Multi-degree-of-freedom manipulator for mechanical part machining

Abstract

The invention relates to the technical field of mechanical arms, and discloses a multi-degree-of-freedom mechanical arm for mechanical part machining, which comprises a mechanical arm body, an adjusting mechanism is arranged on one side of the mechanical arm body, the adjusting mechanism comprises a mounting seat, the mounting seat is fixedly connected to one side of the mechanical arm body, and the inner side of the mounting seat is rotatably connected with a rotating table. Through the design of an adjusting mechanism, a first electric push rod works to control a moving plate to move, at the moment, a rectangular frame revolves with a rotating shaft as the axis, so that the clamping angle can be directly adjusted, a first motor works to drive a second gear to rotate, and at the moment, the rectangular frame can rotate with a telescopic rod as the axis; and after the operation of controlling the rotation of the rotating table is matched with the angle adjustment of the rectangular frame, multi-angle grabbing adjustment in different directions can be achieved, and compared with a traditional mode that precise positioning can be achieved only through coordinated swing adjustment of all parts of a mechanical arm, the mechanical arm is more convenient and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more particularly to a multi-degree-of-freedom manipulator for machining mechanical parts. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and its structure and performance combine the respective advantages of humans and machines. When machining mechanical parts, it is often necessary for a manipulator to grasp materials for cooperative machining.

[0003] Patent Publication No. CN220313361U discloses a multi-degree-of-freedom manipulator, including a mounting substrate, a first-stage active arm and a second-stage active arm. A robotic arm bracket is fixedly installed on the top of the mounting substrate. A turntable is rotatably installed at the center of the top surface of the robotic arm bracket. Two symmetrically arranged arm mounting seats are fixedly connected to the top of the turntable. A first-stage active arm is movably arranged between the two arm mounting seats, and a second-stage active arm is movably arranged at the other end of the first-stage active arm. The second servo motor drives the first force-applying roller shaft to rotate, so that the elevation angle of the first-stage active arm can be adjusted. Similarly, the angle of the second-stage active arm can be adjusted, and then both active arms can swing with multiple degrees of freedom. Cooperating with the first servo motor to drive the rotating column and the turntable to rotate, the orientation of the active arm can be changed, further improving the degree of freedom of the manipulator and making it more flexible to use.

[0004] When the above device is in use, it realizes the function of multi-degree-of-freedom swinging of the orientation of the active arm. However, it is similar to the existing manipulator structure. In actual operation, it mainly relies on the swinging adjustment of the robotic arm to achieve multi-angle grasping operations. The structure of its claw end part is relatively single. Since the arm span of the robotic arm is generally relatively long, when grasping an object, even with a small angular difference, multiple-stage swing arms need to be coordinated to perform precise grasping tasks, resulting in poor flexibility in use. Therefore, a multi-degree-of-freedom manipulator for machining mechanical parts is proposed here to solve the above problems. Summary of the Invention

[0005] In order to solve the problems raised above, the present invention provides a multi-degree-of-freedom manipulator for machining mechanical parts.

[0006] The multi-degree-of-freedom manipulator for machining mechanical parts provided by the present invention adopts the following technical solutions:

[0007] A multi-degree-of-freedom manipulator for machining mechanical parts, including a robotic arm body, and an adjustment mechanism is arranged on one side of the robotic arm body;

[0008] The adjusting mechanism includes a mounting base fixedly connected to one side of the robotic arm body. A rotating table is rotatably connected to the inner side of the mounting base. A telescopic rod is fixedly connected to the rotating table. One end of the telescopic rod is fixedly connected to a mounting plate. A rectangular frame is arranged on one side of the mounting plate. An auxiliary plate is fixedly connected to the outer side of the rectangular frame. An extension plate is fixedly connected to the auxiliary plate. The extension plate extends to the inner side of the mounting plate and is connected to the mounting plate through a rotating shaft. A clamping mechanism is arranged on the rectangular frame.

[0009] By adopting the above technical solution, the mechanical parts are grabbed by the clamping mechanism. On this basis, the extension plate can be controlled to swing around the rotating shaft, and at the same time, the rotating table can be controlled to rotate. Through the cooperation of the swing of the extension plate and the rotation of the rotating table, the small-range azimuth angle can be adjusted flexibly. At the same time, since the telescopic rod can be telescoped, the grasping position can be adjusted over a short distance further. By adjusting the claw end part in this way, it is more convenient and efficient compared with the traditional method that can only accurately position by coordinating the swing of each part of the robotic arm.

