Multifunctional modular manipulator

Abstract

The invention discloses a multifunctional modular manipulator, which relates to the technical field of manipulators, and is characterized in that a first position adjusting module is mounted on a supporting seat, a second position adjusting module is mounted on the first position adjusting module, and a third position adjusting module is mounted on the second position adjusting module; a third position adjusting module is installed on the base, a fourth position adjusting module is installed on the third position adjusting module, a fifth position adjusting module is installed on the fourth position adjusting module, a supporting module is installed on the fifth position adjusting module, an outer telescopic module is installed on the supporting module, an inner contraction module is installed below the supporting module, and the inner telescopic module is arranged in the outer telescopic module. The outer telescopic module and the inner telescopic module are both used for providing detachable mounting platforms for an external function executing mechanism; the application range of part machining treatment is widened, the machining treatment requirements of various parts can be met, the part machining treatment cost is saved, and the part machining treatment efficiency and quality are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a multifunctional modular manipulator. Background Art

[0002] A multifunctional manipulator is an automated operating device used to imitate arm movements to achieve processing of parts. Multifunctional manipulators are widely used in the industrial field. With the continuous development of industry, the demand for multifunctional manipulators is increasing, and the requirements for the functions and scope of application of manipulators are also becoming higher and higher.

[0003] Although existing multifunctional manipulators are capable of processing parts, usually a manipulator can only process the inner surface or the outer surface of a part. When the processing position needs to be changed, manual replacement is required each time, which reduces the efficiency of part processing. At the same time, it cannot meet the needs of simultaneous processing of the inner and outer surfaces of some parts. Summary of the invention

[0004] In view of the above technical problems, the present invention proposes a multifunctional modular manipulator, including a support base, the support base is externally connected to a program control module, a first position adjustment module is installed on the support base, a second position adjustment module is installed on the first position adjustment module, a third position adjustment module is installed on the second position adjustment module, a fourth position adjustment module is installed on the third position adjustment module, a fifth position adjustment module is installed on the fourth position adjustment module, a support module is installed on the fifth position adjustment module, an external telescopic module is installed on the support module, an internal contraction module is installed below the support module, the internal telescopic module is arranged in the external telescopic module, and the first position adjustment module, the second position adjustment module, the third position adjustment module, the third position adjustment module, the fifth position adjustment module, the support module, the external telescopic module and the internal telescopic module are controlled by the program control module; the external telescopic module and the internal telescopic module are both used to provide a detachable mounting platform for an external functional execution mechanism.

[0005] Furthermore, the support module includes a support ring, a support frame, a support shaft, a connecting shaft, a rotating ring and a motor six, the connecting shaft is detachably mounted on the fifth position adjustment module via a coupling, the support shaft is coaxially fixedly mounted on the connecting shaft, the support ring is coaxially fixedly mounted on the support shaft via a support frame, a rotating slot is provided on the support ring, a rotating track is provided on the rotating ring, the rotating track on the rotating ring is rotatably connected to the rotating slot of the support ring, the motor six is ​​coaxially fixedly mounted in the support shaft, and the rotating ring is coaxially fixedly connected to the output shaft of the motor six.

[0006] Furthermore, the inner telescopic module includes an inner telescopic mechanism and a second support frame, the second support frame is coaxially fixedly mounted on the support shaft, the inner telescopic mechanism is rotatably mounted on the support ring, and the inner telescopic mechanism is hinged to the first telescopic arm; the inner telescopic module includes an inner telescopic mechanism and a driving mechanism, the driving mechanism is mounted on the rotating ring, and the inner telescopic mechanism is mounted on the driving mechanism; both the outer telescopic mechanism and the inner telescopic mechanism are provided in plurality, and are evenly spaced and distributed in a circular shape.

[0007] Furthermore, the external telescopic mechanism includes a telescopic arm 1, a connecting frame, an articulated seat 1, an articulated seat 2 and an electric cylinder 1, the articulated seat 1 is fixedly mounted on a support ring, the end of the electric cylinder 1 away from the piston rod is hinged on the support frame 2, an articulated head is fixedly mounted on the piston rod of the electric cylinder 1, the connecting frame is hinged on the articulated seat 1, one end of the articulated seat 2 is hinged on the connecting frame, the other end of the articulated seat 2 is hinged on the articulated head, the telescopic arm 1 is mounted on the connecting frame, and a plurality of mounting holes 1 are evenly spaced apart on the telescopic arm 1.

