A multi-axis robotic arm

Abstract

This invention discloses a multi-axis robotic arm, including a main spindle arm. A transfer oil tank is fixed to the end of the main spindle arm, and a hydraulic cylinder is mounted on the main spindle arm. The output end of the hydraulic cylinder is connected to the transfer oil tank via a hose. A mounting base is fixed to the bottom of the transfer oil tank, and L-shaped push seats are embedded on both sides of the bottom of the mounting base. The L-shaped push seats are connected to the transfer oil tank via pipelines. A first push piston plate is provided in the vertical area inside the L-shaped push seat. A first elastic telescopic rod is fixed between the inner side of the second push piston plate and the inner wall of the L-shaped push seat. A clamping oil cavity is opened inside the bottom of the clamping seat. The clamping plate is located outside the inner side of the clamping seat. A control seat is mounted on the bottom of the L-shaped push seat. This multi-axis robotic arm can be used to clamp workpieces of different sizes without changing the output power of the hydraulic cylinder, and the clamping force can be adjusted.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a multi-axis robotic arm. Background Technology

[0002] With the development of automated manufacturing technology, multi-axis robots, with their good flexibility and high efficiency, are widely used. In some automated production lines, multi-axis robots can clamp and transport workpieces, greatly improving the processing efficiency. However, existing multi-axis robots have the following problems in use:

[0003] The use of multi-axis robotic arms, in addition to multi-axis linkage for position changes, also requires the use of end-effectors to clamp workpieces. However, existing multi-axis robotic arms are not convenient for adaptive clamping of workpieces of different specifications. They mostly require controlling hydraulic cylinders to perform different degrees of work, but the specifications of different workpieces vary greatly, and the control data needs to be adjusted each time. When dealing with some new workpieces, new parameters need to be calculated and input, which is quite troublesome. At the same time, existing multi-axis robotic arms are not convenient for workpieces of different materials. They mostly require calculating the clamping force of the workpiece and then calculating it in conjunction with the workpiece specifications, which is a complex calculation process.

[0004] To address the aforementioned issues, there is an urgent need for innovative designs based on existing multi-axis robotic arms. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-axis robotic arm to solve the problems mentioned in the background art, such as the inconvenience of adaptive clamping for workpieces of different specifications and the inconvenience of convenient adjustment operations for workpieces of different materials. The technical solution of this invention addresses the problem of the overly simplistic nature of existing technical solutions and provides a solution that is significantly different from existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-axis robotic arm, including a main spindle arm, a transfer oil tank fixed at the end of the main spindle arm, and a hydraulic cylinder mounted on the main spindle arm, wherein the output end of the hydraulic cylinder is connected to the transfer oil tank through a hose;

[0007] It also includes a mounting base, which is fixed to the bottom of the transfer oil tank. An L-shaped pusher seat is embedded in both sides of the bottom of the mounting base, and the L-shaped pusher seat is connected to the transfer oil tank via a pipeline. A first pusher piston plate is provided in the vertical area inside the L-shaped pusher seat, and a second pusher piston plate is provided in the horizontal area inside the L-shaped pusher seat. A first elastic telescopic rod is fixed between the inner side of the second pusher piston plate and the inner wall of the L-shaped pusher seat. A clamping seat is fixed to the inner side of the second pusher piston plate via a connecting rod, and the clamping seat is located in the outer area of ​​the inner end of the L-shaped pusher seat. A clamping oil cavity is opened inside the bottom of the clamping seat, and a clamping piston plate is provided in the clamping oil cavity. A clamping plate is connected to the inner wall of the clamping piston plate via a rod. The clamping plate is located outside the inner side of the clamping seat, and a clamping elastic telescopic rod is fixed between the clamping plate and the inner wall of the clamping seat. A control seat is installed at the bottom of the L-shaped pusher seat, and a control oil cavity is opened inside the control seat.

[0008] An oil release assembly is disposed between the outside of the L-shaped push seat and the control oil chamber, and is used to release excess oil in the L-shaped push seat.