[0010] Preferably, a first gear is fixedly connected to the outside of the rotating shaft. A stabilizing rod is fixedly connected to the inner side of the mounting plate. A moving plate is slidably connected to the outside of the stabilizing rod. A rack is fixedly connected to the moving plate. The rack is arranged on one side of the first gear and meshes with the first gear. A first electric push rod is fixedly connected to the inner side of the mounting plate. One end of the first electric push rod is fixedly connected to the top of the moving plate.

[0011] By adopting the above technical solution, after the first electric push rod works, it pushes and pulls the moving plate, causing the rack to move and drive the first gear to rotate.

[0012] Preferably, a toothed ring is fixedly connected to the outside of the rotating table. A frame plate is fixedly connected to one side of the robotic arm body. A first motor is fixedly connected to the inner side of the frame plate. A second gear is fixedly connected to the output shaft of the first motor. The second gear is arranged at the bottom of the toothed ring and meshes with the toothed ring.

[0013] By adopting the above technical solution, after the first motor works, the second gear rotates and drives the toothed ring to rotate.

[0014] Preferably, an adapter plate is rotatably connected to the outside of the telescopic end of the telescopic rod. Two limiting plates are fixedly connected to one side of the robotic arm body. Both side walls of the adapter plate penetrate one side wall of the two limiting plates respectively. An L-shaped plate is fixedly connected to the top of the robotic arm body. A second electric push rod is fixedly connected to the top inside the L-shaped plate. One end of the second electric push rod is fixedly connected to a lifting plate. A guide plate is fixedly connected to one side of the lifting arm body. The guide plate penetrates the lifting plate, and one end of the guide plate is fixedly connected to the inside of the L-shaped plate.

[0015] By adopting the above technical solution, the connecting plate is connected to the telescopic end of the telescopic rod and can move along with the telescopic movement of the telescopic rod.

[0016] Preferably, two push-pull rods are movably connected to the bottom of the lifting plate through movable hinge seats, and one ends of the two push-pull rods are both movably connected to the inner side of the connecting plate through movable hinge seats.

[0017] By adopting the above technical solution, the push-pull rod controls the pushing and pulling of the connecting plate after flipping.

[0018] Preferably, the clamping mechanism includes two mounting frames, both of which are slidably connected to the inner side of the rectangular frame. A first bidirectional threaded rod is rotatably connected inside the rectangular frame. A second motor is fixedly connected to the bottom of the rectangular frame, and the second motor is fixedly connected to one end of the first bidirectional threaded rod through an output shaft. Two track plates are arranged on one side of the rectangular frame, and a limiting plate is fixedly connected to the outside of the rectangular frame. The limiting plate penetrates through the track plates, and support plates are fixedly connected to the front and rear sides of the rectangular frame.

[0019] By adopting the above technical solution, the thread directions at both ends of the first bidirectional threaded rod are opposite.

[0020] Preferably, a second bidirectional threaded rod is rotatably connected between the two support plates. The second bidirectional threaded rod sequentially penetrates through the two track plates, and the second bidirectional threaded rod is respectively threadedly connected to the two track plates. A third motor is fixedly connected to one of the support plates, and the third motor is fixedly connected to the second bidirectional threaded rod through an output shaft. The first bidirectional threaded rod sequentially penetrates through the two mounting frames, and the first bidirectional threaded rod is respectively threadedly connected to the two mounting frames.

[0021] By adopting the above technical solution, the thread directions at the left and right ends of the second bidirectional threaded rod are opposite, and the two track plates can be driven to move towards or away from each other.

[0022] Preferably, two sliders are slidably connected to the track plates. A control plate is integrally formed on the slider. A through groove is formed on one side wall of the mounting frame. The control plate penetrates through the through groove and matches the through groove. Two movable blocks are slidably connected inside the mounting frame, and one ends of the four control plates are respectively fixedly connected to one side of the four movable blocks.

[0023] By adopting the above technical solution, the slider can move up and down on the track plate, so as to be synchronized with the up and down movement of the mounting frame. When the movable block moves inside the mounting frame, it will drive the control plate to move synchronously.

