Angle-adjustable manipulator

Abstract

The invention relates to an angle-adjustable manipulator which comprises a positioning frame provided with a rotating table used for arranging a rotating seat; the adjusting rod is movably mounted on the rotating seat; the clamping assembly is movably installed at the end, away from the rotating base, of the adjusting rod. The clamping plate is located in the clamping assembly and used for clamping and limiting the object; the notch is formed in one side of the clamping plate; the anti-skid layer movably abuts against the notch; and the switching assembly is used for driving the anti-skid layer to movably abut against the notch and releasing the abutting state. According to the angle-adjustable mechanical arm, through cooperation of the moving plate, the cylinder, the movable rod and other components, the anti-skid layer can abut against the notch during clamping, and it is ensured that higher stability is achieved when an object is clamped.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an angle-adjustable manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms. It is used to grab, move objects or operate tools according to a fixed procedure. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other sectors.

[0003] In the existing production environment, the manipulator is also designed with an adjustable angle. The adjustable angle mechanical claw can operate flexibly in a limited space and can grab objects that are more difficult to locate. This flexibility greatly improves the effective utilization of the production area, allowing enterprises to achieve efficient production in a small space. In order to enhance the friction between the gripper and the object during the grasping process, an anti-slip layer is usually provided on the side where the gripper contacts the object. The anti-slip layer can ensure that there is no relative sliding between the object and the gripper. However, when the manipulator is not working, the anti-slip layer will always be on the outside of the gripper and exposed to the air. At the same time, it also increases the chance of the anti-slip layer contacting external objects, which may be damaged by friction, wear or chemical corrosion. The damaged anti-slip layer cannot maintain a good anti-slip effect on the object in subsequent grasping work. Summary of the invention

[0004] Based on this, it is necessary to provide an adjustable angle manipulator to address the above technical problems.

[0005] The present invention provides an angle-adjustable manipulator, comprising:

[0006] A positioning frame having a rotating table for arranging a rotating seat;

[0007] An adjusting rod, movably mounted on the rotating seat;

[0008] A clamping assembly, movably mounted on an end of the adjusting rod away from the rotating seat;

[0009] A clamping plate, located in the clamping assembly, used to clamp and limit the object;

[0010] a notch, provided on one side of the splint;

[0011] an anti-skid layer, the anti-skid layer movably abutting against the notch;

[0012] The switching component is used to drive the anti-slip layer to movably abut against and release the abutment state with the notch.

[0013] In one embodiment, the switching assembly includes a movable plate, a movable groove is provided on one side of the clamping plate, the movable groove is communicated with the notch, the movable plate is slidably connected to the movable groove, a cylinder is fixedly provided on one side of the movable plate, a movable rod is movably provided in the cylinder, and the movable rod is fixedly connected to the anti-slip layer at one end away from the movable plate.

[0014] In one embodiment, the clamping plate is located on the inner wall at the bottom of the movable groove to open a limit groove, the limit groove consists of a straight groove and an inclined groove, and a limit rod is fixedly arranged at the bottom of the anti-slip layer, and the limit rod is slidably connected to the limit groove.

[0015] In one of the embodiments, the clamping assembly includes a fixed frame, which is movably connected to the adjusting rod, and fixed plates are axially symmetrically fixed on both sides of the fixed frame, and vertical plates are laterally slidably arranged on the fixed plates, and one end of the vertical plate away from the fixed plate is fixedly connected to the clamping plate, a vertical rod is movably penetrated by the center of the fixed frame, and a positioning plate is fixedly arranged at the end of the vertical rod, and rotating plates are rotatably connected to the vertical plates on both sides of the positioning plate.

[0016] In one of the embodiments, a horizontal plate is fixedly provided in the splint at one side of the slot, a square plate is fixedly provided on the horizontal plate, a movable plate is slidably provided on the square plate, deflection plates are axially symmetrically provided at both ends of the movable plate for rotation, a baffle is rotatably connected to one end of the deflection plate away from the movable plate, and the baffle is movably abutted against the slot.

