A six-axis lean assembly platform

Abstract

A six-axis lean assembly platform relates to the field of lean production technology. It includes: a movable bracket module mounted on the lower side of a crossbeam, a multi-stage telescopic device slidably mounted on the lower side of the bracket module and capable of exerting force in both up and down directions, and a picking device mounted on the lower side of the multi-stage telescopic device. The above technical solution has the advantages of multi-function and lean production.

Description

Technical Field

[0001] The invention relates to the technical field of lean production, and in particular to a six-axis lean assembly platform. Background Art

[0002] The existing product assembly equipment includes pressing equipment, lifting mechanisms, clamping devices, etc., but they cannot meet the needs of lean production. If production requires multiple processes, they have to be driven back and forth to different workshops for transportation, which is time-consuming, labor-intensive, and inefficient, and urgently needs improvement. Summary of the invention

[0003] The purpose of the present invention is to provide a six-axis lean assembly platform with the advantages of multi-function and lean production in view of the defects and shortcomings of the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a six-axis lean assembly platform, comprising: a movable bracket module installed on the lower side of the crossbeam, a multi-stage telescopic device slidably installed on the lower side of the bracket module and capable of exerting force in both directions up and down, and a picking device installed on the lower side of the multi-stage telescopic device.

[0005] The present invention is further arranged that the bracket module includes: a fixed seat fixedly assembled on the lower side of the beam and provided with a slide groove, and a movable seat with one end assembled on the slide groove and capable of sliding along the slide groove, and the multi-stage telescopic device is slidably assembled on the lower side of the movable seat.

[0006] The present invention is further provided that the multi-stage telescopic device includes: an output module and a screw module; the output module includes: a supporting device, a motor arranged on the supporting device, a controller for controlling the motor arranged on the supporting device, a synchronous pulley arranged on the output shaft of the motor, a rotating shaft tube driven by the synchronous pulley, a first threaded tube assembled on the lower side of the inner part of the rotating shaft tube, and a first outer tube fixedly assembled on the lower side of the supporting device and sleeved on the outer side of the rotating shaft tube; the screw module includes several second outer tubes sleeved on the outer side of the first outer tube, and the several second outer tubes are sequentially sleeved from top to bottom in order from small to large; a screw is arranged in each second outer tube, and the several screws are sequentially sleeved from top to bottom in order from large to small, and the inner side of the lower end of the upper screw is fixedly mounted with a second threaded tube, and the upper screw thread is assembled on the inner side of the second threaded tube.

[0007] The present invention is further provided that a threaded plate is fixedly installed on the outer side of the lower end of the second threaded tube, and fixing strips are provided on the upper and lower sides of the threaded plate, and the fixing strip is fixedly installed on the inner side of the lower end of the second outer tube, and plungers for adjusting the friction force between the second threaded plate and the fixing strip are penetrated through the threaded plate and the fixing strip.

[0008] The present invention further provides that friction gap sheets are provided on the outer side of the lower end of the first outer tube, the inner sides of the upper ends of several second outer tubes and the outer sides of the lower ends of several second outer tubes.

[0009] The present invention further provides that the materials of the first threaded tube, the second threaded tube and the friction gap plate are all polytetrafluoroethylene.

[0010] The present invention further provides that the object-picking device is an intelligent clamp; the intelligent clamp comprises: a rack group, a lever plate whose lower end is movably mounted on the rack group, a first clamping foot and a second clamping foot whose upper end is movably mounted on the rack group and located on the left and right sides of the lever plate, a self-locking rotating sleeve mounted on the upper side of the lever plate, and a base mounted on the lower side of the lever plate; the extension and retraction of the lever plate drives the rack group to slide and then drives the first clamping foot and the second clamping foot to slide; the self-locking rotating sleeve is pressed down or lifted and rotated 45°; in the initial state, the self-locking rotating sleeve and the base are self-locked, and then the lever plate is locked, and then the first clamping foot and the second clamping foot are locked and fixed; when the intelligent clamp is pressed down, the lower side of the rack group abuts against the object, and then the intelligent clamp is lifted, the self-locking rotating sleeve is squeezed and then lifted and then rotated 90° to complete self-unlocking, and when the lever plate is lifted, it drives the rack group to slide and then drives the first clamping foot and the second clamping foot to move inward to hold the object tightly.