[0024] Preferably, a clamping jaw is provided on one side of the movable block. A slot is formed in the clamping jaw. The movable block extends into the interior of the slot and matches the slot. A clamping block is slidably connected inside the movable block. Slots are formed on both the front and rear sides of the clamping jaw. The slots communicate with the slot. The clamping block penetrates through the slot and matches the slot.

[0025] By adopting the above technical solution, the upper and lower adjacent clamping jaws can move towards each other to clamp the parts. Similarly, when the upper and lower adjacent clamping jaws move away from each other, they can be released.

[0026] Preferably, a reed is fixedly connected inside the movable block. One side of the reed is fixedly connected to the clamping block.

[0027] By adopting the above technical solution, the reed has an elastic acting force on the clamping block, prompting the clamping block to maintain a state of moving out of the movable block.

[0028] In summary, the present invention includes the following beneficial technical effects:

[0029] 1. A multi-degree-of-freedom manipulator for machining mechanical parts. Through the design of the adjustment mechanism, after the first electric push rod works, it controls the movement of the moving plate. At this time, the rectangular frame rotates around the rotating shaft, so that the clamping angle can be directly adjusted. When the first motor works, it drives the second gear to rotate. At this time, the rectangular frame can rotate around the telescopic rod. After the operation of controlling the rotation of the rotating table is combined with the angle adjustment of controlling the rectangular frame, multi-angle grasping adjustment in different directions can be realized. Compared with the traditional method that can only accurately position by coordinating the swinging of each part of the robotic arm, it is more convenient and efficient.

[0030] 2. A multi-degree-of-freedom manipulator for machining mechanical parts. Through the design of the clamping mechanism, when the length of the part is small, the distance between the left and right adjacent clamping jaws is small. When clamping the part, a larger base surface can be maintained, thereby improving the stability after the part is clamped. When the length of the part is large, the distance between the front and rear adjacent clamping jaws can be increased, so as to realize two-point clamping of the part at a certain distance, which can effectively ensure the stability of the parts with a larger length during the grasping and transportation process.

[0031] 3. A multi-degree-of-freedom manipulator for machining mechanical parts. When the clamping jaw needs to be removed for maintenance and replacement due to damage, directly push the clamping block out of the slot, and then the clamping plate can be removed and replaced. Similarly, when installing, directly align the insertion end on the movable block with the slot and insert it to complete the assembly. In this way, the loading and unloading steps can be quickly completed, which is beneficial to the convenient replacement of the clamping jaw components, and the operation threshold is low, which is more conducive to getting started. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 This is the sectional view structure diagram of the connection plate in the present invention;

[0034] Figure 3 is Figure 2 the enlarged view of part A in

[0035] Figure 4 This is the structural schematic diagram of the mounting plate in the present invention;

[0036] Figure 5 is Figure 4 the enlarged view of part B in

[0037] Figure 6 This is the structural schematic diagram of the track plate in the present invention;

[0038] Figure 7 This is the sectional view after the gripper and the movable block of the present invention are disassembled.

[0039] Explanation of reference numerals: 1. Manipulator body; 2. Adjusting mechanism; 21. Mounting base; 22. Rotary table; 23. Telescopic rod; 24. Mounting plate; 25. Rectangular frame; 26. Auxiliary plate; 27. Extension plate; 28. Rotating shaft; 29. First gear; 291. Stabilizing rod; 292. Moving plate; 293. Rack; 294. First electric push rod; 295. Tooth ring; 296. Frame plate; 297. First motor; 298. Second gear; 299. Connection plate; 281. Limiting plate; 282. L-shaped plate; 283. Second electric push rod; 284. Lifting plate; 285. Push-pull rod; 3. Gripping mechanism; 31. Mounting frame; 32. First bidirectional threaded rod; 33. Second motor; 34. Track plate; 35. Limiting plate; 36. Support plate; 37. Second bidirectional threaded rod; 38. Third motor; 39. Slide block; 391. Control board; 392. Movable block; 393. Gripper; 394. Slot; 395. Block; 396. Card slot; 397. Reed. Detailed implementation manners

[0040] The following further elaborates on the present invention in conjunction with the attached Figure 1 - attached Figure 7 drawings.

