An adaptive manipulator with adjustable spacing

Abstract

The present invention relates to the field of industrial automation and robotics technology, and specifically relates to an adaptive manipulator with adjustable spacing, including a carrier seat. The carrier seat serves as a carrier, and a limiting groove is opened inside it. There are two sliding carriers, which are respectively slidably arranged on both sides of the lower part of the limiting groove. A rotary joint, a linkage joint, and a terminal joint are successively hinged to the lower parts of the two sliding carriers. Symmetrical electric cylinders I are installed at the lower parts of the sliding carriers. Through the drive module and the bidirectional screw structure inside the carrier seat, the spacing between the two sliding carriers can be flexibly adjusted, enabling the manipulator to adapt to workpieces of different sizes and shapes, significantly improving its versatility and adaptability; the rotary joint, the linkage joint, and the terminal joint achieve synchronous retraction / expansion and angular rotation of multiple joints through the coordinated operation of the electric cylinder I, the connecting rod group, the micro motor, the screw rod, and the moving plate, enabling the manipulator to precisely control the movement of each joint and ensuring the stability and accuracy during the grasping and handling process.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation and robotics, and particularly to an adaptive manipulator with adjustable spacing. Background Art

[0002] In the field of industrial automation, manipulators, as core execution devices, are widely used in scenarios such as automobile manufacturing and electronic product assembly, undertaking high-precision tasks such as welding, assembly, and handling.

[0003] However, there are still significant technical bottlenecks in the actual application of existing manipulators, which restrict production efficiency and flexibility:

[0004] 1. The clamping spacing of most current manipulators adopts a fixed design or limited-range adjustment (such as relying on manual fixture replacement), making it difficult to meet the rapid switching requirements of multi-specification workpieces. For example, in an automobile manufacturing production line, the same manipulator needs to process doors and hoods of different models. Due to the inability to adjust the spacing in real time in the traditional solution, it is necessary to frequently stop the machine to replace the fixture or manually intervene in the mechanical structure. According to the measured data of a certain automobile factory, such adjustments take a relatively long time on average, resulting in a high loss of daily production capacity of a single line.

[0005] 2. The joints of traditional manipulators mostly rely on a single drive (such as a single motor or cylinder), lacking a multi-level linkage control mechanism, resulting in the accumulation of motion trajectory deviations. Taking the assembly of electronic products as an example, when handling precision connectors, due to the angle deviation and repeated positioning error of the end joints, it is easy to cause plugging failures, leading to an increase in the scrap rate.

[0006] Therefore, an adaptive manipulator with adjustable spacing is specifically designed to solve the above technical problems. Summary of the Invention

[0007] In order to overcome the above-mentioned drawbacks, the purpose of the present invention is to provide an adaptive manipulator with adjustable spacing.

[0008] The technical solution is as follows: An adaptive manipulator with adjustable spacing includes a bearing base. The bearing base serves as a carrier, and a limiting groove is opened inside it. There are two sliding carriers, which are respectively slidably arranged on both sides of the lower part of the limiting groove. The lower parts of the two sliding carriers are successively hinged with a rotary joint, a linkage joint, and a terminal joint. Symmetrical electric cylinders I are installed at the lower parts of the sliding carriers. Linkage groups are symmetrically hinged at the lower parts of the two linkage joints and the corresponding terminal joints. Miniature motors with output shafts facing upward are installed inside the rotary joint and the linkage joint. A screw rod is rotatably arranged on the output shaft of the miniature motor. The end parts of the screw rods in all directions are respectively rotatably connected to the upper parts inside the corresponding rotary joint or linkage joint. Moving plates are slidably arranged inside the two rotary joints and the corresponding linkage joints. The telescopic rod of the electric cylinder I is rotatably connected to the upper part of the linkage group of the lower corresponding linkage joint. The moving plates in all directions are respectively rotatably connected to the corresponding screw rods, and the upper part of the linkage part of the linkage joint is hinged to the moving plate inside the rotary joint, while the upper part of the linkage part of the terminal joint is hinged to the moving plate inside the linkage joint. A driving module is installed in the middle of the limiting groove of the bearing base. A bidirectional lead screw is rotatably installed inside the driving module. Slide seats are slidably arranged on both sides of the upper part of the limiting groove. The slide seats are slidably connected to the bidirectional lead screw, and the slide seats are connected to the corresponding sliding carriers below.