[0011] The present invention further provides that the intelligent clamp also includes: a rotating motor whose output end is connected to the left end of the lower side of the first clamping foot and is used to drive the intelligent clamp to flip.

[0012] The present invention further provides that the six-axis lean assembly platform also includes: a conductive slip ring installed on the lower side of the multi-stage telescopic device, and a rotary joint installed on the lower side of the conductive slip ring and used to connect and drive the picking device to rotate.

[0013] The present invention is further provided that the six-axis lean assembly platform also includes: a connecting plate installed on the lower side of the multi-stage telescopic device, a handle sensor installed on the lower side of the connecting plate, and a gravity sensor whose upper end passes through the connecting plate and is connected to the multi-stage telescopic device and whose lower end is connected to the picking device.

[0014] After adopting the above technical solution, the beneficial effects of the present invention are:

[0015] 1. In the present invention, by providing a bracket module, a multi-stage telescopic device and a picking device, the six-axis lean assembly platform can perform multi-axis motion, thereby improving the moving efficiency and moving range. It can also perform various operations such as lifting and die-casting, and can operate uninterruptedly, thereby improving production efficiency and saving a lot of labor.

[0016] 2. In the present invention, a screw module is arranged at the lower end of the output module, which becomes a hard connection compared to the traditional soft connection. The motor outputs rotational force through the synchronous pulley, drives the rotating shaft tube to rotate synchronously forward and reverse, drives the first threaded sleeve to rotate synchronously forward and reverse, and then drives the screw module to move up and down; it can not only lift objects upward, but also press-cast objects downward, providing bidirectional force, which makes the application range wider.

[0017] 3. In the present invention, by providing a self-locking rotating sleeve and a self-locking base on the lever plate, the lever plate can be self-locked and self-unlocked, and then the clamping feet can be self-locked and self-unlocked. When clamping an object, there is no need to manually adjust the position of the clamping feet, which is very convenient, time-saving and labor-saving.

[0018] 4. In the present invention, by providing a handle sensor and a gravity sensor, the handle sensor or the gravity sensor transmits the detected signal to the controller, thereby controlling the motor to effectively control the changes in the position, speed, acceleration and other quantities of the object's movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of a multi-stage telescopic device;

[0022] Figure 3 It is a schematic diagram of the structure of the output module;

[0023] Figure 4 It is a structural diagram of the screw rod module;

[0024] Figure 5 It is a partial structural diagram of the screw rod module;

[0025] Figure 6 This is the structural diagram of the last section of the screw module;

[0026] Figure 7 It is a schematic diagram of the structure of the friction gap plate;

[0027] Figure 8 It is a structural schematic diagram of the object-retrieving device;

[0028] Fig. 9 It is a structural diagram of the self-locking rotating sleeve and the base;

[0029] Fig.10 It is a structural explosion diagram of the self-locking swivel sleeve;

[0030] Fig.11 It is a schematic diagram of the structure of the rack group;

[0031] Fig.12 is a schematic diagram of the structure of the first clamping foot and the second clamping foot;

[0032] Fig.13 It is a structural diagram of a rotary joint, a connecting plate, a handle sensor, and a gravity sensor.