[0041] The present invention discloses a multi-degree-of-freedom manipulator for machining mechanical parts. Refer to Figures 1-7, including a robotic arm body 1, with an adjustment mechanism 2 provided on one side of the robotic arm body 1. The adjustment mechanism 2 includes a mounting base 21, the mounting base 21 is fixedly connected to one side of the robotic arm body 1, a rotating table 22 is rotatably connected inside the mounting base 21, a telescopic rod 23 is fixedly connected to the rotating table 22, one end of the telescopic rod 23 is fixedly connected to a mounting plate 24, a rectangular frame 25 is provided on one side of the mounting plate 24, an auxiliary plate 26 is fixedly connected to the outside of the rectangular frame 25, and an extension plate 27 is fixedly connected to the auxiliary plate 26;

[0042] The extension plate 27 extends to the inside of the mounting plate 24 and is connected to the mounting plate 24 through a rotating shaft 28. A clamping mechanism 3 is provided on the rectangular frame 25. The clamping mechanism 3 is used to grab mechanical parts. On this basis, the extension plate 27 can be controlled to swing around the rotating shaft 28, and at the same time, the rotating table 22 can also be controlled to rotate. Through the cooperation of the swing of the extension plate 27 and the rotation of the rotating table 22, small-range azimuth angle adjustment can be flexibly performed. At the same time, since the telescopic rod 23 can be telescoped, the grabbing position can be adjusted over a short distance further. By adjusting the claw end part in this way, it is more convenient and efficient compared to the traditional method that can only accurately position by coordinating the swing of each part of the robotic arm.

[0043] A first gear 29 is fixedly connected to the outside of the rotating shaft 28. A stabilizing rod 291 is fixedly connected to the inside of the mounting plate 24. A moving plate 292 is slidably connected to the outside of the stabilizing rod 291. A rack 293 is fixedly connected to the moving plate 292. The rack 293 is provided on one side of the first gear 29 and meshes with the first gear 29. A first electric push rod 294 is fixedly connected to the inside of the mounting plate 24. One end of the first electric push rod 294 is fixedly connected to the top of the moving plate 292. After the first electric push rod 294 works, it pushes and pulls the moving plate 292, causing the rack 293 to move and drive the first gear 29 to rotate;

[0044] A toothed ring 295 is fixedly connected to the outside of the rotating table 22. A frame plate 296 is fixedly connected to one side of the robotic arm body 1. A first motor 297 is fixedly connected to the inside of the frame plate 296. A second gear 298 is fixedly connected to the output shaft of the first motor 297. The second gear 298 is provided at the bottom of the toothed ring 295 and meshes with the toothed ring 295. After the first motor 297 works, the second gear 298 rotates and drives the toothed ring 295 to rotate;

[0045] The outer side of the telescopic end of the telescopic rod 23 is rotatably connected with an adapter plate 299. Two limit plates 281 are fixedly connected to one side of the manipulator body 1. The two side walls of the adapter plate 299 respectively penetrate through one side wall of the two limit plates 281. An L-shaped plate 282 is fixedly connected to the top of the manipulator body 1. A second electric push rod 283 is fixedly connected to the inner top of the L-shaped plate 282. One end of the second electric push rod 283 is fixedly connected with a lifting plate 284. A guide plate is fixedly connected to one side of the lifting arm body. The guide plate penetrates through the lifting plate 284, and one end of the guide plate is fixedly connected to the inner side of the L-shaped plate 282. The adapter plate 299 is connected to the telescopic end of the telescopic rod 23 and can move along with the telescopic movement of the telescopic rod 23. The bottom of the lifting plate 284 is movably connected with two push-pull rods 285 through a movable hinge seat. One end of each of the two push-pull rods 285 is movably connected with the inner side of the adapter plate 299 through a movable hinge seat. After the push-pull rod 285 is turned over, the adapter plate 299 is pushed and pulled for control.