[0008] Furthermore, the driving mechanism includes a support tube, a mounting plate, a support frame three and an electric cylinder two, the mounting plate is coaxially mounted on a rotating ring, the support tube is coaxially fixedly mounted on the mounting plate, the electric cylinder two is coaxially fixedly mounted in the support tube, and the support frame three is coaxially fixedly mounted on the piston rod of the electric cylinder two; the internal telescopic mechanism includes a telescopic arm two, the telescopic arm two is hinged with an articulated rod one and an articulated rod two, the articulated rod one and the articulated rod two are distributed at intervals, the articulated rod one and the articulated rod two are hinged to the support tube at one end away from the telescopic arm two, the articulated rod one and the articulated rod two are arranged in parallel and have equal lengths, the telescopic arm two is hinged with an articulated rod three at one end close to the support frame three, the telescopic arm two is hinged to the support frame three through the articulated rod three, and a plurality of mounting holes two are evenly spaced on the telescopic arm two.

[0009] Furthermore, the first position adjustment module includes a mounting ring 1, a mounting seat 1, a mounting seat 2 and a motor 1, the mounting ring is coaxially fixedly installed on the support seat, the mounting seat is coaxially fixedly installed on the mounting ring 1, the motor is coaxially fixedly installed in the support seat, the mounting seat 2 is coaxially rotatably installed on the mounting seat 1, and the mounting seat 2 is coaxially fixedly connected to the output shaft of the motor 1.

[0010] The beneficial effects of the present invention compared with the prior art are as follows: (1) The present invention can adjust the position of the support module, the external telescopic module and the internal telescopic module in multiple directions through the mutual cooperation between the first position adjustment module, the second position adjustment module, the third position adjustment module, the fourth position adjustment module and the fifth position adjustment module, so as to adapt to work in different scenes or different positions, thereby improving the working range and flexibility of the manipulator; (2) When only the outside of the part needs to be processed, the internal telescopic module can be removed, and the processing of the outer surface of the part can be completed by the external telescopic module alone in cooperation with the functional actuator, which can prevent interference or affect the quality of the inner surface of the part due to misoperation during the processing of the outer surface of the part; (3) The present invention can When only the inside of a part needs to be processed, the outer telescopic mechanism can be extended to a position away from the outer surface of the part, and the processing of the inner surface of the part can be completed by the inner telescopic module alone in cooperation with the functional actuator; (4) The present invention achieves processing of parts with different requirements by adjusting the rotation direction and speed of the inner and outer telescopic modules and coordinating with the corresponding functional actuators, thereby greatly improving the scope of application of part processing, being able to meet the processing requirements of a variety of parts while saving the cost of part processing and ensuring the efficiency and quality of part processing; since the inner and outer telescopic modules can be installed with different types of functional actuators, they can meet the different processing requirements of parts, have a wide scope of application, and have strong flexibility in part processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0012] Figure 2 It is a front view of the present invention.

[0013] Figure 3 It is a top view of the present invention.

[0014] Figure 4 It is a side view of the present invention.

[0015] Figure 5 The local structure of the present invention is shown in FIG. Figure 1 .

[0016] Figure 6 For the present invention Figure 5 Enlarged structural diagram at A in the middle.

[0017] Figure 7 The local structure of the present invention is shown in FIG. Figure 2 .

[0018] Figure 8 The local structure of the present invention is shown in FIG. Figure 3 .

[0019] Fig. 9 For the present invention Figure 8 Enlarged structural diagram at B in the middle.

[0020] Fig.10 It is a top view of the local structure of the present invention.

[0021] Fig.11 For the present invention Fig.10 Cross-sectional view along CC direction.

[0022] Fig.12 The local structure of the present invention is shown in FIG. Figure 4 .

[0023] Fig.13 The local structure of the present invention is shown in FIG. Figure 5 .

