Multi-axis manipulator and moving platform with same

Abstract

The invention provides a multi-axis mechanical arm and a moving platform with the same. The multi-axis mechanical arm comprises a hanging plate body; the two supporting arms are arranged on the hanging plate body in the extending direction of the hanging plate body in a spaced mode, each supporting arm comprises a supporting plate body, and the two supporting arms are arranged in the mode that the two supporting arms are close to each other or away from each other so as to clamp or release a workpiece; the two clamping parts and the two supporting arms are arranged in a one-to-one correspondence mode, each clamping part is rotatably arranged on a supporting plate body of the corresponding supporting arm around a first preset axis, and each supporting arm is connected with a workpiece through the corresponding clamping part so that the two clamping parts can drive the workpiece to rotate; the problem that in the prior art, a mechanical arm is difficult to grab and place irregular workpieces in a limited space is solved.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and in particular to a multi-axis manipulator and a mobile platform having the same. Background Art

[0002] In today's industrial production, the use of automated equipment has become a key factor in improving production efficiency, reducing costs and ensuring product quality. Among them, robots are favored for their ability to achieve precise and repetitive operations, especially in industries such as electronics, automobiles, food packaging and logistics, where they are widely used in material handling, product assembly and packaging. However, traditional robots often face challenges such as low operating accuracy, poor adaptability and low efficiency when handling products with irregular shapes and varying sizes, especially in production environments with limited space. These problems are particularly prominent.

[0003] Currently, industrial production sites often need to efficiently complete the task of grabbing and placing products in a limited space. In particular, for irregular products of different shapes and sizes, how to ensure that they can be accurately placed according to the preset stacking pattern (specific stacking pattern) has become a difficult problem that needs to be solved urgently on the automated production line.

[0004] Traditional robot designs often focus on the processing of a single product and lack the ability to efficiently grasp and accurately place multiple types of irregular products. This leads to problems such as low grasping efficiency, uneven product stacking, and large floor space in actual applications, which affects overall production efficiency and product quality control. Summary of the invention

[0005] The main purpose of the present invention is to provide a multi-axis manipulator and a mobile platform having the same, so as to solve the problem that the manipulator in the prior art is difficult to grasp and place irregular workpieces in a limited space.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a multi-axis manipulator, comprising: a suspension plate body; two support arms, the two support arms are arranged on the suspension plate body at intervals along the extension direction of the suspension plate body, each support arm comprises a support plate body, the two support arms are arranged close to or far away from each other to clamp or release a workpiece; two clamping parts, the two clamping parts are arranged in a one-to-one correspondence with the two support arms, each clamping part is rotatably arranged on the support plate body of the corresponding support arm around a first predetermined axis, and each support arm is connected to the workpiece through a corresponding clamping part to drive the workpiece to rotate through the two clamping parts.

[0007] Furthermore, the multi-axis manipulator also includes: a mounting bracket; a rotation drive assembly, and the suspension plate is rotatably mounted on the mounting bracket around a second predetermined axis through the rotation drive assembly; wherein the first predetermined axis is perpendicular to the second predetermined axis.

[0008] Furthermore, the rotary drive assembly includes: a rotary drive component, which is arranged on a mounting bracket; a driving gear, which is connected to the output end of the rotary drive component; a driven gear, which is meshed with the driving gear, and one side of the driven gear is mounted on the suspension plate through a connecting bracket; wherein the second predetermined axis coincides with the axis of the driving gear.

[0009] Furthermore, the multi-axis manipulator also includes: a first drive module, which is driven and connected to the mounting bracket to drive the mounting bracket to move in a vertical direction; and / or the mounting bracket includes a first connecting plate body and a second connecting plate body arranged vertically, and the second connecting plate body is used to connect to the suspension plate body.

[0010] Furthermore, the multi-axis manipulator also includes: a transmission shaft extending along the length direction of the suspension plate; a clamping drive component, the clamping drive component is installed on the suspension plate; a first driving wheel, a first transmission wheel and a first transmission belt, wherein the first driving wheel is connected to the output end of the clamping drive component, the first transmission wheel is sleeved on the transmission shaft, and the first transmission belt is sleeved on the first driving wheel and the first transmission wheel; two transmission assemblies, the two transmission assemblies are connected to the two clamping components one by one, and each transmission assembly is connected to the transmission shaft to transmit the rotation of the transmission shaft to the corresponding clamping component, so that the clamping component rotates around the first preset axis.