[0009] As an improvement to the above solution, the bottom surface of the lower part of the terminal joint shows an inclined trend, and the inclined bottom surfaces of the two terminal joints face each other. A guiding groove penetrating to the outside is opened in the upper part inside the terminal joint, a limiting groove is opened in the middle part inside the terminal joint, and a plurality of sealing cavities communicating with the limiting groove and bending to the outside are opened in the lower part inside the terminal joint.

[0010] As an improvement to the above solution, it further includes an electric cylinder II, a pushing plate, a U-shaped frame, a pressure relief pushing frame, a pulling rope, an adsorption sleeve, a piston block, a guiding rod, and a spring. Electric cylinders II are installed at the middle parts of the lower parts of the two terminal joints. The telescopic rods of the electric cylinders II extend into the corresponding terminal joints. A pushing plate is slidably arranged in the guiding groove of the terminal joint. The pushing plate is connected to the telescopic rod of the electric cylinder II. A U-shaped frame surrounding the outside of the terminal joint is connected between the two outer sides of the pushing plate facing outward. A pressure relief pushing frame is slidably arranged in the limiting groove of the terminal joint. An adsorption sleeve is fixed at a position far from the limiting groove inside each sealing cavity. A piston block is slidably arranged inside the adsorption sleeve. The piston block slides along the sealing cavity, and a pulling rope is connected to the lower part of the pressure relief pushing frame. The pulling rope extends into the sealing cavity and is connected to the piston block. A penetrating part slidably penetrating through the terminal joint is arranged on the side part of the pressure relief pushing frame. A guiding rod is arranged on the penetrating part of the pressure relief pushing frame. The guiding rod is exposed, and a spring is arranged between the guiding rod and the outside of the terminal joint.

[0011] As an improvement to the above solution, it further includes a filter screen, and filter screens are sleeved outside the adsorption ends of the adsorption sleeves.

[0012] As an improvement of the above scheme, it also includes a supporting finger plate and a torsion spring. The lower part of the two end joints is hinged with a supporting finger plate. The rear part of the supporting finger plate is in conflict with the lower part of the U-shaped frame. When the U-shaped frame moves, it pushes the supporting finger plate, forcing it to rotate. A torsion spring is provided at the hinge between the supporting finger plate and the end joint.

[0013] As an improvement of the above scheme, it also includes a mounting plate, a motor and an outer clamping plate. Mounting plates are provided on both sides of the outside of the sliding carrier. A motor with an output shaft facing downward is installed at the lower part of the upper part of the mounting plate. An outer clamping plate is rotatably provided on the output shaft of the motor. The rotation paths of the two outer clamping plates on the same side are opposite to each other to form a closure.

[0014] As an improvement of the above solution, an anti-skid pad is further included. An anti-skid pad is embedded on the outer side of each outer splint.

[0015] As an improvement of the above scheme, it also includes a reinforcement, a dust blower and an air intake pipe. The upper parts of the two front mounting plates are each provided with a reinforcement. The upper part of the reinforcement is provided with an inclined portion inclined toward the supporting seat. The dust blower is installed on the inclined portion of the reinforcement. The upper part of the dust blower is connected to the air intake pipe.

[0016] The beneficial effects are: 1. Through the driving module and the bidirectional screw structure inside the bearing seat, the distance between the two sliding carriers can be flexibly adjusted, so that the manipulator can adapt to workpieces of different sizes and shapes, significantly improving its versatility and adaptability; the rotating joints, linkage joints and terminal joints are coordinated through the electric cylinder, connecting rod group, micro motor, screw and moving plate to achieve synchronous retraction and extension and angular rotation of multiple joints, so that the manipulator can accurately control the movement of each joint to ensure stability and accuracy during grasping and handling.