[0033] Description of reference numerals: 1, bracket module; 2, multi-stage telescopic device; 3, object-picking device; 11, fixed seat; 111, slide groove; 12, movable seat; 21, output module; 22, screw module; 211, supporting device; 212, motor; 213, synchronous pulley; 214, rotating shaft cylinder; 215, first threaded tube; 216, first outer tube; 217, controller; 218, guide tube; 221, second outer tube; 222, screw rod; 223, second threaded tube; 224, threaded plate; 225, fixing strip; 226, plunger; 227, conductive slip ring; 228, friction gap plate; 31, rack assembly; 32, lever plate; 33, first clamping foot; 34, second clamping foot; 35, self-locking rotating sleeve; 36, base; 37, rotating motor; 311, baffle; 312, first tooth plate; 313, second tooth plate; 314, fixing pin; 3 21, prismatic bracket; 322, spacer column; 323, first spacer column; 324, second spacer column; 331, third rack; 341, fourth rack; 351, outer sleeve; 352, upper rotating sleeve; 353, lower rotating sleeve; 354, guide sleeve; 355, travel limit rod; 356, inverted T-shaped locking block; 361, inverted T-shaped limit opening; 3111, first round hole; 3112, first travel groove; 3121, first A rack; 3122, a second circular hole; 3123, a second travel slot; 3124, a third travel slot; 3125, a fourth travel slot; 3131, a second rack; 3132, a fifth travel slot; 3211, an upper left support member; 3212, an upper right support member; 3213, a lower right support member; 3214, a lower left support member; 41, a rotary joint; 42, a connecting plate; 43, a handle sensor; 44, a gravity sensor. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0035] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. After reading this specification, those skilled in the art can make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

[0036] This embodiment relates to a six-axis lean assembly platform, such as Figure 1 As shown, it includes: a movable bracket module 1 mounted on the lower side of the crossbeam, a multi-stage telescopic device 2 slidably mounted on the lower side of the bracket module 1 and capable of exerting force in both up and down directions, and a picking device 3 mounted on the lower side of the multi-stage telescopic device 2. The six-axis lean assembly platform can move in multiple axes, improve the moving efficiency and moving range, and can also perform various operations such as lifting, pressing, drilling, tapping, etc., with uninterrupted operation, improved production efficiency, and saved a lot of labor.

[0037] like Figure 1 As shown, the bracket module 1 includes: a fixed seat 11 fixedly mounted on the lower side of the beam and provided with a slide groove 111, and a movable seat 12 with one end mounted on the slide groove 111 and capable of sliding along the slide groove 111, and a multi-stage telescopic device 2 is slidably mounted on the lower side of the movable seat 12. The multi-stage telescopic device 2 can move in two directions, left and right and front and back, on the lower side of the beam, with a simple structure and high efficiency.

[0038] like Figure 2-Figure 5 As shown, the multi-stage telescopic device 2 includes: an output module 21 and a screw module 22. The output module 21 includes: a support device 211, a motor 212 disposed on the support device 211, a controller 217 disposed on the support device 211 for controlling the motor 212, a synchronous pulley 213 disposed on the output shaft of the motor 212, a rotating shaft cylinder 214 driven by the synchronous pulley 213, a first threaded tube 215 assembled on the lower side of the rotating shaft cylinder 214, and a first outer tube 216 fixedly assembled on the lower side of the support device 211 and sleeved on the outer side of the rotating shaft cylinder 214. The screw module 22 includes a plurality of second outer tubes 221 sleeved on the outside of the first outer tube 216, and the plurality of second outer tubes 221 are sleeved in sequence from small to large from top to bottom; a screw 222 is arranged in each second outer tube 221, and the plurality of screws 222 are sleeved in sequence from large to small from top to bottom, and a second threaded tube 223 is fixedly mounted on the inner side of the lower end of the upper screw 222, and the upper screw 222 is threadedly assembled on the inner side of the second threaded tube 223. In this embodiment, the controller 217 is a servo controller, and the motor 212 is a servo motor.

