is sequentially provided with a plurality of position-limiting seats 126 along the extending direction of the sliding rod 122, and the position-limiting seats 126 are located between the two guide rods 124. Each limiting seat 126 is provided with a first limiting hole; a second limiting hole corresponding to the first limiting hole is formed at the bottom end of the sliding base 310; the slide jig mechanism 300 includes positioning pins for insertion into the first and second limit holes. By providing the limiting seat 126, after the sliding base 310 and the whole sliding fixture mechanism 300 are moved to the corresponding positions, the sliding base 310 and the limiting seat 126 can be fixed together by the positioning pin, so that the sliding base 310 and the whole sliding fixture mechanism 300 are fixed.

Further, as shown in fig. 4, the main chuck mechanism 400 may include a main chuck base plate 410 connected between the second rotary chuck structure and the first rotary chuck structure, a middle positioning chuck structure 430 disposed at a middle portion of the main chuck base plate 410, and end positioning chuck structures 420 disposed at both ends of the main chuck base plate 410, respectively. The middle positioning clamp structure 430 and the end positioning clamp structure 420 can be supported by the main clamp base plate 410, so that the product 10 to be welded can be supported; moreover, the middle positioning fixture structure 430 can clamp the product 10 to be welded from the middle, and the end positioning fixture structure 420 can clamp the product 10 to be welded from both ends, so as to fix the product 10 to be welded for welding. In addition, one or more intermediate positioning fixture structures 430 may be provided to clamp and position the product 10 to be welded from one or more locations, as desired. In addition, in the present embodiment, both the middle positioning jig structure 430 and the end positioning jig structure 420 may be configured as a cylinder driving jig structure, and both may be driven by a cylinder.

Further, the middle positioning fixture structure 430 may include a middle positioning base 432 disposed on the main fixture base plate 410, a middle positioning fixture disposed on the top of the middle positioning base 432, and a middle positioning driving fixture 434 disposed on one side of the middle positioning base 432. The middle positioning holder and the middle positioning driving fixture 434 may be supported by the middle positioning base 432, and the middle positioning holder may support and clamp the product 10 to be welded from the bottom, and the middle positioning driving fixture 434 may clamp the product 10 to be welded from the side or the top at both sides thereof, so as to position the middle of the product 10 to be welded. Moreover, the middle positioning driving clamp 434 can be driven to rotate, so as to press or loosen the product 10 to be welded conveniently. In addition, the middle positioning jig structure 430 may further include an auxiliary positioning driving jig 436 provided at the other side of the middle positioning base 432, and the auxiliary positioning driving jig 436 may be extended and contracted to press or release the side of the product 10 to be welded.

In addition, the end positioning clamp structure 420 may include a bottom supporting positioning clamp 422 disposed on the main clamp substrate 410, and two end side positioning clamps 424 disposed on two sides of the main clamp substrate 410, respectively, wherein the two end side positioning clamps 424 are disposed on two sides of the bottom supporting positioning clamp 422, respectively. The bottom supporting and positioning fixture 422 can be lifted and lowered to support and position the product 10 to be welded from the bottom; the end side positioning fixtures 424 on both sides can rotate to clamp and position the product 10 to be welded from both sides. In addition, the end positioning clamp structure 420 may include an end telescopic positioning clamp 426 disposed on the main clamp substrate 410, which can be extended and retracted to clamp and position the product 10 to be welded from the end.

In addition, the bottom of the base frame 110 of the base structure 100 may further be provided with rollers and detachable supporting legs, which facilitates the movement of the base structure 100 and the whole device, and facilitates the fixing and positioning of the base structure 100 and the whole device. Moreover, the base structure 100 may further include an operation platform 130 disposed on one side of the base frame 110, so that an operator can stand on the operation platform 130 to perform a welding operation.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

It is noted that, in the present invention, relational terms such as "first" and "second", and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only exemplary of the invention, and is intended to enable those skilled in the art to understand and implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible positioner is characterized by comprising:

2. The flexible positioner according to claim 1, wherein the first rotary clamp structure comprises a first rotary support arranged on the fixed base, a first rotary shaft rotatably arranged on the first rotary support, and a first clamping plate arranged at one end of the first rotary shaft;

3. The flexible positioner according to claim 2, wherein the fixture mechanism comprises a rotary drive structure disposed at the top of the fixture base, the rotary drive structure being connected to the first rotary shaft;

4. The flexible positioner according to claim 2, wherein the fixture mechanism comprises a rotational self-locking structure provided on the first rotational axis;

5. The flexible positioner according to claim 4, wherein the self-locking connecting rod structure comprises a driving connecting rod, a first middle connecting rod, a second middle connecting rod, a self-locking rod and a return spring, wherein the middle part of the self-locking connecting rod structure is hinged to the fixing base, the first middle connecting rod is hinged to one end of the driving connecting rod, the second middle connecting rod is hinged to the other end of the first middle connecting rod, the self-locking rod is hinged to the second middle connecting rod and correspondingly matched with a wheel groove of the self-locking ratchet wheel, the return spring is connected to the other end of the driving connecting rod and between the fixing bases, the self-locking rod is connected to the fixing base in a sliding mode, and the middle part of the second middle connecting rod is hinged to the fixing base.

6. The flexible position changing machine according to any one of claims 1 to 5, wherein the sliding rail structure comprises two sliding rods arranged on the base frame side by side, and two guide rods arranged in one-to-one correspondence with the two sliding rods, and the guide rods are positioned above the sliding rods;

7. The flexible positioner according to claim 6, wherein a plurality of limiting seats are sequentially arranged on the base frame along the extending direction of the sliding rod, and the limiting seats are all positioned between the two guide rods;

8. The flexible positioner according to any one of claims 1 to 5, wherein the main fixture mechanism comprises a main fixture base plate connected between the second rotary fixture structure and the first rotary fixture structure, a middle positioning fixture structure arranged in the middle of the main fixture base plate, and end positioning fixture structures respectively arranged at two ends of the main fixture base plate.

9. The flexible positioner according to claim 8, wherein the intermediate positioning fixture structure comprises an intermediate positioning base disposed on the main fixture substrate, an intermediate positioning holder disposed on the top of the intermediate positioning base, and an intermediate positioning driving fixture disposed on the side of the intermediate positioning base.

10. The flexible positioner according to claim 8, wherein the end positioning fixture structure comprises a bottom supporting positioning fixture disposed on the main fixture substrate and an end side positioning fixture disposed on each of two sides of the main fixture substrate, the two end side positioning fixtures being disposed on two sides of the bottom supporting positioning fixture.