[0017] In one of the embodiments, a limiting plate is fixedly provided at one end of the square plate, and the limiting plate is movably abutted against the intersection of the deflection plate and the baffle.

[0018] In one of the embodiments, a transverse groove is provided on the clamping plate, the transverse groove is interconnected with the notch and the movable groove, a movable rack is slidably arranged in the notch, and one end of the movable rack is fixedly connected to the movable plate.

[0019] In one embodiment, the horizontal plate is rotatably provided with a driving gear on one side of the movable rack, and the driving gear meshes with the movable rack for transmission. A driving rack is fixedly provided on one side of the movable plate, and the driving rack meshes with the driving gear for transmission.

[0020] In one of the embodiments, a transverse plate is fixedly provided at one end of the movable plate, the transverse plate is slidably connected to the square plate, a round rod is adapted to be connected with the central thread of the transverse plate, the round rod movably passes through the clamping plate at one end away from the transverse plate and a rotating gear is fixedly provided at the end.

[0021] In one of the embodiments, an L-shaped plate is fixedly provided on one side of the fixing frame, a limit rack is fixedly provided on one side of the L-shaped plate, and the limit rack is meshed with the rotating gear for transmission.

[0022] The above-mentioned adjustable angle manipulator, through the cooperation of components such as the movable plate, the cylinder and the movable rod, realizes that the anti-slip layer can abut against the slot when clamping, thereby ensuring higher stability when clamping objects; through the cooperation of the movable plate, the deflection plate and the baffle, when the anti-slip layer does not abut against the slot, the baffle can cover the slot to prevent dust from entering the inside of the clamp, and when the anti-slip layer abuts against the slot, the baffle moves to one side to facilitate the alignment and abutment of the anti-slip layer with the slot, thereby ensuring clamping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 for Figure 1 The enlarged schematic diagram of part A in the middle;

[0026] Figure 3 It is a schematic diagram of the structure inside the splint of the present invention;

[0027] Figure 4 for Figure 3 The enlarged schematic diagram of part B in the middle;

[0028] Figure 5 for Figure 4 The enlarged schematic diagram of part C in the middle;

[0029] Figure 6 It is a structural schematic diagram of the movable slot in the present invention;

[0030] Figure 7 for Figure 6 The enlarged schematic diagram of part D in the middle;

[0031] Figure 8 Schematic diagram of the positional relationship between the movable plate and the anti-skid layer in the present invention;

[0032] Fig. 9 It is a structural schematic diagram of the movable rod in the present invention.

[0033] Reference numerals:

[0034] 1. Positioning frame; 2. Rotating seat; 3. Rotating table; 4. Adjusting rod; 5. Clamping assembly; 51. Clamping plate; 511. Notch; 512. Moving groove; 513. Limiting groove; 514. Horizontal groove; 52. Fixed frame; 53. Fixed plate; 54. Vertical plate; 55. Vertical rod; 56. Positioning plate; 57. Rotating plate; 6. Anti-skid layer; 7. Switching assembly; 71. Moving plate; 72. Cylinder; 73. Movable rod; 8. Limiting rod; 9. Horizontal plate; 10. Square plate; 11. Movable plate; 12. Deflection plate; 13. Baffle; 14. Limiting plate; 15. Moving rack; 16. Driving gear; 17. Driving rack; 18. Transverse plate; 19. Round rod; 20. Rotating gear; 21. L-shaped plate; 22. Limiting rack. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In the present invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] Unless otherwise defined, all technical and scientific terms used in the specification of the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the specification of the present invention includes any and all combinations of one or more related listed items.

[0040] Combine the following Figure 1-Figure 9 The adjustable angle manipulator of the present invention is described.