[0009] A clamping force adjustment assembly is disposed in the control oil chamber and is used to adjust the clamping force of the oil entering the control oil chamber and the clamping plate.

[0010] A drive assembly is disposed on the outside of the clamping seat and inside the control seat, and the drive assembly is used to adjust the position of the clamping force adjustment assembly.

[0011] Preferably, the clamping plate moves laterally elastically inside the clamping seat by clamping the elastic telescopic rod, and a rubber pad is laid on the inner wall of the clamping plate, and the clamping seat slides against the bottom of the mounting seat.

[0012] Preferably, the oil release assembly includes a delivery pipe, which is installed on the outside of the L-shaped push seat and the control seat. One end of the delivery pipe is connected to a delivery head, which is fixed on the outer wall of the control oil chamber. A perforated mounting bracket is fixed on the inner wall of the delivery head, and a sealing ball is connected to the inner side of the perforated mounting bracket via a second elastic telescopic rod. A release rod is abutted against the inner side of the sealing ball, and one end of the release rod passes through the control seat and is fixed to a release piston plate. The release piston plate is located inside the release oil tank, and the release oil tank is fixed to the inner side of the sealing ball. The release oil tank is connected to the clamping oil chamber via a hose.

[0013] Preferably, the inner end of the conveying head is designed with a sloping structure, and the inner end of the conveying head is in contact with the sealing ball.

[0014] Preferably, the clamping force adjustment assembly includes a toothed roller, which is embedded and vertically rotatably installed inside the control seat. The bottom of the toothed roller is connected to a screw via a belt, and the screw is vertically rotatably installed inside the control oil chamber. A movable frame is threaded onto the screw, and an adjustment oil tank is fixed to the top of the movable frame. An I-shaped plate is installed through the top of the adjustment oil tank at both the inner and outer positions, and a spring is fixed between the I-shaped plate and the top of the adjustment oil tank. An adjustment piston plate is installed at the protruding position in the middle of the control oil chamber via a third elastic telescopic rod, and the adjustment piston plate is located between the conveying head and the I-shaped plate.

[0015] Preferably, the movable frame slides vertically against the inner wall of the control oil chamber via a screw, and the cross-section of the movable frame is designed as a U-shaped structure.

[0016] Preferably, the adjusting oil tank is connected to the clamping oil chamber via a hose, and the I-shaped plate on the adjusting oil tank is parallel to the adjusting piston plate.

[0017] Preferably, the drive assembly includes a mounting rod, which is fixed to the outside of the clamping seat. The outer end of the mounting rod is rotatably provided with a mounting sleeve via a bearing, and the mounting sleeve is internally threaded with a rack. The rack is slidably disposed within the control seat and is located behind the toothed roller.

[0018] Preferably, the toothed blocks on the rack are disposed at the outer end, and the initial position of the rack does not mesh with the toothed roller.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention includes an oil release assembly. When the hydraulic cylinder performs work, causing the two clamping seats to move inward, the clamping plate contacts the workpiece, causing the clamping piston plate to move under force. The release rod pushes the sealing ball. At this time, when the first pushing piston plate continues to move under force, excess oil can enter the control oil chamber through the delivery pipe. Then, the clamping seat stops moving after reaching the workpiece position. Furthermore, in order to increase the clamping force on the workpiece, the oil entering the control oil chamber pushes the adjusting piston plate downward and provides a resisting force through the I-shaped plate. The force on the I-shaped plate can squeeze the oil in the adjusting oil tank into the clamping oil chamber, resisting the clamping plate. Thus, while maintaining the stability of the clamping seat, the clamping plate can be guaranteed to have sufficient clamping force. Through this process, the hydraulic cylinder only needs to perform fixed work, and the clamping seat and clamping plate can clamp and transfer workpieces of different specifications.