[0017] 2. The electric cylinder drives the push plate and the U-shaped frame, forcing the supporting finger plate to clamp the workpiece under the action of the torsion spring. At the same time, the pressure relief push frame drives the piston block to move in the sealed chamber through the pull rope to form negative pressure adsorption. This dual fixing mechanism (mechanical clamping + negative pressure adsorption) is suitable for workpieces of different materials and shapes, and significantly improves the grasping stability.

[0018] 3. The adsorption force can be automatically adjusted through the cooperation of the pressure relief push frame and the spring. When the surface of the workpiece is uneven or the force is too large, the spring buffers the pressure through the guide rod to avoid deformation or damage of the workpiece due to excessive adsorption.

[0019] 4. The outer clamping plate is driven by a motor, and its rotation paths are designed to face each other, ensuring that the clamping plates on both sides close synchronously to form an enclosing clamp. This closing method can evenly distribute the clamping force and avoid deformation of the workpiece due to excessive local pressure. It is suitable for fragile or precision workpieces, expanding the application scenarios of the robot.

[0020] 4. Use a dust blower to suck in air through the intake pipe and blow the dust and debris on the surface of the workpiece (such as removing impurities on the circuit board during electronic component assembly), ensuring that the grasping contact surface is clean to avoid contamination or assembly errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the assembly structure of the present invention.

[0022] Figure 2 It is a three-dimensional structure schematic diagram of the carrier seat, sliding carrier and rotating joint of the present invention.

[0023] Figure 3 It is a three-dimensional structure schematic diagram of the sliding seat, sliding carrier and rotating joint of the present invention.

[0024] Figure 4 It is a cross-sectional structure schematic diagram of components such as the micro motor, screw and moving plate of the present invention.

[0025] Figure 5 It is a cross-sectional structure schematic diagram of components such as the drive module, bidirectional lead screw and sliding seat of the present invention.

[0026] Figure 6 It is a three-dimensional structure schematic diagram of the second electric cylinder, push plate and U-shaped frame of the present invention.

[0027] Figure 7 It is a cross-sectional structure schematic diagram of components such as the end joint, push plate and U-shaped frame of the present invention.

[0028] Figure 8 It is a planar structure schematic diagram of the end joint, push plate and -U-shaped frame of the present invention.

[0029] Figure 9 It is a cross-sectional structure schematic diagram of components such as the end joint, supporting finger plate and torsion spring of the present invention.

[0030] Figure 10 It is a three-dimensional structure schematic diagram of components such as the sliding carrier, reinforcement and dust blower of the present invention.