[0041] like Figure 1 , Figure 2 and Figure 6 As shown, in one embodiment, an adjustable angle manipulator comprises:

[0042] A positioning frame 1 having a rotating table 3 for setting a rotating seat 2;

[0043] An adjusting rod 4 is movably mounted on the rotating seat 2;

[0044] A clamping assembly 5, movably mounted on an end of the adjusting rod 4 away from the rotating seat 2;

[0045] The clamping plate 51 is located in the clamping assembly 5 and is used to clamp and limit the object;

[0046] A notch 511 is provided on one side of the clamping plate 51;

[0047] An anti-skid layer 6, the anti-skid layer 6 movably abuts against the notch 511;

[0048] The switching assembly 7 is used to drive the anti-slip layer 6 to move into and out of contact with the notch 511 .

[0049] Specifically, the positioning frame 1 provides a supporting effect, the rotating table 3 can be rotated to adjust the angle of the rotating seat 2, and the adjustment of the angle of the rotating seat 2 will drive the angle of the adjusting rod 4 to change accordingly. The clamping assembly 5 is installed at one end of the adjusting rod 4 and the clamping assembly 5 can be rotated relative to the adjusting rod 4 to achieve the effect of adjusting the clamping assembly 5. The clamping assembly 5 can approach each other through the clamping plates 51 on both sides to grab the object. When grabbing the object, the anti-slip layer 6 abuts and overlaps with the notch 511, and the anti-slip layer 6 can contact the object when the clamping plates 51 approach each other. This can enable the clamping plates 51 to provide greater friction when clamping the object, thereby achieving a better clamping effect. In addition, when the clamping plates 51 do not clamp the object, the anti-slip layer 6 can be driven to enter the inside of the clamping plates 51 through the switching assembly 7, which can provide a certain protective effect on the anti-slip layer 6.

[0050] See also Figure 6-Figure 9 As shown, in this embodiment, the switching component 7 includes a movable plate 71, a movable groove 512 is opened on one side of the clamping plate 51, the movable groove 512 is communicated with the groove 511, the movable plate 71 is slidably connected with the movable groove 512, a cylinder 72 is fixedly provided on one side of the movable plate 71, a movable rod 73 is movably provided in the cylinder 72, and the movable rod 73 is fixedly connected to the anti-slip layer 6 at one end away from the movable plate 71.

[0051] Specifically, when the clamping plates 51 approach each other to clamp an object, the movable plate 71 and the anti-skid layer 6 are both located in the movable groove 512, which can provide a certain degree of protection for the anti-skid layer 6. The movable plate 71 is moved laterally along the movable groove 512, and the movement of the movable plate 71 will drive the cylinder 72, the movable rod 73 and the anti-skid layer 6 to move synchronously in the direction of the notch 511. When the anti-skid layer 6 moves to the position of the notch 511, the movable rod 73 is pulled in the direction away from the movable plate 71, and the movement of the movable rod 73 along the cylinder 72 will drive the anti-skid layer 6 to move in the direction away from the movable plate 71. The area of ​​the notch 511 is larger than the area of ​​the anti-skid layer 6. The movement of the anti-skid layer 6 will make the anti-skid layer 6 flush with the outer surface of the clamping plate 51. In this way, the anti-skid layer 6 will be in closer contact with the surface of the object when the clamping plates 51 approach each other, thereby providing greater friction and better clamping stability.

[0052] See also Fig. 9 As shown, in this embodiment, a limit groove 513 is provided on the inner wall at the bottom of the movable groove 512 of the clamping plate 51, and the limit groove 513 consists of a straight groove and an inclined groove. A limit rod 8 is fixedly arranged at the bottom of the anti-slip layer 6, and the limit rod 8 is slidably connected to the limit groove 513.

[0053] Specifically, when the clamps 51 approach each other, the movable plate 71 will drive the movable rod 73, the cylinder 72 and the anti-skid layer 6 to move toward the position of the slot 511. During the movement of the anti-skid layer 6, the limiting rod 8 will be driven to move. The limiting rod 8 first moves along the straight slot section of the limiting slot 513. When the anti-skid layer 6 is entirely located in the slot 511, the limiting rod 8 moves to the inclined slot section. In this way, the anti-skid layer 6 moves away from the movable plate 71 so as to be flush with the outer surface of the clamp 51, so that it can be in closer contact with the clamped object.