[0024] Figure numbers: 101-support seat; 102-mounting ring 1; 103-mounting seat 1; 104-mounting seat 2; 105-motor 1; 201-mechanical arm 1; 202-motor 2; 203-mounting ring 2; 204-avoidance groove 1; 301-mechanical arm 2; 302-motor 3; 303-mounting ring 3; 304-avoidance groove 2; 401-mechanical arm 3; 402-mounting ring 4; 403-motor 4; 404-mounting ring 5; 405-mechanical arm 4; 501-mechanical arm 5; 502-mounting ring 6; 503 -Motor five; 601-support ring; 602-support frame one; 603-support shaft; 604-connecting shaft; 605-rotating ring; 606-motor six; 701-telescopic arm one; 702-connecting frame; 703-articulated seat one; 704-articulated seat two; 705-hinge head; 706-electric cylinder one; 707-support frame two; 801-telescopic arm two; 802-support tube; 803-mounting plate; 804-articulated rod one; 805-articulated rod two; 806-articulated rod three; 807-support frame three; 808-electric cylinder two. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0026] Example: Figure 1-Figure 13A multifunctional modular manipulator shown in the figure includes a support base 101, the support base 101 is externally connected to a program control module, a first position adjustment module is installed on the support base 101, a second position adjustment module is installed on the first position adjustment module, a third position adjustment module is installed on the second position adjustment module, a fourth position adjustment module is installed on the third position adjustment module, a fifth position adjustment module is installed on the fourth position adjustment module, a support module is installed on the fifth position adjustment module, an external telescopic module is installed on the support module, an internal contraction module is installed below the support module, the internal telescopic module is arranged in the external telescopic module, the first position adjustment module, the second position adjustment module, the third position adjustment module, the third position adjustment module, the fifth position adjustment module, the support module, the external telescopic module and the internal telescopic module are controlled by the program control module; the external telescopic module and the internal telescopic module are both used to provide a detachable mounting platform for an external functional execution mechanism.

[0027] The support module includes a support ring 601, a support frame 602, a support shaft 603, a connecting shaft 604, a rotating ring 605 and a motor 606. The connecting shaft 604 is detachably mounted on the fifth position adjustment module through a coupling. The support shaft 603 is coaxially fixedly mounted on the connecting shaft 604. The support ring 601 is coaxially fixedly mounted on the support shaft 603 through the support frame 602. A rotating slot is provided on the support ring 601. A rotating track is provided on the rotating ring 605. The rotating track on the rotating ring 605 is rotatably connected to the rotating slot of the support ring 601. The motor 606 is coaxially fixedly mounted in the support shaft 603. The rotating ring 605 is coaxially fixedly connected to the output shaft of the motor 606.

[0028] The inner telescopic module includes an inner telescopic mechanism and a second support frame 707, the second support frame 707 is coaxially fixedly mounted on the support shaft 603, the inner telescopic mechanism is rotatably mounted on the support ring 601, and the inner telescopic mechanism is hinged to the telescopic arm 1 701; the inner telescopic module includes an inner telescopic mechanism and a driving mechanism, the driving mechanism is mounted on the rotating ring 605, and the inner telescopic mechanism is mounted on the driving mechanism; both the outer telescopic mechanism and the inner telescopic mechanism are provided in plurality, and are evenly spaced and distributed in a circular shape.

[0029] The external telescopic mechanism includes a telescopic arm 701, a connecting frame 702, an articulated seat 1 703, an articulated seat 2 704 and an electric cylinder 1 706. The articulated seat 1 703 is fixedly mounted on the support ring 601. The end of the electric cylinder 1 706 away from the piston rod is hinged on the support frame 2 707. A hinge head 705 is fixedly mounted on the piston rod of the electric cylinder 1 706. The connecting frame 702 is hinged on the articulated seat 1 703. One end of the articulated seat 2 704 is hinged on the connecting frame 702. The other end of the articulated seat 2 704 is hinged on the articulated head 705. The telescopic arm 1 701 is mounted on the connecting frame 702. A plurality of mounting holes 1 are evenly spaced apart on the telescopic arm 1 701.

[0030] The driving mechanism includes a support cylinder 802, a mounting plate 803, a support frame 3 807 and an electric cylinder 2 808. The mounting plate 803 is coaxially mounted on the rotating ring 605. The support cylinder 802 is coaxially fixedly mounted on the mounting plate 803. The electric cylinder 2 808 is coaxially fixedly mounted in the support cylinder 802. The support frame 3 807 is coaxially fixedly mounted on the piston rod of the electric cylinder 2 808. The inner telescopic mechanism includes a telescopic arm 2 801. The telescopic arm 2 801 is hinged with an articulated rod 1 804 and an articulated rod 2 804. 5. The hinged rod 1 804 and the hinged rod 2 805 are distributed at intervals, and the ends of the hinged rod 1 804 and the hinged rod 2 805 away from the telescopic arm 2 801 are hinged to the support tube 802. The hinged rod 1 804 and the hinged rod 2 805 are arranged in parallel and have equal lengths. The end of the telescopic arm 2 801 close to the support frame 3 807 is hinged with the hinged rod 3 806. The telescopic arm 2 801 is hinged to the support frame 3 807 through the hinged rod 3 806. A plurality of mounting holes 2 are evenly spaced on the telescopic arm 2 801.