[0031] Names of reference numerals in the figure: 1, bearing seat; 2, sliding carrier; 21, rotating joint; 22, linkage joint; 23, end joint; 231, guiding groove; 232, limiting groove; 233, sealing cavity; 24, first electric cylinder; 25, connecting rod group; 251, micro motor; 252, screw rod; 253, moving plate; 3, driving module; 31, bidirectional lead screw; 32, sliding seat; 4, second electric cylinder; 41, pushing plate; 42, U-shaped frame; 43, pressure relief pushing frame; 431, pulling rope; 432, adsorption sleeve; 433, piston block; 44, guiding rod; 45, spring; 46, filter screen; 5, supporting finger plate; 51, torsion spring; 6, mounting plate; 61, motor; 62, outer clamping plate; 63, anti-slip pad; 7, reinforcing member; 71, dust blower; 72, air inlet pipe. Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Embodiment: An adaptive manipulator with adjustable spacing, as Figures 1-10As shown in the figure, it includes a carrier base 1. The carrier base 1 serves as a carrier and the core support structure of the manipulator, providing overall rigidity and a motion reference. There is a limit groove 232 inside it. There are two sliding carriers 2, which are respectively slidably arranged on both sides of the lower part of the limit groove 232. The sliding carriers 2 slide in the limit groove 232 of the carrier base 1 to adjust the clamping distance on both sides of the manipulator to adapt to workpieces of different sizes. Rotating joints 21, linkage joints 22, and end joints 23 are successively hinged to the lower parts of the two sliding carriers 2. The linkage joint 22 transmits the motion of the rotating joint 21 to the end joint 23 to enhance the multi-joint coordination. The end joint 23 performs the final grasping action. The bottom surface of the lower part of the end joint 23 shows an inclined trend, and the inclined bottom surfaces of the two end joints 23 face each other. A through guide groove 231 is opened in the upper part of the end joint 23. A limit groove 232 is opened in the middle part of the end joint 23. A plurality of sealing cavities 233 that communicate with the limit groove 232 and bend outwards are opened in the lower part of the end joint 23. Symmetrical electric cylinders 24 are installed at the lower parts of the sliding carriers 2. Linkage groups 25 are symmetrically hinged between the two linkage joints 22 and the corresponding lower parts of the end joints 23. The electric cylinder 24 drives the linkage group 25 through telescoping to assist the joints to expand or fold. The linkage group 25 transmits the torque to ensure the coordinated movement of the multi-joints. Miniature motors 251 with output shafts facing upwards are installed in the lower parts of the rotating joint 21 and the linkage joint 22. A screw 252 is rotatably arranged on the output shaft of the miniature motor 251 through a coupling. The end parts of the screws 252 in all directions are respectively rotatably connected to the upper parts inside the corresponding rotating joint 21 or linkage joint 22. Moving plates 253 are slidably arranged inside the two rotating joints 21 and the corresponding linkage joints 22. The rotating joint 21 drives the screw 252 through the miniature motor 251 to control the sliding of the moving plate 253 to achieve the initial angle adjustment. The telescopic rod of the electric cylinder 24 is rotatably connected to the upper part of the linkage group 25 of the lower linkage joint 22 through a pin shaft. The moving plates 253 in all directions are respectively rotatably connected to the corresponding screws 252, and the upper part of the linkage part of the linkage joint 22 is hinged to the moving plate 253 inside the rotating joint 21, while the upper part of the linkage part of the end joint 23 is hinged to the moving plate 253 inside the linkage joint 22. A driving module 3 is installed in the middle part of the limit groove 232 of the carrier base 1 through bolts. A bidirectional lead screw 31 is rotatably installed inside the driving module 3. Slide seats 32 are slidably arranged on both sides of the upper part of the limit groove 232. The slide seats 32 are slidably connected to the bidirectional lead screw 31. The slide seats 32 are connected to the corresponding sliding carriers 2 below. The driving module 3 rotates the bidirectional lead screw 31 to drive the slide seats 32 to move synchronously to achieve the adjustment of the distance between the sliding carriers 2.

[0034] As Figures 1-10As shown in the figure, it further includes a second electric cylinder 4, a push plate 41, a U-shaped frame 42, a pressure relief push frame 43, a pull rope 431, an adsorption sleeve 432, a piston block 433, a guide rod 44 and a spring 45. At the middle of the lower parts of the two end joints 23, the second electric cylinders 4 are both installed by bolts. The telescopic rods of the second electric cylinders 4 extend into the corresponding end joints 23. A push plate 41 is slidably arranged in the guide groove 231 of the end joint 23. The push plate 41 is connected to the telescopic rod of the second electric cylinder 4. Between the two outer sides of the push plate 41 facing outwards, there is a U-shaped frame 42 surrounding the outside of the end joint 23. The push plate 41 and the U-shaped frame 42 are connected by welding or riveting. The second electric cylinder 4 drives the push plate 41 to slide along the guide groove 231, and the push plate 41 drives the U-shaped frame 42 to move. A pressure relief push frame 43 is slidably arranged in the limit groove 232 of the end joint 23. At the position far from the limit groove 232 inside each sealing cavity 233, an adsorption sleeve 432 is fixed. A piston block 433 is slidably arranged inside the adsorption sleeve 432. The piston block 433 slides along the sealing cavity 233. And a pull rope 431 is connected to the lower part of the pressure relief push frame 43. The pull rope 431 extends into the sealing cavity 233 and is connected to the piston block 433. A through portion that slidably penetrates the end joint 23 is provided on the side of the pressure relief push frame 43. A guide rod 44 is arranged on the through portion of the pressure relief push frame 43. The guide rod 44 is exposed, and a spring 45 is arranged between the guide rod 44 and the outside of the end joint 23. The pressure relief push frame 43 pulls the piston block 433 to move in the sealing cavity 233 through the pull rope 431 to form negative pressure adsorption.