[0021] 2. In this invention, a drive assembly is provided. To accommodate adjustments in clamping force for workpieces of different materials, the mounting sleeve can be manually rotated to adjust the position of the rack. This allows for adjustment of the movable frame and oil tank via the toothed roller and screw, which in turn adjusts the position of the I-plate. Excess oil, after entering the control oil chamber, adjusts the downward movement of the piston plate, which in turn adjusts the downward movement of the I-plate. This allows oil of varying concentrations to be squeezed into the clamping oil chamber. Combined with the rubber pad on the inner side of the clamping plate, the clamping force of the clamping plate can be adjusted. During this process, only the mounting sleeve needs to be rotated. A scale is provided on the mounting sleeve for more precise adjustment of the clamping force, without affecting the stable clamping of workpieces of different specifications.

[0022] 3. In summary, with the present invention, the hydraulic cylinder only needs to perform stable work, and can clamp workpieces of different specifications by means of the flow of oil and the reaction force provided by excess oil. At the same time, only the mounting sleeve needs to be rotated to provide different clamping forces in accordance with the above-mentioned changes in the flow direction of the oil, so as to avoid damage to the workpiece. During this process, it will not affect the spindle arm to drive the workpiece to perform lateral and longitudinal movements. Attached Figure Description

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the front section structure of the mounting base of the present invention;

[0025] Figure 3 This is a schematic diagram of the L-shaped pusher and control seat of the present invention in cross section.

[0026] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle;

[0027] Figure 5 For the present invention Figure 3 Enlarged structural diagram at point B;

[0028] Figure 6 This is a top view of the movable frame structure of the present invention;

[0029] Figure 7 This is a top view cross-sectional diagram of the rack structure of the present invention.

[0030] In the diagram: 1. Main spindle arm; 2. Transfer oil tank; 3. Hydraulic cylinder; 4. Mounting seat; 5. L-shaped pusher seat; 6. First pusher piston plate; 7. Second pusher piston plate; 8. First elastic telescopic rod; 9. Connecting rod; 10. Clamping seat; 11. Clamping oil chamber; 12. Clamping piston plate; 13. Clamping plate; 14. Clamping elastic telescopic rod; 15. Control seat; 16. Control oil chamber; 17. Oil release assembly; 171. Conveying pipe; 172. Conveying head; 173. Hollowed-out... Empty mounting bracket; 174. Second elastic telescopic rod; 175. Sealing ball; 176. Release rod; 177. Release piston plate; 178. Release oil tank; 18. Clamping force adjustment assembly; 181. Toothed roller; 182. Screw; 183. Movable frame; 184. Adjusting oil tank; 185. I-shaped plate; 186. Spring; 187. Third elastic telescopic rod; 188. Adjusting piston plate; 19. Drive assembly; 191. Mounting rod; 192. Mounting sleeve; 193. Rack. Detailed Implementation

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Please see Figure 1-7 This invention provides a technical solution: a multi-axis robotic arm, comprising a main arm 1, a transfer oil tank 2, a hydraulic cylinder 3, a mounting base 4, an L-shaped pusher 5, a first pusher piston plate 6, a second pusher piston plate 7, a first elastic telescopic rod 8, a connecting rod 9, a clamping base 10, a clamping oil chamber 11, a clamping piston plate 12, a clamping plate 13, a clamping elastic telescopic rod 14, a control base 15, a control oil chamber 16, an oil release assembly 17, a delivery pipe 171, and a delivery head. 172. Hollowed-out mounting bracket; 173. Second elastic telescopic rod; 174. Sealing ball; 175. Release rod; 176. Release piston plate; 177. Release oil tank; 178. Clamping force adjustment assembly; 18. Toothed roller; 181. Screw; 182. Movable frame; 183. Adjusting oil tank; 184. I-shaped plate; 185. Spring; 186. Third elastic telescopic rod; 187. Adjusting piston plate; 188. Drive assembly; 19. Mounting rod; 191. Mounting sleeve; 192. And rack; 193.