[0054] See also Figure 1-Figure 2 As shown, in this embodiment, the clamping assembly 5 includes a fixed frame 52, which is movably connected to the adjusting rod 4, and fixed plates 53 are axially symmetrically fixed on both sides of the fixed frame 52, and vertical plates 54 are horizontally slidably arranged on the fixed plates 53, and the vertical plates 54 are fixedly connected to the clamping plate 51 at one end away from the fixed plates 53, and a vertical rod 55 is movably arranged through the center of the fixed frame 52, and a positioning plate 56 is fixedly arranged at the end of the vertical rod 55, and rotating plates 57 are rotatably connected to the vertical plates 54 on both sides of the positioning plates 56.

[0055] Specifically, when it is necessary to clamp an object, the vertical rod 55 is moved upward. The upward movement of the vertical rod 55 will drive the positioning plate 56 to move upward, thereby causing the rotating plates 57 on both sides to rotate and then pull the vertical plates 54 on both sides closer to each other along the fixed plate 53. The vertical plates 54 approaching each other will drive the clamping plates 51 approaching each other, so that the object can be clamped and limited, and the fixed frame 52 provides support.

[0056] See also Figure 4 and Figure 6-Figure 7 As shown, in the present embodiment, a transverse plate 9 is fixedly provided in the clamping plate 51 at one side of the notch 511, a square plate 10 is fixedly provided on the transverse plate 9, a movable plate 11 is slidably provided on the square plate 10, deflection plates 12 are axially symmetrically rotated at both ends of the movable plate 11, a baffle 13 is rotatably connected to one end of the deflection plate 12 away from the movable plate 11, and the baffle 13 is movably abutted against the notch 511.

[0057] Specifically, when the splint 51 is not working, the splints 51 are away from each other and the anti-skid layer 6 is located in the movable groove 512, and the baffle 13 abuts against the groove 511, which can prevent some debris from entering the splint 51. When it is necessary to clamp an object, the movable plate 11 is moved laterally in the direction away from the groove 511. The movement of the movable plate 11 along the square plate 10 will drive the two deflection plates 12 to rotate, thereby moving the baffle 13, and the baffle 13 will no longer abut against the groove 511. Continuing to move the movable plate 11 in the same direction will drive the deflection plate 12 and the baffle 13 to move synchronously, and the baffle 13 will move to one side of the groove 511 and not align with the groove 511, so that the groove 511 is exposed, and then the anti-skid layer 6 can be moved to abut against the groove 511, which is convenient for subsequent clamping, and the horizontal plate 9 provides support for the square plate 10.

[0058] See also Figure 4 As shown, in this embodiment, a limiting plate 14 is fixedly provided at one end of the square plate 10 , and the limiting plate 14 is movably abutted against the intersection of the deflection plate 12 and the baffle plate 13 .

[0059] Specifically, when the object is clamped, it is necessary to move the anti-slip layer 6 to the inside of the movable groove 512 for protection, and re-engage the baffle 13 with the groove 511, and move the movable plate 11 in the direction close to the groove 511. The movement of the movable plate 11 will drive the deflection plate 12 and the baffle 13 to move synchronously until the hinge between the deflection plate 12 and the baffle 13 abuts against the limit plate 14. At this time, the baffle 13 is aligned with the groove 511, and the deflection plate 12 will rotate, thereby driving the baffle 13 to move in the direction close to the groove 511 until it abuts against the groove 511, so as to ensure that no debris enters the clamping plate 51.

[0060] See also Figure 4 and Figure 6-Figure 7 As shown, in this embodiment, a transverse groove 514 is provided on the clamping plate 51, and the transverse groove 514 is interconnected with the notch 511 and the movable groove 512. A movable rack 15 is slidably arranged in the notch 511, and one end of the movable rack 15 is fixedly connected to the movable plate 71.

[0061] Specifically, when it is necessary to clamp an object, the movable rack 15 is moved laterally along the transverse groove 514. The movement of the movable rack 15 will drive the movable plate 71 to move toward the direction close to the slot 511, so that it is convenient to move the movable plate 71 and the anti-slip layer 6 to the position of the slot 511. When the anti-slip layer 6 is aligned with the slot 511, a part of the movable rack 15 is still located in the transverse groove 514, so that stability during the movement can be ensured.