[0035] As Figures 7-9 shown in the figure, it further includes a filter screen 46. Filter screens 46 are sleeved outside the adsorption ends of the adsorption sleeves 432. The filter screens 46 are used to filter impurities such as dust and debris in the inhaled air to prevent pollutants from entering the inside of the sealing cavity 233.

[0036] As Figure 6 and Figure 9 shown in the figure, it further includes a supporting finger plate 5 and a torsion spring 51. The lower parts of the two end joints 23 are both hinged with a supporting finger plate 5 through a hinge shaft. The rear part of the supporting finger plate 5 abuts against the lower part of the U-shaped frame 42. When the U-shaped frame 42 moves, it pushes the supporting finger plate 5 to make it rotate. A torsion spring 51 is arranged at the hinge of the supporting finger plate 5 and the end joint 23; the supporting finger plate 5 rotates under the push of the U-shaped frame 42 to clamp the workpiece; the torsion spring 51 provides a restoring moment to ensure automatic return after clamping.

[0037] As Figure 1 and Figure 10As shown in the figure, it also includes a mounting plate 6, a motor 61 and an outer clamping plate 62. Mounting plates 6 are provided on both outer sides of the sliding carrier 2. A motor 61 with its output shaft facing downwards is installed at a position near the lower part of the upper part of the mounting plate 6. An outer clamping plate 62 is rotatably arranged on the output shaft of the motor 61. The motor 61 is connected to the outer clamping plate 62 through a coupling. The rotation paths of the two outer clamping plates 62 on the same side face each other. The motor 61 drives the outer clamping plates 62 to close towards each other, so as to realize auxiliary clamping.

[0038] As Figure 1 and Figure 10 shown in the figure, it also includes an anti-slip pad 63. The anti-slip pads 63 are embedded on the outer sides of the respective outer clamping plates 62. The anti-slip pads 63 are used to increase the friction between the clamping surface and the workpiece, and prevent the workpiece from slipping or shifting during the handling process.

[0039] As Figure 1 and Figure 10 shown in the figure, it also includes a reinforcing member 7, a dust blower 71 and an air inlet pipe 72. Reinforcing members 7 are provided on the upper parts of the two front mounting plates 6 by welding. An inclined portion inclined towards the carrier 1 is provided on the upper part of the reinforcing member 7. A dust blower 71 is installed on the inclined portion of the reinforcing member 7. The upper part of the dust blower 71 is connected with the air inlet pipe 72 through a thread; the dust blower 71 sucks air through the air inlet pipe 72 to blow the surface of the workpiece.

[0040] After the manipulator is started, it is first initially adjusted through the driving module 3 inside the carrier 1; the bidirectional lead screw 31 in the driving module 3 starts to rotate, driving the sliding block 32 in the limit groove 232 to slide along the bidirectional lead screw 31; the sliding block 32 is connected to the sliding carrier 2, so the sliding carrier 2 will move towards or away from each other according to the rotation direction of the bidirectional lead screw 31, thereby adjusting the distance between the two sliding carriers 2 to adapt to workpieces of different sizes;

[0041] After the sliding carrier 2 is adjusted in place, the micro motors 251 in the rotary joints 21 and the linkage joints 22 are started; the output shaft of the micro motor 251 drives the screw 252 to rotate. The screw 252 is connected to the moving plate 253. The moving plate 253 slides inside the joint under the drive of the screw 252. The sliding of the moving plate 253 is transmitted to the next-level joint through the link group 25;

[0042] Specifically, when the moving plate 253 in the rotary joint 21 slides, it drives the linkage joint 22 to move through the link group 25. When the moving plate 253 in the linkage joint 22 slides, it drives the end joint 23 to move through the link group 25. When the first electric cylinder 24 extends, it pushes the link group 25, causing the linkage joint 22 and the end joint 23 to rotate and expand outwards. When the first electric cylinder 24 retracts, it pulls the link group 25, causing the linkage joint 22 and the end joint 23 to fold inwards, so as to further finely adjust the angles of the joints and ensure that the joints of the manipulator can move in coordination to adapt to the shape and position of the workpiece;