[0039] By setting the screw module 22 at the lower end of the output module 21, compared with the traditional soft connection, it becomes a hard connection. The motor 212 outputs the rotational force through the synchronous pulley 213, drives the rotating shaft tube 214 to rotate synchronously forward and reversely, drives the first threaded sleeve to rotate synchronously forward and reversely, and then drives the screw module 22 to move up and down; it can not only lift objects upward, but also press objects downward, providing a bidirectional force, making the application range wider and the load capacity stronger. The second threaded tube 223 is fixedly installed on the inner side of the lower end of the screw 222, and the screw 222 is sleeved in sequence. Compared with the previous internal gear engagement, there is no need to reserve a limit position, the telescopic ratio between the screws 222 is larger, and such a structural setting can be provided with a multi-stage telescopic structure with a longer stroke to meet customer customization needs.

[0040] like Figure 3 As shown, the output module 21 further includes: a guide cylinder 218 fixedly assembled on the lower side of the support device 211 and located between the rotating shaft cylinder 214 and the first outer tube 216. The guide cylinder 218 plays a role of protecting and limiting the rotating shaft cylinder 214.

[0041] like Figure 5 As shown, a threaded plate 224 is fixedly mounted on the outer side of the lower end of the second threaded tube 223, and a fixing bar 225 is provided on the upper and lower sides of the threaded plate 224. The fixing bar 225 is fixedly mounted on the inner side of the lower end of the second outer tube 221. The threaded plate 224 and the fixing bar 225 are penetrated by a plunger 226 for adjusting the friction between the second threaded plate 224 and the fixing bar 225. Specifically, the fixing bar 225 is fixed inside the upper end of the second outer tube 221, the fixing bar 225 sandwiches the threaded plate 224, and the plunger 226 is installed on the fixing bar 225 and penetrates the threaded plate 224. At this time, the force of the downward pressure of the plunger 226 is adjusted. When the force received by the threaded plate 224 during rotation is lower than the force adjusted by the plunger 226, the stage telescopic structure will extend or contract synchronously. When the force received by the threaded plate 224 during rotation is greater than the force of the adjusting plunger 226, it will automatically disengage. Since the front end of the plunger 226 is a bead, it will rotate along. By adjusting the force of the plunger 226 pressing down, each stage of the multi-stage split drive telescopic push rod device is controlled to extend and retract in sequence. Specifically, the fixing bar 225 is a meniscus. In other embodiments, an electromagnet can also be installed, and the electromagnet is installed on the fixing bar 225. When the telescopic device of this stage needs to be extended first, the electromagnet holds the screw rod 222, so that the rotation force of the telescopic device of this stage is greater than that of other telescopic devices, and this telescopic device is extended and retracted first.

[0042] like Figure 7As shown, the outer side of the lower end of the first outer tube 216, the inner side of the upper ends of several second outer tubes 221, and the outer side of the lower ends of several second outer tubes 221 are all provided with friction gap sheets 228. When extending and retracting, the first outer tube 216 and the second outer tubes 221 at each level can slide quickly, and the friction sound is small; it can also reduce the gap between the first outer tube 216 and the second outer tubes 221 at each level, which plays a positioning role; in addition, when encountering special circumstances, such as when the screw rod 222 falls off, the friction gap sheet 228 below will resist the friction gap sheet 228 above, which plays a role in preventing it from falling. In this embodiment, the materials of the first threaded tube 215 and the second threaded tube 223 are both made of polytetrafluoroethylene, and the material of the friction gap sheet 228 is also made of polytetrafluoroethylene. The friction coefficient of polytetrafluoroethylene is very small, so that the efficiency of the threaded tube to drive the screw rod 222 to extend and retract is higher, and the outer tubes at each level can slide more quickly.

[0043] The first outer tube 216 and the plurality of second outer tubes 221 are all square tubes, which can remove the reverse torque when the screw rod 222 moves.