[0011] Furthermore, each transmission component includes a third transmission wheel, a fourth transmission wheel and a second conveyor belt. The third transmission wheel is mounted on the transmission shaft and rotates coaxially with the first transmission wheel. The fourth transmission wheel is connected to the clamping part and is coaxially arranged. The second conveyor belt is mounted on the third transmission wheel and the fourth transmission wheel to drive the corresponding clamping parts to rotate.

[0012] Furthermore, the multi-axis manipulator also includes: a transmission screw, which extends along the length direction of the suspension plate, and the two clamping components are both engaged with the transmission screw thread through a transmission nut; a mobile driving component, the mobile driving component is installed on the suspension plate; a sixth transmission wheel, a seventh transmission wheel and a third conveyor belt, wherein the sixth transmission wheel is connected to the output end of the mobile driving component, the seventh transmission wheel is sleeved on the transmission screw, and the third conveyor belt is sleeved on the sixth transmission wheel and the seventh transmission wheel, so as to drive the transmission screw to rotate, so that the two clamping components are closer to or farther away from each other.

[0013] Furthermore, the multi-axis manipulator also includes: a sliding assembly, including a slide rail and two sliders that cooperate with each other, the slide rail is arranged on the suspension plate body and extends along the length direction of the suspension plate body, and the two sliders are respectively connected to the two support arms one by one; wherein, there are multiple sliding assemblies, and the multiple sliding assemblies are distributed along the width direction of the suspension plate body.

[0014] Furthermore, the multi-axis manipulator also includes: an image acquisition component for acquiring image information of the workpiece; a control device, which is respectively connected to the image acquisition component and the rotation drive component to acquire image information transmitted by the image acquisition component and control the rotation angle of the clamping component 30 according to the image information.

[0015] According to the second aspect of the present invention, the present invention also provides a mobile platform, including a multi-axis manipulator, the multi-axis manipulator is the multi-axis manipulator mentioned above, and the mobile platform also includes: two supporting crossbeams, which are arranged in parallel with each other; multiple supporting longitudinal beam groups, and the multiple supporting longitudinal beam groups are arranged in parallel along the extension direction of the supporting crossbeams; each supporting longitudinal beam group includes two supporting longitudinal beams arranged in parallel, and the two ends of each supporting longitudinal beam are respectively connected to the two supporting crossbeams; multiple multi-axis manipulators, the multiple multi-axis manipulators are arranged one by one corresponding to the multiple supporting longitudinal beam groups, and each multi-axis manipulator is installed on the corresponding supporting longitudinal beam group, and each multi-axis manipulator is movably arranged along the extension direction of the corresponding supporting longitudinal beam.

[0016] By applying the technical solution of the present invention, two adjustable support arms and two clamping components are provided, and the clamping components are rotatable around a first predetermined axis, so that the multi-axis manipulator can flexibly adjust the posture of the workpiece, can handle workpieces of various shapes, sizes and weights, and can adjust the workpiece to the most suitable placement posture regardless of its initial position and direction, thereby greatly improving the operating range and flexibility of the manipulator, reducing the need for manual intervention, and improving production efficiency and safety; and the two support arms are arranged close to or far away from each other, and the clamping force can be dynamically adjusted according to the weight and size of the workpiece, thereby ensuring the stability of the workpiece during movement and rotation, reducing the risk of the workpiece sliding or falling off, and effectively solving the problem in the prior art that it is difficult for the manipulator to grasp and place irregular workpieces in a limited space. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic structural diagram of an embodiment of a multi-axis manipulator and a multi-axis manipulator with a mobile platform thereof according to the present invention is shown;

[0019] Figure 2 A structural schematic diagram of an embodiment of a multi-axis manipulator and a mobile platform having the same according to the present invention is shown.

[0020] The above drawings include the following reference numerals:

[0021] 10. Suspension plate; 20. Support arm; 30. Clamping component; 40. Mounting bracket; 50. Rotation drive assembly; 60. Connecting bracket; 70. Transmission shaft; 80. Clamping drive component; 90. Moving drive component;

[0022] 210, support plate; 220, connecting piece;

[0023] 510, a rotating driving component; 520, a driving gear; 530, a driven gear;

[0024] 100, first driving module; 200, sliding assembly; 300, supporting crossbeam; 400, supporting longitudinal beam assembly;

[0025] 401, supporting longitudinal beam;

[0026] 410, first connecting plate body; 420, second connecting plate body;

[0027] 1. First transmission belt; 2. Third transmission wheel; 3. Second transmission belt; 4. Slide rail; 5. Slider;