[0046] The clamping mechanism 3 includes two mounting frames 31. Both of the two mounting frames 31 are slidably connected to the inside of the rectangular frame 25. A first bidirectional threaded rod 32 is rotatably connected to the inside of the rectangular frame 25. A second motor 33 is fixedly connected to the bottom of the rectangular frame 25. The second motor 33 is fixedly connected with one end of the first bidirectional threaded rod 32 through an output shaft. Two track plates 34 are arranged on one side of the rectangular frame 25. A limiting plate 35 is fixedly connected to the outside of the rectangular frame 25. The limiting plate 35 penetrates through the track plate 34. Support plates 36 are fixedly connected to the front and rear sides of the rectangular frame 25. The thread directions at both ends of the first bidirectional threaded rod 32 are opposite.

[0047] A second bidirectional threaded rod 37 is rotatably connected between the two support plates 36. The second bidirectional threaded rod 37 sequentially penetrates through the two track plates 34, and the second bidirectional threaded rod 37 is respectively threadedly connected with the two track plates 34. A third motor 38 is fixedly connected to one of the support plates 36. The third motor 38 is fixedly connected with the second bidirectional threaded rod 37 through an output shaft. The first bidirectional threaded rod 32 sequentially penetrates through the two mounting frames 31, and the first bidirectional threaded rod 32 is respectively threadedly connected with the two mounting frames 31. The thread directions at the left and right ends of the second bidirectional threaded rod 37 are opposite, and the two track plates 34 can be driven to move towards or away from each other.

[0048] Two sliders 39 are slidably connected to the track plate 34. A control board 391 is integrally formed on the slider 39. A through groove is formed on one side wall of the mounting frame 31. The control board 391 penetrates through the through groove and matches the through groove. Two movable blocks 392 are slidably connected inside the mounting frame 31. One ends of the four control boards 391 are respectively fixedly connected to one sides of the four movable blocks 392. The slider 39 can move up and down on the track plate 34 to be synchronized with the up and down movement of the mounting frame 31. While the movable block 392 moves inside the mounting frame 31, it will drive the control board 391 to move synchronously. A clamping jaw 393 is arranged on one side of the movable block 392. A slot 394 is formed on the clamping jaw 393. The movable block 392 extends into the slot 394 and matches the slot 394. A clamping block 395 is slidably connected inside the movable block 392. Slots 396 are formed on both the front and rear sides of the clamping jaw 393. The slots 396 are communicated with the slot 394. The clamping block 395 penetrates through the slots 396 and matches the slots 396. When the adjacent upper and lower clamping jaws 393 move towards each other, they can clamp the parts. Similarly, when the adjacent upper and lower clamping jaws 393 move away from each other, they can release. A reed 397 is fixedly connected inside the movable block 392. One side of the reed 397 is fixedly connected to the clamping block 395. The reed 397 has an elastic force on the clamping block 395 to make the clamping block 395 keep moving out of the movable block 392.

[0049] During the actual operation process, when this device is used, first, the device is powered on. The robotic arm body 1 of this device is an existing robotic arm structure, and its specific structure will not be described in further detail here. When it is necessary to clamp a part during mechanical part processing, the second motor 33 works and drives the first double-threaded screw rod 32 to rotate. After the first double-threaded screw rod 32 rotates, it drives the two mounting frames 31 to move towards each other. The mounting frame 31 drives the movable block 392 to move, and the movable block 392 drives the clamping jaw 393 to move. When the adjacent upper and lower clamping jaws 393 move towards each other, they can clamp the parts. Similarly, when controlling the adjacent upper and lower clamping jaws 393 to move away from each other, the purpose of releasing is achieved;

[0050] In the above work of gripping parts, after the third motor 38 operates, it drives the second bidirectional threaded rod 37 to rotate. After the second bidirectional threaded rod 37 rotates, it drives the two track plates 34 to move towards or away from each other. The track plates 34 drive the sliders 39 to move back and forth. The sliders 39 drive the control plate 391 to move. The control plate 391 drives the movable block 392 to move inside the mounting frame 31. Through the above operations, it can be known that the distance between the two movable blocks 392 inside the same mounting frame 31 can be adjusted. Accordingly, after the movable block 392 moves, it drives the clamping jaws 393 to move. Accordingly, the distance between the adjacent front and rear clamping jaws 393 is changed. When the length of the part is small, the distance between the adjacent left and right clamping jaws 393 is small. When gripping the part in this way, a larger base surface can be maintained, thereby improving the stability after the part is gripped. When the length of the part is large, in order to avoid the situation that the part may be unstable when only gripping at one place, the above operations can also be used to control the adjacent front and rear clamping jaws 393 to move away from each other, so as to achieve two-point gripping of the part at a certain distance, which can effectively ensure the stability of the parts with a larger length during the grasping and transportation process;