[0044] In this embodiment, the object-retrieving device 3 is an intelligent clamp, and in other embodiments, it can also be a hook, a grab, etc. Figure 8 and Fig. 9 As shown, the intelligent clamp includes: a rack set 31, a lever plate 32 whose lower end is movably mounted on the rack set 31, a first clamping foot 33 and a second clamping foot 34 whose upper end is movably mounted on the rack set 31 and located on the left and right sides of the lever plate 32, a self-locking rotating sleeve 35 mounted on the upper side of the lever plate 32, and a base 36 mounted on the lower side of the lever plate 32. The extension and retraction of the lever plate 32 drives the rack set 31 to slide and then drives the first clamping foot 33 and the second clamping foot 34 to slide. The self-locking rotating sleeve 35 rotates 45° when pressed down or lifted.

[0045] Specifically: in the initial state, the self-locking rotating sleeve 35 and the base 36 are self-locked, and then the lever plate 32 is locked, and then the first clamping foot 33 and the second clamping foot 34 are locked and fixed; when the smart clamp is pressed down, the lower side of the rack group 31 abuts against the object, and then the smart clamp is lifted, the self-locking rotating sleeve 35 is squeezed and then lifted and then rotated 90° to complete self-unlocking, and when the lever plate 32 is lifted, it drives the rack group 31 to slide inward and then drives the first clamping foot 33 and the second clamping foot 34 to move inward to hold the object tightly.

[0046] When unloading, after placing the object at the set position, the smart clamp is pressed down, and the lower side of the rack group 31 abuts against the object, driving the lever plate 32 to press down and then driving the rack group 31 to slide outward and then driving the first clamping foot 33 and the second clamping foot 34 to move outward to release the object. At this time, the self-locking rotating sleeve 35 rotates 45°; then the smart clamp is lifted, and the self-locking rotating sleeve 35 rotates another 45° to complete self-locking.

[0047] like Figure 8As shown, a rotating motor 37 is provided at the left end of the lower side of the first clamping foot 33, which can drive the intelligent clamp to flip, and then drive the object to flip, which can greatly save labor in some specific occasions. In this embodiment, the output end of the rotating motor 37 drives the first clamping foot 33 to flip through a connecting shaft (not shown), and then drives the entire intelligent clamp to flip.

[0048] like Figure 8 As shown, the lever plate 32 includes: two prism brackets 321 symmetrically arranged on both sides of the rack group 31, and four isolation columns 322 arranged between the edges and corners of the two prism brackets 321 and used to connect the two prism brackets 321. The prism bracket 321 is composed of four upper left support members 3211, upper right support member 3212, lower right support member 3213, and lower left support member 3214, which are hinged end to end in sequence. The lower right support member 3213 and the lower left support member 3214 are both extended downward. The extended ends of the two lower right support members 3213 are connected by the first isolation column 323, and the extended ends of the two lower left support members 3214 are connected by the second isolation column 324. The lever plate 32 is made of two prism brackets 321, and is also connected by the isolation column 322, so that the internal structure of the lever plate 32 is smoothly lifted.

[0049] like Fig. 9 and Fig.10 As shown, specifically, the self-locking rotating sleeve 35 includes: a cylindrical outer sleeve 351 for fixed assembly between the two upper left support members 3211, an upper rotating sleeve 352 fixedly assembled at the upper end of the inner side of the outer sleeve 351, a lower rotating sleeve 353 fixedly assembled at the lower end of the inner side of the outer sleeve 351, a guide sleeve 354 with an upper end movably assembled at the inner side of the upper rotating sleeve 352 and the lower rotating sleeve 353, a travel limit rod 355 that passes through the guide sleeve 354 in the horizontal direction and is clamped between the upper rotating sleeve 352 and the lower rotating sleeve 353 on both sides, and an inverted T-shaped locking block 356 arranged at the lower side of the guide sleeve 354. The lower side of the upper rotating sleeve 352 is equidistantly arranged as four wave shapes around the circumference, and the upper side of the lower rotating sleeve 353 is also symmetrically arranged as four wave shapes. Such an arrangement allows the self-locking rotating sleeve 35 to rotate 45° when pressed down or lifted. An inverted T-shaped limit opening 361 is arranged on the base 36.