[0062] See also Figure 7As shown, in this embodiment, the horizontal plate 9 is rotatably provided with a driving gear 16 on one side of the movable rack 15, and the driving gear 16 is meshed with the movable rack 15 for transmission. A driving rack 17 is fixedly provided on one side of the movable plate 11, and the driving rack 17 is meshed with the driving gear 16 for transmission.

[0063] Specifically, when it is necessary to clamp an object, the movable plate 11 moves in a direction away from the slot 511, which will cause the baffle 13 to no longer abut against the slot 511. Then, after moving a certain distance, the movable plate 11 will drive the driving rack 17 to engage with the driving gear 16, thereby driving the driving gear 16 to rotate. The rotation of the driving gear 16 will drive the movable rack 15 to move in a direction close to the slot 511, and finally cause the anti-slip layer 6 to abut against the slot 511. In this step, the movement of the movable plate 11 can realize two actions: the baffle 13 is released from the abutment with the slot 511, and the anti-slip layer 6 is abutted against the slot 511. The operation is convenient and quick.

[0064] See also Figure 5-Figure 7 As shown, in this embodiment, a transverse plate 18 is fixedly provided at one end of the movable plate 11, and the transverse plate 18 is slidably connected to the square plate 10. A round rod 19 is adapted to be connected with the central thread of the transverse plate 18. The round rod 19 movably penetrates the clamping plate 51 at one end away from the transverse plate 18 and a rotating gear 20 is fixedly provided at the end.

[0065] Specifically, rotating the rotating gear 20 will cause the round rod 19 to rotate. Since the round rod 19 is threadedly connected to the transverse plate 18, the rotation of the round rod 19 will drive the transverse plate 18 to move laterally. The lateral movement of the transverse plate 18 will drive the movable plate 11 to move laterally, thereby achieving the abutment and release of the baffle plate 13 and the groove 511, and the abutment and release of the anti-slip layer 6 and the groove 511.

[0066] See also Figure 4-Figure 5 As shown, in this embodiment, an L-shaped plate 21 is fixedly provided on one side of the fixing frame 52 , and a limit rack 22 is fixedly provided on one side of the L-shaped plate 21 . The limit rack 22 is meshed with the rotating gear 20 for transmission.

[0067] Specifically, when clamping an object, the clamping plates 51 will drive the rotating gear 20 to move as they approach each other, and will engage with the limiting rack 22 during the movement to realize the rotation of the rotating gear 20, thereby realizing the lateral movement of the transverse plate 18 and the movable plate 11, and finally realizing the switching of the abutment state between the anti-slip layer 6 and the groove 511, and the L-shaped plate 21 provides support for the limiting rack 22.

[0068] During implementation, when clamping an object, the clamping plates 51 will drive the rotating gear 20 to move as they approach each other, and will mesh with the limiting rack 22 during the movement to achieve the rotation of the rotating gear 20. The rotating gear 20 will cause the round rod 19 to rotate. Since the round rod 19 is threadedly connected to the transverse plate 18, the rotation of the round rod 19 will drive the transverse plate 18 to move laterally. The lateral movement of the transverse plate 18 will drive the movable plate 11 to move laterally. The movement of the movable plate 11 away from the notch 511 will cause the baffle 13 to no longer abut against the notch 511. Subsequently, after moving a certain distance, the movable plate 11 will drive the driving rack 17 to mesh with the driving gear 16, thereby driving the driving gear 16 to rotate. The rotation of the driving gear 16 will drive the movable rack 15 moves in the direction close to the slot 511, and the movement of the moving rack 15 will drive the moving plate 71 to move in the direction close to the slot 511, which makes it easy to move the moving plate 71 and the anti-skid layer 6 to the slot 511 position. When the anti-skid layer 6 is aligned with the slot 511, a part of the moving rack 15 is still located in the transverse groove 514, and the movement of the movable plate 11 will drive the deflection plate 12 and the baffle plate 13 to move synchronously until the hinge between the deflection plate 12 and the baffle plate 13 abuts against the limit plate 14. At this time, the baffle plate 13 is aligned with the slot 511, and the deflection plate 12 will rotate, thereby driving the baffle plate 13 to move in the direction close to the slot 511 until it abuts against the slot 511, which can ensure that no debris enters the splint 51.