[0033] Example 1

[0034] Please see Figure 1-5A transfer oil tank 2 is fixed to the end of the main spindle arm 1, and a hydraulic cylinder 3 is installed on the main spindle arm 1. The output end of the hydraulic cylinder 3 is connected to the transfer oil tank 2 through a hose. A mounting base 4 is fixed to the bottom of the transfer oil tank 2, and an L-shaped push seat 5 is embedded on both sides of the bottom of the mounting base 4. The L-shaped push seat 5 is connected to the transfer oil tank 2 through a pipeline. A first push piston plate 6 is provided in the vertical area inside the L-shaped push seat 5, and a second push piston plate 7 is provided in the horizontal area inside the L-shaped push seat 5. A first elastic telescopic rod 8 is fixed between the inner side of the second push piston plate 7 and the inner wall of the L-shaped push seat 5. A clamping seat 10 is fixed to the inner side of the second push piston plate 7 through a connecting rod 9. 10 is located in the outer area of ​​the inner end of the L-shaped push seat 5. The bottom of the clamping seat 10 has a clamping oil cavity 11, and a clamping piston plate 12 is provided in the clamping oil cavity 11. A clamping plate 13 is connected to the inner wall of the clamping piston plate 12 by a rod. The clamping plate 13 is located outside the inner side of the clamping seat 10, and a clamping elastic telescopic rod 14 is fixed between the clamping plate 13 and the inner wall of the clamping seat 10. A control seat 15 is installed at the bottom of the L-shaped push seat 5, and a control oil cavity 16 is provided in the control seat 15. An oil release assembly 17 is provided between the outer side of the L-shaped push seat 5 and the control oil cavity 16, and the oil release assembly 17 is used to release excess oil in the L-shaped push seat 5.

[0035] The clamping plate 13 moves laterally and elastically inside the clamping seat 10 by clamping the elastic telescopic rod 14. A rubber pad is laid on the inner wall of the clamping plate 13, and the clamping seat 10 slides against the bottom of the mounting seat 4. The oil release assembly 17 includes a delivery pipe 171, which is installed on the outside of the L-shaped push seat 5 and the control seat 15. One end of the delivery pipe 171 is connected to a delivery head 172, which is fixed to the outer wall of the control oil chamber 16. A perforated mounting bracket 173 is fixed to the inner wall of the delivery head 172, and a sealing ball 175 is connected to the inner side of the perforated mounting bracket 173 via a second elastic telescopic rod 174. A release rod 176 is abutted against the inner side of the sealing ball 175, and one end of the release rod 176 penetrates the control seat 15. 5. A release piston plate 177 is fixed inside the release oil tank 178, which is fixed to the inside of the sealing ball 175. The release oil tank 178 is connected to the clamping oil chamber 11 through a hose. The inner end of the conveying head 172 is designed with a sloping structure and is in contact with the sealing ball 175. The hydraulic cylinder 3 performs fixed work to push the clamping seat 10 and the clamping plate 13 to move. When the clamping plate 13 contacts the workpiece, the hydraulic cylinder 3 continues to work through the oil release component 17. The excess oil in the L-shaped push seat 5 enters the control oil chamber 16 through the conveying pipe 171, so that the clamping seat 10 can maintain its original position and perform clamping operations on workpieces of different specifications.