[0031] The first position adjustment module includes a mounting ring 102, a mounting seat 103, a mounting seat 2 104 and a motor 105. The mounting ring 102 is coaxially fixedly installed on the support seat 101, the mounting seat 103 is coaxially fixedly installed on the mounting ring 102, the motor 105 is coaxially fixedly installed in the support seat 101, the mounting seat 2 104 is coaxially rotatably installed on the mounting seat 103, and the mounting seat 2 104 is coaxially fixedly connected to the output shaft of the motor 105.

[0032] The second position adjustment module includes a robot arm 201, which is fixedly mounted on a mounting seat 104. An avoidance groove 204 is provided on the robot arm 201. Motor 202 and mounting ring 203 are provided on both sides of the robot arm 201. The mounting ring 203 is fixedly mounted on the robot arm 201, and the motor 202 is coaxially fixedly mounted on the mounting ring 203.

[0033] The third position adjustment module includes a robot arm 2 301, which is hinged in an avoidance groove 1 204 on the robot arm 1 201, and the robot arm 2 301 is coaxially fixedly connected with the output shaft of the motor 202, and motor 302 and mounting ring 303 are arranged on both sides of the end of the robot arm 2 301 away from the avoidance groove 1 204, and the mounting ring 303 is fixedly installed on the robot arm 1 201, and the motor 302 is coaxially fixedly installed on the mounting ring 303, and an avoidance groove 2 304 is opened at the end of the robot arm 2 301 away from the avoidance groove 1 204.

[0034] The fourth position adjustment module includes a robot arm three 401, a mounting ring four 402, a motor four 403, a mounting ring five 404 and a robot arm four 405. The robot arm three 401 is hinged in the avoidance groove two 304 on the robot arm two 301. The robot arm three 401 is coaxially fixedly connected with the output shaft of the motor three 302. The mounting ring four 402 is coaxially fixedly installed at one end of the robot arm three 401 away from the avoidance groove two 304. The motor four 403 is coaxially fixedly installed on the mounting ring four 402. The mounting ring five 404 is coaxially fixedly installed on the output shaft of the motor four 403. The robot arm four 405 is coaxially fixedly installed on the mounting ring five 404.

[0035] The fifth position adjustment module includes a robot arm five 501, a mounting ring six 502 and a motor five 503. The robot arm five 501 is vertically fixedly mounted on the robot arm four 405, the mounting ring six 502 is coaxially fixedly mounted on the robot arm five 501, the motor five 503 is coaxially fixedly mounted on the mounting ring six 502, and the connecting shaft 604 is detachably mounted on the output shaft of the motor five 503 through a coupling.

[0036] The working principle of the present invention is:

[0037] Functional execution mechanisms include but are not limited to clamping mechanisms, cleaning mechanisms, grinding mechanisms and welding mechanisms.

[0038] When the first position adjustment module, the second position adjustment module, the third position adjustment module, the fourth position adjustment module and the fifth position adjustment module are in operation: the output shaft of the motor 105 drives the mounting seat 2 104 to rotate on the mounting seat 1 103, and the mounting seat 2 104 drives the second position adjustment module, the third position adjustment module, the fourth position adjustment module and the fifth position adjustment module to rotate around the axis of the motor 1 105 through the mechanical arm 1 201; the output shaft of the motor 202 drives the mechanical arm 2 301 to rotate in the avoidance groove 1 204, and the mechanical arm 2 301 drives the third position adjustment module, the fourth position adjustment module and the fifth position adjustment module to rotate around the motor 202 The output shaft of motor three 302 drives robot three 401 to rotate in avoidance groove two 304, and robot three 401 drives the fourth position adjustment module and the fifth position adjustment module to rotate around the axis of motor three 302; the output shaft of motor four 403 drives robot four 405 to rotate through mounting ring five 404, and robot four 405 drives the fifth position adjustment module to rotate around the axis of motor four 403 through robot five 501; the output shaft of motor five 503 drives the connecting shaft 604 to rotate through the coupling, and the connecting shaft 604 drives the supporting module, the outer telescopic module and the inner telescopic module to rotate around the axis of motor five 503 through the supporting shaft 603.