[0028] 8. Transmission screw. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] like Figure 1 to Figure 2As shown, the multi-axis manipulator of the present invention includes: a suspension plate body 10; two support arms 20, the two support arms 20 are arranged on the suspension plate body 10 at intervals along the extension direction of the suspension plate body 10, each support arm 20 includes a support plate body 210, and the two support arms 20 are arranged close to or far away from each other to clamp or release the workpiece; two clamping components 30, the two clamping components 30 are arranged in a one-to-one correspondence with the two support arms 20, each clamping component 30 is rotatably arranged on the support plate body 210 of the corresponding support arm 20 around a first predetermined axis, and each support arm 20 is connected to the workpiece through the corresponding clamping component 30 to drive the workpiece to rotate through the two clamping components 30. In this way, the present invention is provided with two adjustable support arms 20 and two clamping parts 30, and the clamping parts 30 are rotatable around a first predetermined axis, so that the multi-axis manipulator can flexibly adjust the posture of the workpiece, can handle workpieces of various shapes, sizes and weights, and can adjust them to the most suitable placement posture regardless of the initial position and direction of the workpiece, thereby greatly improving the operating range and flexibility of the manipulator, reducing the need for manual intervention, and improving production efficiency and safety; and the two support arms 20 are arranged close to or far away from each other, and can dynamically adjust the clamping force according to the weight and size of the workpiece, thereby ensuring the stability of the workpiece during movement and rotation, reducing the risk of the workpiece sliding or falling off, and effectively solving the problem that the manipulator in the prior art is difficult to grasp and place irregular workpieces in a limited space.

[0031] In one embodiment of the present invention, the clamping component 30 is a turntable, and is rotatably arranged around a first predetermined axis.

[0032] Specifically, the support arm 20 of the present invention further includes interconnected connecting members 220 supporting the plate body 210 .

[0033] Preferably, the multi-axis manipulator further comprises: a mounting bracket 40; a rotation drive assembly 50, and the suspension plate 10 is rotatably mounted on the mounting bracket 40 around a second predetermined axis through the rotation drive assembly 50; wherein the first predetermined axis is perpendicular to the second predetermined axis. By providing the rotation drive assembly 50, the manipulator can realize rotation around the second predetermined axis perpendicular to the first predetermined axis, thereby realizing all-round operation in three-dimensional space, significantly improving the manipulator's ability to handle complex tasks.

[0034] Specifically, the rotary drive assembly 50 includes: a rotary drive component 510, which is arranged on the mounting bracket 40; a driving gear 520, which is connected to the output end of the rotary drive component 510; a driven gear 530, which is meshed with the driving gear 520, and one side of the driven gear 530 is mounted on the suspension plate 10 through the connecting bracket 60; wherein the second predetermined axis coincides with the axis of the driving gear 520. The combination of the rotary drive component 510 and the gear transmission system can realize the precise control of the rotation of the suspension plate 10 around the second predetermined axis, and the gear transmission has high transmission efficiency and stability, ensuring the accuracy and response speed of the rotational motion.

[0035] like Figure 2 As shown, the multi-axis manipulator also includes: a first drive module 100, which is driven and connected to the mounting bracket 40 to drive the mounting bracket 40 to move in the vertical direction. The driving connection between the first drive module 100 and the mounting bracket 40 enables the manipulator to move in the vertical direction, which means that in addition to horizontal and rotational movements, the manipulator can also move up and down, greatly enhancing its operational flexibility in three-dimensional space, and is suitable for scenarios that require operations at different heights, such as palletizing, loading and unloading, multi-layer assembly, etc., which improves the versatility and use efficiency of the manipulator.

[0036] like Figure 1 As shown, the mounting bracket 40 includes a first connecting plate body 410 and a second connecting plate body 420 which are vertically arranged. The second connecting plate body 420 is used to connect with the suspension plate body 10. The vertically arranged structure not only increases the structural stability of the manipulator, but also provides better load support, thereby ensuring the stability and reliability of the manipulator under different motion states.

[0037] Preferably, the multi-axis manipulator further comprises: a transmission shaft 70 extending along the length direction of the suspension plate 10; a clamping drive component 80, the clamping drive component 80 being mounted on the suspension plate 10; a first driving wheel, a first transmission wheel and a first transmission belt 1, wherein the first driving wheel is connected to the output end of the clamping drive component 80, the first transmission wheel is sleeved on the transmission shaft 70, and the first transmission belt 1 is sleeved on the first driving wheel and the first transmission wheel; two transmission assemblies, the two transmission assemblies are connected to the two clamping components 30 one by one, and each transmission assembly is connected to the transmission shaft 70 to transmit the rotation of the transmission shaft 70 to the corresponding clamping component 30, so that the clamping component 30 rotates around the first preset axis. Through the arrangement of the transmission shaft 70 and the first transmission belt 1, the two clamping components 30 can realize synchronous and coordinated rotation operation, and no matter how the shape or size of the workpiece changes, the manipulator can ensure that the rotation angles of the two clamping components 30 are consistent, thereby stably clamping and rotating the workpiece, and avoiding unstable clamping or damage to the workpiece caused by different angles.