[0050] In the initial state, the T-shaped locking block of the self-locking rotating sleeve 35 overlaps with the inverted T-shaped limiting opening 361 of the base 36, that is, it is in a self-locking state. When the self-locking rotating sleeve 35 is pressed down and then lifted, the guide sleeve 354, the travel limiting rod 355, and the inverted T-shaped locking block 356 all rotate 90 degrees, and the T-shaped locking block is perpendicular to the inverted T-shaped limiting opening 361, that is, the self-unlocking is completed. The principle of self-locking is the same.

[0051] like Fig.11As shown, specifically, the rack assembly 31 includes: two baffles 311 arranged in parallel and connected by a plurality of fixing pins 314, and a first tooth plate 312 and a second tooth plate 313 arranged in parallel between the two baffles 311. The second tooth plate 313 is also fixedly connected to the baffle 311 by the fixing pins 314. A first rack 3121 is arranged on the lower side of the first tooth plate 312, and a second rack 3131 is arranged on the lower side of the second tooth plate 313. A first circular hole 3111 is provided on the baffle 311 for the second isolation column 324 to pass through, and a first travel groove 3112 is provided on the baffle 311 on the left side of the first circular hole 3111 for the first isolation column 323 to slide. The first tooth plate 312 is provided with a second circular hole 3122 for the first isolation column 323 to pass through, and the first tooth plate 312 is provided with a second stroke groove 3123 for the second isolation column 324 to slide on the right side of the second circular hole 3122. The left and right ends of the first tooth plate 312 are provided with a third stroke groove 3124 and a fourth stroke groove 3125 for the fixing pin 314 to slide. The second tooth plate 313 is provided with a fifth stroke groove 3132 for the first isolation column 323 and the second isolation column 324 to slide. The motion analysis is as follows: when the lever plate 32 is pressed down, the lower right support member 3213 slides to the left in the first stroke groove 3112, driving the first tooth plate 312 to slide to the left; the lower left support member 3214 slides to the right in the second stroke groove 3123, driving the baffle plate 311 and the second tooth plate 313 to slide to the right. The same principle applies to the lever plate 32 being lifted up.

[0052] like Fig.12 As shown, the first clamping foot 33 is provided with a third rack 331 corresponding to the lower side of the first toothed plate 312, the second clamping foot 34 is provided with a fourth rack 341 corresponding to the lower side of the second toothed plate 313, and screws for adjusting the tightness are provided on the upper sides of the first clamping foot 33 and the second clamping foot 34. By tightening the screws, the third rack 331 is meshed with the first rack 3121, and the fourth rack 341 is meshed with the second rack 3131, that is, the first clamping foot 33 is meshed and fastened with the first toothed plate 312, and the second clamping foot 34 is meshed and fastened with the second toothed plate 313.

[0053] Loosen the screws and exchange the positions of the first clamping foot 33 and the second clamping foot 34. The movement directions of the two clamping feet are opposite to the original directions, so that the intelligent clamp becomes a device with an internal support function, which is very effective for lifting hollow objects.

[0054] like Figure 6 and Fig.13As shown, the six-axis lean assembly platform also includes: a conductive slip ring 227 mounted on the lower side of the multi-stage telescopic device 2, and a rotary joint 41 mounted on the lower side of the conductive slip ring 227 and used to connect and drive the object-picking device 3 to rotate. The conductive slip ring 227 drives the object-picking device 3 to rotate through the rotary joint 41, enriching the function of the six-axis lean assembly platform, allowing the object-picking device 3 to select a better orientation to pick up objects.