[0039] Furthermore, through the mutual cooperation between the first position adjustment module, the second position adjustment module, the third position adjustment module, the fourth position adjustment module and the fifth position adjustment module, the support module, the external telescopic module and the internal telescopic module can be adjusted in multiple directions to adapt to work in different scenarios or different positions, thereby improving the working range and flexibility of the manipulator.

[0040] When the external telescopic module is working: when multiple external telescopic mechanisms need to be extended, the piston rod of the electric cylinder 1 706 drives the hinge seat 2 704 to rotate through the hinge joint 705, and the hinge seat 2 704 drives the telescopic arm 1 701 to rotate through the connecting frame 702, thereby extending the multiple telescopic arms 1 701, and moving the multiple telescopic arms 1 701 in the direction away from each other. The working principle of the multiple external telescopic mechanisms when they are contracted is opposite to that when they are extended, so that the multiple telescopic arms 1 701 move in the direction of approaching each other, thereby completing the multiple external telescopic mechanisms. The telescopic mechanism is telescopic; when multiple telescopic arms 701 need to rotate, the output shaft of the motor 503 drives the connecting shaft 604 to rotate through the coupling, and the connecting shaft 604 drives the support frame 2 707, the support frame 1 602 and the support ring 601 to rotate through the support shaft 603, thereby driving the electric cylinder 1 706, the hinge head 705, the hinge seat 2 704, the hinge seat 1 703, the connecting frame 702 and the telescopic arm 1 701 to rotate around the axis of the motor 503. At this time, the outer telescopic module and the inner telescopic module rotate coaxially and synchronously.

[0041] When the inner telescopic module is working: when multiple inner telescopic mechanisms need to be extended, the piston rod of the electric cylinder 2 808 drives the support frame 3 807 to extend, and the support frame 3 807 drives the telescopic arm 2 801 to rotate through the hinge rod 3 806. At this time, the hinge rod 1 804 and the hinge rod 2 805 rotate synchronously, thereby making the multiple telescopic arms 2 801 extend, that is, making the multiple telescopic arms 2 801 move in a direction away from each other. Since the hinge rod 1 804 and the hinge rod 2 805 are equal in length and arranged in parallel, the telescopic arms 2 801 can be prevented from being deformed. 01 deflects when extended, resulting in position deviation. The working principle of the multiple internal telescopic mechanisms when contracting is opposite to that when unfolded as mentioned above, so that the multiple telescopic arms 801 move in the direction of approaching each other, thereby completing the extension and retraction of the multiple internal telescopic mechanisms; when the multiple telescopic arms 801 need to rotate, the output shaft of the motor 606 drives the rotating ring 605 to rotate, and the rotating ring 605 drives the support tube 802 to rotate through the mounting plate 803, thereby driving the multiple internal telescopic mechanisms to rotate, thereby causing the multiple telescopic arms 801 to rotate.

[0042] During actual use, if only the outer telescopic module is required to work (for example, only the outer surface of the part needs to be cleaned, ground, clamped or welded), the inner telescopic module is removed through the mounting plate 803, and the required clamping mechanism, cleaning mechanism, grinding mechanism or welding mechanism is installed on the telescopic arm 1 701 through the mounting hole 1. When working, the multiple telescopic arms 1 701 are contracted, driving the functional actuator on the telescopic arm 1 701 to move to the required position of the outer surface of the part; if only the inner telescopic module is required to work (for example, only the inner surface of the part needs to be cleaned, ground, clamped or welded), the outer telescopic mechanism is controlled to extend, so that the multiple telescopic arms 1 701 move in a direction away from each other, thereby making the multiple telescopic arms 1 701 away from the part and the telescopic arm 2 801, and the required clamping mechanism, cleaning mechanism, grinding mechanism or welding mechanism is installed on the telescopic arm 2 801 through the mounting hole 2. When working, the multiple telescopic arms 2 801 are extended, driving the functional actuator on the telescopic arm 2 801 to move to the required position of the inner surface of the part.