[0036] Example 2

[0037] Please see Figure 1-3 and Figure 6-7 The clamping force adjustment assembly 18 is disposed within the control oil chamber 16, and is used to adjust the oil entering the control oil chamber 16 and the clamping force of the clamping plate 13. The drive assembly 19 is disposed outside the clamping seat 10 and inside the control seat 15, and is used to adjust the position of the clamping force adjustment assembly 18. The clamping force adjustment assembly 18 includes a toothed roller 181, which is embedded and vertically rotatably mounted inside the control seat 15. The bottom of the toothed roller 181 is connected to a screw 182 via a belt, and the screw 182 is vertically rotatably mounted inside the control oil chamber 16. A movable frame 183 is threaded onto the screw 182, and an adjustment oil tank 184 is fixed to the top of the movable frame 183. An I-shaped plate 185 is installed through the top of the adjustment oil tank 184 at its inner and outer positions, and a spring 186 is fixed between the I-shaped plate 185 and the top of the adjustment oil tank 184. A protrusion is located in the middle of the control oil chamber 16. An adjusting piston plate 188 is installed at the outlet via a third elastic telescopic rod 187, and the adjusting piston plate 188 is located between the conveying head 172 and the I-shaped plate 185; the movable frame 183 slides vertically against the inner wall of the control oil chamber 16 via a screw 182, and the cross-section of the movable frame 183 is designed as a U-shaped structure; the adjusting oil tank 184 is connected to the clamping oil chamber 11 via a hose, and the I-shaped plate 185 on the adjusting oil tank 184 is aligned with the adjusting piston plate 188. Parallel to each other; the drive assembly 19 includes a mounting rod 191, which is fixed to the outside of the clamping seat 10. The outer end of the mounting rod 191 is rotatably provided with a mounting sleeve 192 via a bearing, and the mounting sleeve 192 is internally threaded with a rack 193. The rack 193 is slidably disposed within the control seat 15 and is located behind the toothed roller 181. The toothed blocks on the rack 193 are provided at the outer end, and the initial position of the rack 193 is not engaged with the toothed roller 181.

[0038] During the movement of the clamping seat 10, the drive assembly 19 drives the toothed roller 181 and screw 182 to rotate, which in turn drives the adjusting oil tank 184 to move vertically. This allows the oil entering the control oil chamber 16 to squeeze the adjusting piston plate 188, and the I-shaped plate 185 can abut against the adjusting piston plate 188 to provide reverse support force, ensuring the stability of the clamping seat 10. At the same time, the downward force on the I-shaped plate 185 can provide resistance to the clamping plate 13 through the oil, maintaining clamping stability. Furthermore, the position of the rack 193 can be adjusted by rotating the mounting sleeve 192 to adjust the clamping force of the clamping plate 13.

[0039] Working principle: When using this multi-axis robotic arm, such as Figure 1-7First, the mounting base 4 is moved to the workpiece area via the spindle arm 1. Then, the hydraulic cylinder 3 is activated, and the hydraulic fluid in the cylinder 3 enters the L-shaped pusher seat 5 through the transfer oil tank 2, pushing the first pusher piston plate 6 to move. The first pusher piston plate 6, through the hydraulic fluid in the L-shaped pusher seat 5, pushes the second pusher piston plate 7 to move. The second pusher piston plate 7, through the connecting rod 9, pushes the clamping seat 10 to move, compressing the first elastic telescopic rod 8. The clamping seat 10 then moves the clamping plate 13 towards the workpiece. When the clamping plate 13 contacts the workpiece, it moves in the opposite direction under force, pushing the clamping piston plate 12 to move within the clamping oil chamber 11, thus compressing the clamping elastic telescopic rod 14. The oil is squeezed into the release oil tank 178, and the release piston plate 177 and release rod 176 are moved. The release rod 176 pushes the sealing ball 175 to move, so that the second elastic telescopic rod 174 is compressed. At this time, the sealing ball 175 enters the internal space of the conveying head 172. Since the internal space of the conveying head 172 is larger than the diameter of the sealing ball 175, the conveying head 172 is connected to the control oil chamber 16. At this time, the continued downward movement of the first push piston plate 6 will squeeze the excess oil in the L-shaped push seat 5 into the control oil chamber 16 through the conveying pipe 171 and the conveying head 172. This can push the adjusting piston plate 188 to move downward, so that the third elastic telescopic rod 187 is compressed by force.