[0043] When the manipulator grabs through the joints on both sides, the cylinder two 4 of the end joint 23 starts. The telescopic rod of the cylinder two 4 pushes the push plate 41 to slide along the guide groove 231. The push plate 41 drives the U-shaped frame 42 to move. The movement of the U-shaped frame 42 forces the supporting finger plate 5 to rotate. The supporting finger plate 5 generates a clamping force under the action of the torsion spring 51 to initially fix the workpiece. At the same time, the movement of the push plate 41 drives the pressure relief push frame 43 to slide along the limit groove 232. The pressure relief push frame 43 pulls the piston block 433 to move in the sealing cavity 233 through the pull rope 431 to form a negative pressure, so that the adsorption sleeve 432 generates an adsorption force to further enhance the fixation of the workpiece.

[0044] After the end joint 23 completes the initial grasping, the motor 61 outside the sliding workpiece carrier 2 starts. The output shaft of the motor 61 drives the outer clamping plate 62 to rotate. The rotation paths of the outer clamping plates 62 face each other to form a closed clamping. The anti-slip pads 63 on the outer clamping plates 62 ensure the stability during the clamping process to prevent the workpiece from slipping. And the dust blower 71 on the reinforcement 7 inhales air through the air inlet pipe 72 to blow the dust and debris on the surface of the workpiece to ensure the cleanliness and stability of the grasping.

[0045] After the manipulator completes the clamping, through the coordinated movement of the bearing seat 1 and each joint, the workpiece is transported to the designated position; during the transportation process, the cylinder one 24 and the micro motor 251 keep working to adjust the postures of the rotating joint 21, the linkage joint 22 and the end joint 23 to ensure the stability of the workpiece during transportation. After reaching the designated position, the manipulator gradually releases the workpiece through reverse operation to complete the placement task; after completing one operation, the manipulator returns to the initial position and state through the coordinated movement of the driving module 3 and each joint, prepares for the next operation, the cylinder one 24 retracts, the micro motor 251 rotates in the reverse direction, the moving plate 253 returns to the initial position, and the connecting rod group 25 drives each joint to close up, and the manipulator returns to the standby state.

[0046] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the gist of the present invention within the scope of knowledge possessed by those skilled in the art.