[0038] Furthermore, each transmission component includes a third transmission wheel 2, a fourth transmission wheel and a second conveyor belt 3. The third transmission wheel 2 is mounted on the transmission shaft 70 and rotates coaxially with the first transmission wheel. The fourth transmission wheel is connected to the clamping component 30 and is coaxially arranged. The second conveyor belt 3 is mounted on the third transmission wheel 2 and the fourth transmission wheel to drive the corresponding clamping component 30 to rotate.

[0039] The third transmission wheel 2 and the fourth transmission wheel are connected by the second conveyor belt 3 to form an efficient transmission chain. Compared with direct mechanical linkage, the use of a conveyor belt can reduce friction and energy loss during power transmission. At the same time, through the precisely designed transmission ratio, the control accuracy of the rotation angle of the clamping component 30 is improved, ensuring the stability and safety of the workpiece during operation.

[0040] Preferably, the multi-axis manipulator also includes: a transmission screw 8, which extends along the length direction of the suspension plate 10, and the two clamping components 30 are both threadedly matched with the transmission screw 8 through a transmission nut; a mobile drive component 90, and the mobile drive component 90 is installed on the suspension plate 10; a sixth transmission wheel, a seventh transmission wheel and a third conveyor belt, wherein the sixth transmission wheel is connected to the output end of the mobile drive component 90, the seventh transmission wheel is sleeved on the transmission screw 8, and the third conveyor belt is sleeved on the sixth transmission wheel and the seventh transmission wheel, so as to drive the transmission screw 8 to rotate, so that the two clamping components 30 are closer to or farther away from each other.

[0041] The threaded cooperation of the transmission screw 8 and the transmission nut can convert the rotational motion of the mobile driving component 90 into precise linear motion, thereby controlling the two clamping components 30 to achieve high-precision movement of approaching or moving away from each other. This design is particularly suitable for scenarios that require precise distance control, such as precision assembly, electronic component processing, etc., and improves the accuracy and consistency of operation.

[0042] The transmission chain of the sixth transmission wheel, the seventh transmission wheel and the third conveyor belt can quickly respond to the instructions of the mobile drive component 90, reduce power transmission delay, and enable the robot to quickly adjust the position of the clamping component 30, thereby improving operating efficiency and the rhythm control ability of the production line.

[0043] In an embodiment of the present invention, the transmission nuts are all threadedly connected to the transmission screw 8 and connected to the corresponding support arm 20 through the connecting member 220.

[0044] like Figure 1As shown, the multi-axis manipulator also includes: a sliding assembly 200, including a slide rail 4 and two sliders 5 that cooperate with each other, the slide rail 4 is arranged on the suspension plate body 10 and extends along the length direction of the suspension plate body 10, and the two sliders 5 are respectively connected to the two support arms 20 in a one-to-one correspondence; wherein, there are multiple sliding assemblies 200, and the multiple sliding assemblies 200 are distributed along the width direction of the suspension plate body 10. The precise matching design of the slide rail 4 and the slider 5 ensures the smooth movement of the support arm 20 along the length direction of the suspension plate body 10. This high-precision linear motion control enables the manipulator to stably and accurately position the workpiece, especially when performing precision assembly or processing, which can significantly improve the accuracy and stability of the operation.

[0045] The multi-axis manipulator of the present invention also includes: an image acquisition component for acquiring image information of a workpiece; a control device, which is respectively connected to the image acquisition component and the rotation drive component 510 to acquire image information transmitted by the image acquisition component, and control the rotation angle of the output shaft of the clamping drive component 80 in the clamping component 30 according to the image information.

[0046] The image acquisition component in the present invention can capture the image information of the workpiece in real time, and identify the position, shape and posture of the workpiece through image processing technology. This intelligent visual positioning technology enables the robot to automatically adjust the grasping strategy, and even if the position of the workpiece on the conveyor belt is not fixed or the posture changes, it can still be grasped accurately.

[0047] The control device in the present invention adjusts the rotation angle of the output shaft of the rotary drive component 510 according to the image information to achieve precise posture control of the clamping component 30. This means that the manipulator can dynamically adjust the angle of grasping and placing according to the actual state of the workpiece to ensure consistency and high-quality completion of the operation.