[0040] Meanwhile, the movement of the clamping seat 10 will drive the rack 193 to move through the mounting rod 191 and mounting sleeve 192. The rack 193 meshes with the toothed roller 181 and drives it to rotate, so that the toothed roller 181 can drive the screw 182 to rotate, thereby driving the movable frame 183 and the adjusting oil tank 184 to move upward. At this time, the position of the I-shaped plate 185 moves upward. When the adjusting piston plate 188 moves downward and contacts the I-shaped plate 185, it can push the I-shaped plate 185 downward, squeezing the oil in the adjusting oil tank 184 into the clamping oil cavity 11, providing a pressure to the clamping piston plate 12 and the clamping plate 13. Finally, in conjunction with the work of the hydraulic cylinder 3, the clamping plate 13 and the clamping seat 10 provide mutual resistance force to maintain stable clamping of workpieces of different specifications.

[0041] The farther the clamping seat 10 moves, the greater the rotation angle of the toothed roller 181 and the screw 182, resulting in a longer upward movement of the adjusting oil tank 184 and the I-beam plate 185. Consequently, when the I-beam plate 185 restricts the position of the adjusting piston plate 188, the amount of oil entering the control oil chamber 16 is reduced. Therefore, when the hydraulic cylinder 3 is working stably, the amount of oil between the first push piston plate 6 and the second push piston plate 7, in coordination with the amount of oil entering the control oil chamber 16, can maintain balance with the movement of the clamping seat 10. Simultaneously, the position of the rack 193 can be adjusted by rotating the mounting sleeve 192. When the clamping seat 10 moves the same distance, by changing the initial position of the I-shaped plate 185, the degree of downward force on the I-shaped plate 185 can be changed, thereby changing the amount of oil entering the clamping oil chamber 11. In conjunction with the use of the rubber pad on the inner wall of the clamping plate 13, the force-moving distance of the clamping plate 13 and the degree of pressure on the rubber pad can be changed, thereby adjusting the clamping force. After clamping is completed, each component can be elastically reset. Although the sealing ball 175 loses the resistance of the release rod 176, the adjusting piston plate 188 can still push the sealing ball 175 to move by pressure when resetting, returning the oil into the L-shaped push seat 5.

[0042] Contents not described in detail in this specification are prior art known to those skilled in the art. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Terms such as "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail" indicate orientations or positional relationships based on the accompanying drawings, and are used only for ease of description and simplification, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-axis robotic arm, comprising a main spindle arm (1), wherein a transfer oil tank (2) is fixed to the end of the main spindle arm (1), and a hydraulic cylinder (3) is mounted on the main spindle arm (1), and the output end of the hydraulic cylinder (3) is connected to the transfer oil tank (2) through a hose; Its features are: It also includes a mounting base (4), which is fixed to the bottom of the transfer tank (2). An L-shaped pusher seat (5) is embedded and fixed on both sides of the bottom of the mounting base (4). The L-shaped pusher seat (5) is connected to the transfer tank (2) through a pipeline. A first pusher piston plate (6) is provided in the vertical area inside the L-shaped pusher seat (5), and a second pusher piston plate (7) is provided in the horizontal area inside the L-shaped pusher seat (5). A first elastic telescopic rod (8) is fixed between the inner side of the second pusher piston plate (7) and the inner wall of the L-shaped pusher seat (5). A clamping seat is fixed to the inner side of the second pusher piston plate (7) through a connecting rod (9). (10), and the clamping seat (10) is located in the outer area of ​​the inner end of the L-shaped push seat (5). The clamping seat (10) has a clamping oil cavity (11) inside the bottom, and a clamping piston plate (12) is provided in the clamping oil cavity (11). A clamping plate (13) is connected to the inner wall of the clamping piston plate (12) by a rod. The clamping plate (13) is located outside the inner side of the clamping seat (10), and a clamping elastic telescopic rod (14) is fixed between the clamping plate (13) and the inner wall of the clamping seat (10). A control seat (15) is installed at the bottom of the L-shaped push seat (5), and a control oil cavity (16) is provided in the control seat (15). Oil release assembly (17) is disposed between the outside of the L-shaped push seat (5) and the control oil chamber (16), and the oil release assembly (17) is used to release excess oil in the L-shaped push seat (5); Clamping force adjustment assembly (18) is disposed in the control oil chamber (16) and is used to adjust the oil entering the control oil chamber (16) and the clamping force of the clamping plate (13); A drive assembly (19) is disposed on the outside of the clamping seat (10) and inside the control seat (15), and the drive assembly (19) is used to adjust the position of the clamping force adjustment assembly (18).