[0055] like Fig.13 As shown, the six-axis lean assembly platform also includes: a connecting plate 42 mounted on the lower side of the multi-stage telescopic device 2, a handle sensor 43 mounted on the lower side of the connecting plate 42, and a gravity sensor 44 whose upper end penetrates the connecting plate 42 and is connected to the multi-stage telescopic device 2 and whose lower end is connected to the object-picking device 3. The handle sensor 43 or the gravity sensor 44 transmits the detected signal to the controller 217, thereby controlling the motor 212 to effectively control the change in the position, speed, acceleration and other variables of the object's movement. Such as precise control of speed, precise control of torque, and precise control of position. As mentioned above, the controller 217 is a servo controller and the motor 212 is a servo motor.

[0056] The working principle of the present invention is roughly as follows: the bracket module 1 can drive the multi-stage telescopic device 2 to move in the left and right and front and back directions; the multi-stage telescopic device 2 itself adopts a hard connection and can exert force in both directions up and down; the conductive slip ring 227 drives the intelligent clamp to rotate through the rotating joint 41; a rotating motor 37 is provided at the lower left end of the first clamping foot 33 of the intelligent clamp, which can drive the intelligent clamp to flip; the intelligent clamp can both clamp and support; that is, the six axes are: left and right, front and back, up and down, rotation, flipping, clamping and supporting.

[0057] The above is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A six-axis lean assembly platform, characterized in that: include: A movable support module (1) mounted on the lower side of the crossbeam, a multi-stage telescopic device (2) slidably mounted on the lower side of the support module (1) and capable of exerting force in both up and down directions, and a picking device (3) mounted on the lower side of the multi-stage telescopic device (2); The object-picking device (3) is an intelligent clamp; the intelligent clamp comprises: a rack group (31), a lever plate (32) whose lower end is movably mounted on the rack group (31), a first clamping foot (33) and a second clamping foot (34) whose upper end is movably mounted on the rack group (31) and located on the left and right sides of the lever plate (32), a self-locking rotating sleeve (35) mounted on the upper side of the lever plate (32), and a base (36) mounted on the lower side of the lever plate (32); the extension and retraction of the lever plate (32) drives the rack group (31) to slide and further drives the first clamping foot (33) and the second clamping foot (34) to slide; The self-locking rotating sleeve (35) is pressed down or lifted to rotate 45°; The lever plate (32) comprises: two prismatic brackets (321) symmetrically arranged on both sides of the rack assembly (31), and four isolation columns (322) arranged between the edges of the two prismatic brackets (321) for connecting the two prismatic brackets (321); the prismatic bracket (321) is composed of four upper left support members (3211), upper right support members (3212), lower right support members (3213), and lower left support members (3214) which are hinged end to end in sequence; the self-locking rotating sleeve (35) comprises: a locking member for fixing and assembling between the two upper left support members (3211); a cylindrical outer sleeve (351) between the upper and lower parts of the outer sleeve (351), an upper rotating sleeve (352) fixedly mounted on the upper inner end of the outer sleeve (351), a lower rotating sleeve (353) fixedly mounted on the lower inner end of the outer sleeve (351), a guide sleeve (354) movably mounted on the inner sides of the upper rotating sleeve (352) and the lower rotating sleeve (353), a travel limiting rod (355) penetrating the guide sleeve (354) in the horizontal direction and being clamped between the upper rotating sleeve (352) and the lower rotating sleeve (353) on both sides, and an inverted T-shaped locking block (356) arranged on the lower side of the guide sleeve (354); The lower side of the upper rotating sleeve (352) is equidistantly arranged in four wave shapes around the circumference, and the upper side of the lower rotating sleeve (353) is also symmetrically arranged in four wave shapes; An inverted T-shaped limiting opening (361) is provided on the base (36); In the initial state, the self-locking rotating sleeve (35) and the base (36) are self-locking, thereby the lever plate (32) is locked, and thereby the first clamping foot (33) and the second clamping foot (34) are locked and fixed; When the intelligent clamp is pressed down, the lower side of the rack group (31) abuts against the object, and then the intelligent clamp is lifted, the self-locking rotating sleeve (35) is squeezed and then lifted and then rotates 90 degrees to complete self-unlocking, and when the lever plate (32) is lifted, it drives the rack group (31) to slide and then drives the first clamping foot (33) and the second clamping foot (34) to move inward to clamp the object.