[0051] During the process of grasping parts, similar to the existing structure, positioning can be achieved through the coordinated swinging of multiple segments of the robotic arm body 1. However, when the deviation of the grasping position is not large, in order to avoid the cumbersome multi-segment coordinated swinging mode of the robotic arm body 1, at this time, after the first electric push rod 294 works, it pushes and pulls the moving plate 292 up and down. The moving plate 292 drives the rack 293 to move. After the rack 293 moves, it drives the first gear 29 to rotate. The first gear 29 drives the rotating shaft 28 to rotate. The rotating shaft 28 drives the extension plate 27 to rotate. The extension plate 27 drives the auxiliary plate 26 to rotate. The auxiliary plate 26 drives the rectangular frame 25 to revolve around the rotating shaft 28 as the axis. In this way, the clamping angle can be directly adjusted. After the first motor 297 works, it drives the second gear 298 to rotate. The second gear 298 drives the toothed ring 295 to rotate. The toothed ring 295 drives the rotating platform 22 to rotate. The rotating platform 22 drives the telescopic rod 23 to rotate. The telescopic rod 23 drives the mounting plate 24 to rotate. From the above connection relationship, it can be seen that at this time, the rectangular frame 25 can rotate around the telescopic rod 23 as the axis. After the operation of controlling the rotation of the rotating platform 22 is coordinated with the angle adjustment of the rectangular frame 25, multi-angle grasping adjustment in different directions can be achieved. Finally, if short-distance telescopic adjustment is required in addition to angle adjustment, at this time, the second electric push rod 283 works and pushes and pulls the lifting plate 284. After the lifting plate 284 moves, it drives the push-pull rod 285 to swing and flip. After the push-pull rod 285 flips, it pushes and pulls the connecting plate 299, prompting the connecting plate 299 to move and drive the telescopic rod 23 to expand and contract. After the telescopic rod 23 expands and contracts, it drives the mounting plate 24 to move. Based on the above operations, it can be seen that the grasping position can be adjusted in this way, and the adjustment method is simple and flexible, without occupying too much space. Compared with relying on the multi-stage adjustment and swinging of the robotic arm, it is more flexible and convenient, with higher efficiency and accuracy;

[0052] Finally, during the use process, since the clamping jaw 393 is the part that directly contacts the parts, this is the part that is relatively prone to damage. Once damage occurs and needs to be removed for maintenance and replacement, directly push the block 395 and push the block 395 out of the card slot 396, then the clamping plate can be removed and replaced. Similarly, when installing, directly align the insertion end on the movable block 392 with the insertion slot 394 and insert it. The inclined surface on the block 395 will be squeezed and enter the movable block 392. When the insertion is completed, due to the elastic force of the reed 397, the block 395 will be pushed into the inside of the card slot 396, thus quickly completing the loading and unloading steps, which is beneficial to the convenient replacement of the clamping jaw 393 component, and the operation threshold is low, which is more conducive to getting started with the operation.

[0053] The above are all the preferred embodiments of the present invention, and the protection scope of the present invention is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom manipulator for machining mechanical parts, comprising a manipulator arm body (1), characterized in that: On one side of the robotic arm body (1), an adjusting mechanism (2) is provided; The adjusting mechanism (2) includes a mounting base (21) fixedly connected to one side of the robotic arm body (1). Inside the mounting base (21), a rotating platform (22) is rotatably connected. A telescopic rod (23) is fixedly connected to the rotating platform (22). One end of the telescopic rod (23) is fixedly connected to a mounting plate (24). On one side of the mounting plate (24), a rectangular frame (25) is provided. An auxiliary plate (26) is fixedly connected to the outside of the rectangular frame (25). An extension plate (27) is fixedly connected to the auxiliary plate (26). The extension plate (27) extends to the inside of the mounting plate (24) and is connected to the mounting plate (24) through a rotating shaft (28). A clamping mechanism (3) is provided on the rectangular frame (25).

2. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 1, wherein: A first gear (29) is fixedly connected to the outside of the rotating shaft (28). A stabilizing rod (291) is fixedly connected to the inside of the mounting plate (24). A moving plate (292) is slidably connected to the outside of the stabilizing rod (291). A rack (293) is fixedly connected to the moving plate (292). The rack (293) is arranged on one side of the first gear (29) and meshes with the first gear (29). A first electric push rod (294) is fixedly connected to the inside of the mounting plate (24). One end of the first electric push rod (294) is fixedly connected to the top of the moving plate (292).

3. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 1, wherein: A toothed ring (295) is fixedly connected to the outside of the rotating platform (22). A frame plate (296) is fixedly connected to one side of the robotic arm body (1). A first motor (297) is fixedly connected to the inside of the frame plate (296). A second gear (298) is fixedly connected to the output shaft of the first motor (297). The second gear (298) is arranged at the bottom of the toothed ring (295) and meshes with the toothed ring (295).

4. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 1, wherein: A connecting plate (299) is rotatably connected to the outside of the telescopic end of the telescopic rod (23). Two limiting plates (281) are fixedly connected to one side of the robotic arm body (1). Both side walls of the connecting plate (299) penetrate one side wall of the two limiting plates (281). An L-shaped plate (282) is fixedly connected to the top of the robotic arm body (1). A second electric push rod (283) is fixedly connected to the top inside the L-shaped plate (282). One end of the second electric push rod (283) is fixedly connected to a lifting plate (284). A guiding plate is fixedly connected to one side of the lifting arm body and penetrates the lifting plate (284). One end of the guiding plate is fixedly connected to the inside of the L-shaped plate (282).

5. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 4, wherein: The bottom of the lifting plate (284) is movably connected to two push-pull rods (285) through a movable hinge seat. One end of each of the two push-pull rods (285) is movably connected to the inside of the connecting plate (299) through a movable hinge seat.

6. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 1, characterized in that: The clamping mechanism (3) includes two mounting frames (31), both of the two mounting frames (31) are slidably connected to the inner side of the rectangular frame (25), a first bidirectional threaded rod (32) is rotatably connected inside the rectangular frame (25), a second motor (33) is fixedly connected to the bottom of the rectangular frame (25), the second motor (33) is fixedly connected to one end of the first bidirectional threaded rod (32) through an output shaft, two track plates (34) are arranged on one side of the rectangular frame (25), a limiting plate (35) is fixedly connected to the outer side of the rectangular frame (25), the limiting plate (35) penetrates through the track plate (34), and support plates (36) are fixedly connected to the front and rear sides of the rectangular frame (25).

7. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 6, characterized in that: A second bidirectional threaded rod (37) is rotatably connected between the two support plates (36), the second bidirectional threaded rod (37) sequentially penetrates through the two track plates (34), and the second bidirectional threaded rod (37) is in threaded connection with the two track plates (34) respectively. A third motor (38) is fixedly connected to one of the support plates (36), the third motor (38) is fixedly connected to the second bidirectional threaded rod (37) through an output shaft, the first bidirectional threaded rod (32) sequentially penetrates through the two mounting frames (31), and the first bidirectional threaded rod (32) is in threaded connection with the two mounting frames (31) respectively.

8. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 6, wherein: Two sliders (39) are slidably connected to the track plate (34), a control plate (391) is integrally formed on the slider (39), a through groove is formed on one side wall of the mounting frame (31), the control plate (391) penetrates through the through groove and is matched with the through groove, two movable blocks (392) are slidably connected inside the mounting frame (31), and one ends of the four control plates (391) are fixedly connected to one side of the four movable blocks (392) respectively.

9. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 8, characterized in that: A clamping jaw (393) is arranged on one side of the movable block (392), a slot (394) is formed on the clamping jaw (393), the movable block (392) extends into the slot (394) and is matched with the slot (394), a clamping block (395) is slidably connected inside the movable block (392), clamping grooves (396) are formed on the front and rear sides of the clamping jaw (393), the clamping grooves (396) are communicated with the slot (394), and the clamping block (395) penetrates through the clamping groove (396) and is matched with the clamping groove (396).

10. The multi-degree-of-freedom manipulator for machining mechanical parts according to claim 9, wherein: A reed (397) is fixedly connected inside the movable block (392), and one side of the reed (397) is fixedly connected to the clamping block (395).

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