2. The multi-axis robotic arm according to claim 1, characterized in that: The clamping plate (13) moves laterally and elastically inside the clamping seat (10) by clamping the elastic telescopic rod (14), and a rubber pad is laid on the inner wall of the clamping plate (13), and the clamping seat (10) slides against the bottom of the mounting seat (4).

3. A multi-axis robotic arm according to claim 1, characterized in that: The oil release assembly (17) includes a delivery pipe (171), which is installed on the outside of the L-shaped push seat (5) and the control seat (15). One end of the delivery pipe (171) is connected to a delivery head (172), which is fixed to the outer wall of the control oil chamber (16). A perforated mounting bracket (173) is fixed on the inner wall of the delivery head (172), and the inner side of the perforated mounting bracket (173) is connected by a second elastic telescopic rod. 174) A sealing ball (175) is connected, and a release rod (176) is provided on the inner side of the sealing ball (175). One end of the release rod (176) passes through the control seat (15) and is fixed with a release piston plate (177). The release piston plate (177) is located in the release oil tank (178), and the release oil tank (178) is fixed on the inner side of the sealing ball (175). The release oil tank (178) is connected to the clamping oil chamber (11) through a hose.

4. A multi-axis robotic arm according to claim 3, characterized in that: The inner end of the conveying head (172) is designed with a sloping structure, and the inner end of the conveying head (172) is in contact with the sealing ball (175).

5. A multi-axis robotic arm according to claim 1, characterized in that: The clamping force adjustment assembly (18) includes a toothed roller (181), which is embedded and vertically rotatably mounted inside the control seat (15). The bottom of the toothed roller (181) is connected to a screw (182) via a belt, and the screw (182) is vertically rotatably mounted inside the control oil chamber (16). A movable frame (183) is threaded onto the screw (182), and an adjustment oil tank (18) is fixed to the top of the movable frame (183). 4) An I-shaped plate (185) is installed through the top inner and outer positions of the adjusting oil tank (184), and a spring (186) is fixed between the I-shaped plate (185) and the top of the adjusting oil tank (184). An adjusting piston plate (188) is installed at the protruding position in the middle of the control oil chamber (16) through a third elastic telescopic rod (187), and the adjusting piston plate (188) is located between the conveying head (172) and the I-shaped plate (185).

6. A multi-axis robotic arm according to claim 5, characterized in that: The movable frame (183) slides vertically against the inner wall of the control oil chamber (16) via a screw (182), and the cross-section of the movable frame (183) is designed as a U-shaped structure.

7. A multi-axis robotic arm according to claim 5, characterized in that: The adjusting oil tank (184) is connected to the clamping oil chamber (11) via a hose, and the I-shaped plate (185) on the adjusting oil tank (184) is parallel to the adjusting piston plate (188).

8. A multi-axis robotic arm according to claim 1, characterized in that: The drive assembly (19) includes a mounting rod (191) and the mounting rod (191) is fixed to the outside of the clamping seat (10). The outer end of the mounting rod (191) is rotatably provided with a mounting sleeve (192) through a bearing. The mounting sleeve (192) is internally threaded with a rack (193). The rack (193) is slidably disposed inside the control seat (15) and is located behind the toothed roller (181).

9. A multi-axis robotic arm according to claim 8, characterized in that: The toothed blocks on the rack (193) are set at the outer end, and the initial position of the rack (193) does not mesh with the toothed roller (181).

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