2. The six-axis lean assembly platform according to claim 1, characterized in that: The support module (1) comprises: a fixed seat (11) fixedly mounted on the lower side of the crossbeam and provided with a slide groove (111), and a movable seat (12) with one end mounted on the slide groove (111) and capable of sliding along the slide groove (111), and the multi-stage telescopic device (2) is slidably mounted on the lower side of the movable seat (12).

3. The six-axis lean assembly platform according to claim 1, characterized in that: The multi-stage telescopic device (2) comprises: an output module (21) and a screw module (22); The output module (21) comprises: a support device (211), a motor (212) arranged on the support device (211), a controller (217) arranged on the support device (211) for controlling the motor (212), a synchronous pulley (213) arranged on the output shaft of the motor (212), a rotating shaft cylinder (214) driven by the synchronous pulley (213), a first threaded tube (215) mounted on the lower side of the rotating shaft cylinder (214), and a first outer tube (216) fixedly mounted on the lower side of the support device (211) and sleeved on the outer side of the rotating shaft cylinder (214); The screw rod module (22) comprises a plurality of second outer tubes (221) sleeved on the outside of the first outer tube (216), and the plurality of second outer tubes (221) are sleeved in sequence from small to large from top to bottom; a screw rod (222) is arranged in each second outer tube (221), and the plurality of screw rods (222) are sleeved in sequence from large to small from top to bottom, and a second threaded tube (223) is fixedly mounted on the inner side of the lower end of the upper screw rod (222), and the upper screw rod (222) is threadedly assembled on the inner side of the second threaded tube (223).

4. The six-axis lean assembly platform according to claim 3 is characterized in that: A threaded plate (224) is fixedly mounted on the outer side of the lower end of the second threaded tube (223); fixing strips (225) are provided on the upper and lower sides of the threaded plate (224); the fixing strip (225) is fixedly mounted on the inner side of the lower end of the second outer tube (221); and plungers (226) for adjusting the friction force between the threaded plate (224) and the fixing strip (225) are penetrated through the threaded plate (224) and the fixing strip (225).

5. The six-axis lean assembly platform according to claim 3, characterized in that: The outer side of the lower end of the first outer tube (216), the inner sides of the upper ends of several second outer tubes (221), and the outer sides of the lower ends of several second outer tubes (221) are all provided with friction gap plates (228).

6. The six-axis lean assembly platform according to claim 5, characterized in that: The first threaded tube (215), the second threaded tube (223) and the friction gap plate (228) are all made of polytetrafluoroethylene.

7. The six-axis lean assembly platform according to claim 1, characterized in that: The intelligent clamp further comprises a rotating motor (37) whose output end is connected to the lower left end of the first clamping foot (33) and is used to drive the intelligent clamp to flip.

8. The six-axis lean assembly platform according to claim 1, characterized in that: The six-axis lean assembly platform also includes: a conductive slip ring (227) mounted on the lower side of the multi-stage telescopic device (2), and a rotary joint (41) mounted on the lower side of the conductive slip ring (227) and used to connect and drive the object picking device (3) to rotate.

9. The six-axis lean assembly platform according to claim 1, characterized in that: The six-axis lean assembly platform also includes: a connecting plate (42) mounted on the lower side of the multi-stage telescopic device (2), a handle sensor (43) mounted on the lower side of the connecting plate (42), and a gravity sensor (44) having an upper end penetrating the connecting plate (42) and connected to the multi-stage telescopic device (2) and a lower end connected to the object picking device (3).

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