Claims

1. An adaptive manipulator with adjustable spacing, characterized in that, It includes a carrier base (1). The carrier base (1) serves as a carrier, and a limiting groove (232) is formed inside it. There are two sliding carriers (2), which are respectively slidably arranged on both sides of the lower part of the limiting groove (232). A rotary joint (21), a linkage joint (22), and a terminal joint (23) are successively hinged to the lower parts of the two sliding carriers (2). Symmetrical electric cylinders I (24) are installed on the lower parts of the sliding carriers (2). Linkage groups (25) are symmetrically hinged to the lower parts of the two linkage joints (22) and the corresponding terminal joints (23). Miniature motors (251) with output shafts facing upward are installed inside the lower parts of the rotary joint (21) and the linkage joint (22). A screw rod (252) is rotatably arranged on the output shaft of the miniature motor (251). The end parts of the screw rods (252) in all directions are respectively rotatably connected to the upper inner parts of the corresponding rotary joint (21) or linkage joint (22). Moving plates (253) are slidably arranged inside the two rotary joints (21) and the corresponding linkage joints (22). The telescopic rod of the electric cylinder I (24) is rotatably connected to the upper part of the linkage group (25) of the lower corresponding linkage joint (22). The moving plates (253) in all directions are respectively rotatably connected to the corresponding screw rods (252). Moreover, the upper part of the connecting rod part of the linkage joint (22) is hinged to the moving plate (253) inside the rotary joint (21), and the upper part of the connecting rod part of the terminal joint (23) is hinged to the moving plate (253) inside the linkage joint (22). A driving module (3) is installed in the middle of the limiting groove (232) of the carrier base (1). A bidirectional lead screw (31) is rotatably installed inside the driving module (3). Slide seats (32) are slidably arranged on both sides of the upper part of the limiting groove (232). The slide seats (32) are slidably connected to the bidirectional lead screw (31). The slide seats (32) are connected to the corresponding sliding carriers (2) below; the bottom surface of the lower part of the terminal joint (23) is inclined, and the inclined bottom surface directions of the two terminal joints (23) are opposite. A guiding groove (231) penetrating to the outside is formed in the upper inner part of the terminal joint (23). A limiting groove (232) is formed in the middle of the terminal joint (23). A plurality of sealing cavities (233) communicating with the limiting groove (232) and extending to the outside are formed in the lower inner part of the terminal joint (23);It also includes a second electric cylinder (4), a push plate (41), a U-shaped frame (42), a pressure relief push frame (43), a pull rope (431), a suction sleeve (432), a piston block (433), a guide rod (44) and a spring (45). The second electric cylinders (4) are installed at the middle of the lower parts of both end joints (23). The telescopic rods of the second electric cylinders (4) extend into the corresponding end joints (23). A push plate (41) is slidably arranged in the guide groove (231) of the end joint (23). The push plate (41) is connected to the telescopic rod of the second electric cylinder (4). A U-shaped frame (42) surrounding the outside of the end joint (23) is connected between the two outer sides of the push plate (41) facing outwards. A pressure relief push frame (43) is slidably arranged in the limit groove (232) of the end joint (23). A suction sleeve (432) is fixed at a position inside each sealing cavity (233) away from the limit groove (232). A piston block (433) is slidably arranged inside the suction sleeve (432). The piston block (433) slides along the sealing cavity (233). A pull rope (431) is connected to the lower part of the pressure relief push frame (43). The pull rope (431) extends into the sealing cavity (233) and is connected to the piston block (433). A through portion slidably penetrating through the end joint (23) is provided on the side of the pressure relief push frame (43). A guide rod (44) is arranged on the through portion of the pressure relief push frame (43). The guide rod (44) is exposed, and a spring (45) is arranged between the guide rod (44) and the outside of the end joint (23). It also includes a supporting finger plate (5) and a torsion spring (51). The supporting finger plates (5) are hinged to the lower parts of both end joints (23). The rear part of the supporting finger plate (5) abuts against the lower part of the U-shaped frame (42). When the U-shaped frame (42) moves, it pushes the supporting finger plate (5) to force it to rotate. A torsion spring (51) is arranged at the hinge joint between the supporting finger plate (5) and the end joint (23).; 2. The self - adaptive manipulator with adjustable spacing according to claim 1, wherein, It further includes a filter screen (46), and filter screens (46) are sleeved outside the adsorption ends of the adsorption sleeves (432).

3. The self-adaptive manipulator with adjustable spacing according to claim 2, characterized in that, It further includes a mounting plate (6), a motor (61) and an outer clamping plate (62). Mounting plates (6) are arranged on both outer sides of the sliding carrier (2). A motor (61) with an output shaft facing downwards is mounted at a position near the lower part of the upper part of the mounting plate (6). An outer clamping plate (62) is rotatably arranged on the output shaft of the motor (61). The rotation paths of the two outer clamping plates (62) on the same side face each other to form a closure.

4. The self - adaptive mechanical arm with adjustable pitch according to claim 3, characterized in that, It further includes an anti-slip pad (63), and anti-slip pads (63) are embedded on the outer sides of the respective outer clamping plates (62).

5. The self - adaptive manipulator with adjustable spacing according to claim 4, characterized in that, It further includes a reinforcing member (7), a dust blower (71) and an air inlet pipe (72). Reinforcing members (7) are arranged on the upper parts of the two front mounting plates (6). The upper part of the reinforcing member (7) is provided with an inclined part inclined towards the bearing seat (1). A dust blower (71) is mounted on the inclined part of the reinforcing member (7). An air inlet pipe (72) is connected to the upper part of the dust blower (71).

Images