[0069] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An adjustable angle manipulator, characterized in that: include: A positioning frame having a rotating table for arranging a rotating seat; An adjusting rod, movably mounted on the rotating seat; A clamping assembly, movably mounted on an end of the adjusting rod away from the rotating seat; A clamping plate, located in the clamping assembly, used to clamp and limit the object; a notch, provided on one side of the splint; an anti-skid layer, the anti-skid layer movably abutting against the notch; The switching component is used to drive the anti-slip layer to movably abut against and release the abutment state with the notch.

2. The adjustable angle manipulator according to claim 1, characterized in that: The switching assembly includes a moving plate, a moving groove is provided on one side of the clamping plate, the moving groove and the notch are communicated with each other, the moving plate is slidably connected to the moving groove, a cylinder is fixedly provided on one side of the moving plate, a moving rod is movably provided in the cylinder, and the moving rod is fixedly connected to the anti-slip layer at one end away from the moving plate.

3. The adjustable angle manipulator according to claim 2, characterized in that: The clamping plate is located on the inner wall at the bottom of the movable groove to open a limiting groove, the limiting groove is composed of a straight groove and an inclined groove, and a limiting rod is fixedly arranged at the bottom of the anti-slip layer, and the limiting rod is slidably connected to the limiting groove.

4. The adjustable angle manipulator according to claim 1, characterized in that: The clamping assembly includes a fixing frame, which is movably connected to the adjusting rod, fixing plates are axially symmetrically fixed on both sides of the fixing frame, vertical plates are laterally slidably arranged on the fixing plates, and one end of the vertical plate away from the fixing plate is fixedly connected to the clamping plate, a vertical rod is movably penetrated by the center of the fixing frame, a positioning plate is fixedly arranged at the end of the vertical rod, and rotating plates are rotatably connected to the vertical plates on both sides of the positioning plate.

5. The adjustable angle manipulator according to claim 1, characterized in that: A horizontal plate is fixedly arranged in the splint at one side of the slot, a square plate is fixedly arranged on the horizontal plate, a movable plate is slidably arranged on the square plate, deflection plates are axially symmetrically rotated at both ends of the movable plate, a baffle is rotatably connected to one end of the deflection plate away from the movable plate, and the baffle is movably abutted against the slot.

6. The adjustable angle manipulator according to claim 5, characterized in that: A limiting plate is fixedly arranged at one end of the square plate, and the limiting plate is movably abutted against the intersection of the deflection plate and the baffle.

7. The adjustable angle manipulator according to claim 2 or 5, characterized in that: The clamping plate is provided with a transverse groove, which is communicated with the notch and the movable groove. A movable rack is slidably arranged in the notch, and one end of the movable rack is fixedly connected to the movable plate.

8. The adjustable angle manipulator according to claim 7, characterized in that: The horizontal plate is rotatably provided with a driving gear on one side of the movable rack, and the driving gear meshes with the movable rack for transmission. A driving rack is fixedly provided on one side of the movable plate, and the driving rack meshes with the driving gear for transmission.

9. The adjustable angle manipulator according to claim 8, characterized in that: A transverse plate is fixedly provided at one end of the movable plate, and the transverse plate is slidably connected to the square plate. A round rod is adapted to be connected with a central thread of the transverse plate. The round rod movably passes through the clamping plate at one end away from the transverse plate and a rotating gear is fixedly provided at the end.

10. The adjustable angle manipulator according to claim 9, characterized in that: An L-shaped plate is fixedly arranged on one side of the fixing frame, and a limit rack is fixedly arranged on one side of the L-shaped plate. The limit rack is meshed with the rotating gear for transmission.

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