[0043] If both the outer telescopic module and the inner telescopic module are required to work (for example, the inner and outer surfaces of the parts need to be cleaned, ground, clamped or welded at the same time), the required clamping mechanism, cleaning mechanism, grinding mechanism or welding mechanism is installed on the telescopic arm 1 701 through the mounting hole 1, and the other set of clamping mechanism, cleaning mechanism, grinding mechanism or welding mechanism is installed on the telescopic arm 2 801 through the mounting hole 2. When working, the multiple telescopic arms 1 701 are contracted, driving the functional actuators on the telescopic arm 1 701 to move to the required position of the outer surface of the parts, and the multiple telescopic arms 2 801 are expanded, driving the functional actuators on the telescopic arm 2 801 to move to the required position of the inner surface of the parts.

[0044] When both the outer telescopic module and the inner telescopic module are required to work at the same time (for example, the inner and outer surfaces of the parts need to be cleaned, ground, clamped or welded at the same time), if the inner and outer surfaces need to rotate in the same direction and at the same speed, the output shaft of the motor 503 drives the connecting shaft 604 to rotate through the coupling, and the connecting shaft 604 drives the support frame 2 707, the support frame 1 602 and the support ring 601 to rotate through the support shaft 603, thereby driving the rotating ring 605, the electric cylinder 1 706, the hinge head 705, the hinge seat 2 704, the hinge seat 1 703, the connecting frame 702 and the telescopic arm 1 701 to rotate around the axis of the motor 503. At this time, the outer telescopic module and the inner telescopic module rotate coaxially and synchronously; if the inner and outer surfaces need to rotate in the same direction and at different speeds, then the motor 503 is turned on. 03 output shaft drives the connecting shaft 604 to rotate while the output shaft of motor six 606 drives the rotating ring 605 to rotate. If the inner telescopic module needs to rotate faster, the rotation direction of the rotating ring 605 driven by motor six 606 is the same as the rotation direction of the connecting shaft 604 driven by motor five 503. If the outer telescopic module needs to rotate faster, the rotation direction of the rotating ring 605 is opposite to the rotation direction of the connecting shaft 604, and the rotation speed of the rotating ring 605 driven by motor six 606 is less than the rotation speed of the connecting shaft 604 driven by motor five 503. If the inner and outer surfaces need to rotate in opposite directions and at the same speed, refer to the above working principle to adjust the reverse rotation speed of the rotating ring 605 driven by motor six 606 and adjust the rotation direction and speed of the connecting shaft 604 driven by motor five 503.

[0045] Furthermore, by adjusting the rotation direction and speed of the inner and outer telescopic modules, the processing of parts with different requirements can be achieved, which greatly improves the scope of application of parts processing, can meet the processing needs of various parts while saving the cost of parts processing, and ensures the efficiency and quality of parts processing; because the inner and outer telescopic modules can be installed with different types of functional actuators, thus being able to meet the different processing needs of parts, the scope of application is wide, and the flexibility of parts processing is strong.

[0046] If the support module, the external telescopic module, and the internal telescopic module are not needed, they can be removed by disassembling the coupling. After removal, other functional actuators can be installed on the output shaft of the motor 503 to work, thereby further improving the flexibility and applicability of the robot.

[0047] It should be particularly noted that the start and stop of the above-mentioned power parts and the overall working process of the present invention are all controlled by a program control module.

Claims

1. A multifunctional modular manipulator, comprising a support base (101), wherein the support base (101) is externally connected to a program control module, characterized in that: The support seat (101) is provided with a first position adjustment module, the first position adjustment module is provided with a second position adjustment module, the second position adjustment module is provided with a third position adjustment module, the third position adjustment module is provided with a fourth position adjustment module, the fourth position adjustment module is provided with a fifth position adjustment module, the fifth position adjustment module is provided with a support module, the support module is provided with an external telescopic module, an internal retractable module is provided below the support module, the internal telescopic module is arranged inside the external telescopic module, and the first position adjustment module, the second position adjustment module, the third position adjustment module, the third position adjustment module, the fifth position adjustment module, the support module, the external telescopic module and the internal telescopic module are controlled by the program control module; the external telescopic module and the internal telescopic module are both used to provide a detachable installation platform for an external functional execution mechanism.

2. A multifunctional modular manipulator according to claim 1, characterized in that: The support module comprises a support ring (601), a support frame (602), a support shaft (603), a connecting shaft (604), a rotating ring (605) and a motor (606); the connecting shaft (604) is detachably mounted on the fifth position adjustment module via a coupling, and the support shaft (603) is coaxially fixedly mounted on the connecting shaft (604).

3. A multifunctional modular manipulator as claimed in claim 2, characterized in that: The support ring (601) is coaxially fixedly mounted on the support shaft (603) via the support frame one (602); a rotation slot is provided on the support ring (601); a rotation track is provided on the rotating ring (605); the rotation track on the rotating ring (605) is rotationally connected to the rotation slot of the support ring (601); the motor six (606) is coaxially fixedly mounted in the support shaft (603); the rotating ring (605) is coaxially fixedly connected to the output shaft of the motor six (606).

4. A multifunctional modular manipulator as claimed in claim 3, characterized in that: The inner telescopic module comprises an inner telescopic mechanism and a second support frame (707), wherein the second support frame (707) is coaxially fixedly mounted on a support shaft (603), and the inner telescopic mechanism is rotatably mounted on a support ring (601), and the inner telescopic mechanism is hinged to the first telescopic arm (701).

5. A multifunctional modular manipulator as claimed in claim 4, characterized in that: The inner telescopic module comprises an inner telescopic mechanism and a driving mechanism, wherein the driving mechanism is mounted on a rotating ring (605), and the inner telescopic mechanism is mounted on the driving mechanism; a plurality of the outer telescopic mechanisms and the inner telescopic mechanisms are provided and are evenly spaced and distributed in a circular shape.

6. A multifunctional modular manipulator as claimed in claim 5, characterized in that: The external telescopic mechanism comprises a telescopic arm 1 (701), a connecting frame (702), an articulated seat 1 (703), an articulated seat 2 (704) and an electric cylinder 1 (706); the articulated seat 1 (703) is fixedly mounted on a support ring (601); one end of the electric cylinder 1 (706) away from the piston rod is hinged on a support frame 2 (707); and a hinge joint (705) is fixedly mounted on the piston rod of the electric cylinder 1 (706).

7. A multifunctional modular manipulator as claimed in claim 6, characterized in that: The connecting frame (702) is hinged on the hinge seat 1 (703), one end of the hinge seat 2 (704) is hinged on the connecting frame (702), the other end of the hinge seat 2 (704) is hinged on the hinge head (705), the telescopic arm 1 (701) is installed on the connecting frame (702), and a plurality of mounting holes 1 are evenly spaced on the telescopic arm 1 (701).

8. A multifunctional modular manipulator as claimed in claim 7, characterized in that: The driving mechanism comprises a support tube (802), a mounting plate (803), a third support frame (807) and a second electric cylinder (808); the mounting plate (803) is coaxially mounted on a rotating ring (605); the support tube (802) is coaxially fixedly mounted on the mounting plate (803); the second electric cylinder (808) is coaxially fixedly mounted in the support tube (802); the third support frame (807) is coaxially fixedly mounted on the piston rod of the second electric cylinder (808); the internal telescopic mechanism comprises a second telescopic arm (801).

9. A multifunctional modular manipulator as claimed in claim 8, characterized in that: The telescopic arm 2 (801) is hinged with an articulated rod 1 (804) and an articulated rod 2 (805), and the articulated rod 1 (804) and the articulated rod 2 (805) are distributed at intervals. The ends of the articulated rod 1 (804) and the articulated rod 2 (805) away from the telescopic arm 2 (801) are both hinged to the support tube (802), and the articulated rod 1 (804) and the articulated rod 2 (805) are arranged in parallel and have equal lengths. The end of the telescopic arm 2 (801) close to the support frame 3 (807) is hinged with an articulated rod 3 (806), and the telescopic arm 2 (801) is hinged to the support frame 3 (807) through the articulated rod 3 (806). A plurality of mounting holes 2 are evenly spaced on the telescopic arm 2 (801).

10. A multifunctional modular manipulator according to claim 9, characterized in that: The first position adjustment module comprises a mounting ring 1 (102), a mounting seat 1 (103), a mounting seat 2 (104) and a motor 1 (105); the mounting ring 1 (102) is coaxially fixedly mounted on the support seat (101); the mounting seat 1 (103) is coaxially fixedly mounted on the mounting ring 1 (102); the motor 1 (105) is coaxially fixedly mounted in the support seat (101); the mounting seat 2 (104) is coaxially rotatably mounted on the mounting seat 1 (103); and the mounting seat 2 (104) is coaxially fixedly connected to the output shaft of the motor 1 (105).

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