[0048] The control device of the present invention is also connected to the linear drive component in the first drive module 100 to control the movement of the mounting bracket 40 in the vertical direction, so as to adjust the height of the manipulator to meet the requirements of grasping or placing different workpieces.

[0049] The control device of the present invention is also connected to the mobile driving component 90 to drive the clamping components 30 to move closer to or farther from each other along the axis direction of the transmission screw 8 to achieve clamping and releasing of the workpiece. This control method is particularly effective for processing workpieces with a wide range of sizes.

[0050] In one embodiment of the present invention, it also includes a first angle sensor and a second angle sensor, the first angle sensor is connected to the clamping component 30 to detect the rotation angle of the clamping component around the first predetermined axis; the second angle sensor is connected to the suspension plate 10 to detect the rotation angle of the multi-axis manipulator around the second predetermined axis.

[0051] In the embodiment of the present invention, by integrating the first angle sensor and the second angle sensor and establishing a connection with the control device, the operation accuracy and reliability of the multi-axis manipulator can be significantly improved. The control device accurately adjusts the rotation drive component 510 and other drive components according to the feedback information of these sensors to ensure that the posture of the manipulator in three-dimensional space meets the preset requirements, and can achieve high-precision grasping and placement even when processing workpieces with irregular shapes or uneven weight distribution.

[0052] The present invention also provides a mobile platform, including a multi-axis manipulator, the multi-axis manipulator is the above-mentioned multi-axis manipulator, and the mobile platform also includes: two supporting beams 300, which are arranged in parallel and spaced apart from each other; a plurality of supporting longitudinal beam groups 400, the plurality of supporting longitudinal beam groups 400 are arranged in spaced apart along the extension direction of the supporting beams 300; each supporting longitudinal beam group 400 includes two parallel supporting longitudinal beams 401, and the two ends of each supporting longitudinal beam are respectively connected to the two supporting beams; a plurality of multi-axis manipulators, the plurality of multi-axis manipulators are arranged in one-to-one correspondence with the plurality of supporting longitudinal beam groups 400, each multi-axis manipulator is installed on the corresponding supporting longitudinal beam group 400, and each multi-axis manipulator is movably arranged along the extension direction of the corresponding supporting longitudinal beam 401.

[0053] The present invention significantly expands the operating range of the manipulator by arranging a plurality of supporting longitudinal beam groups 400 at intervals on mutually parallel supporting cross beams 300, and installing a movable multi-axis manipulator on each supporting longitudinal beam group 400, so that the manipulator can cover a wider working area. At the same time, the mobility of each manipulator along the extension direction of the supporting longitudinal beam further improves their flexibility and efficiency in processing multiple points and multiple workpieces.

[0054] In the present invention, the combined structure of the supporting cross beam 300 and the supporting longitudinal beam group 400 effectively utilizes the three-dimensional space and provides a compact and efficient installation layout for the multi-axis manipulator. This not only reduces the equipment footprint, but also improves the space utilization efficiency, which is conducive to realizing efficient automated production in a limited space.

[0055] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0056] The multi-axis manipulator of the present invention includes: a suspension plate body 10; two support arms 20, the two support arms 20 are arranged on the suspension plate body 10 at intervals along the extension direction of the suspension plate body 10, each support arm 20 includes a support plate body 210, and the two support arms 20 are arranged close to or far away from each other to clamp or release the workpiece; two clamping components 30, the two clamping components 30 are arranged in a one-to-one correspondence with the two support arms 20, and each clamping component 30 is rotatably arranged on the support plate body 210 of the corresponding support arm 20 around a first predetermined axis, and each support arm 20 is connected to the workpiece through the corresponding clamping component 30 to drive the workpiece to rotate through the two clamping components 30.

[0057] It can be seen that the present invention is provided with two adjustable support arms 20 and two clamping parts 30, and the clamping parts 30 are rotatable around the first predetermined axis, so that the multi-axis manipulator can flexibly adjust the posture of the workpiece, can handle workpieces of various shapes, sizes and weights, and can adjust the workpiece to the most suitable placement posture regardless of its initial position and direction, thereby greatly improving the operating range and flexibility of the manipulator, reducing the need for manual intervention, and improving production efficiency and safety; and the two support arms 20 are arranged close to or far away from each other, and can dynamically adjust the clamping force according to the weight and size of the workpiece, thereby ensuring the stability of the workpiece during movement and rotation, reducing the risk of the workpiece sliding or falling off, and effectively solving the problem in the prior art that it is difficult for the manipulator to grasp and place irregular workpieces in a limited space.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0060] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0061] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0062] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-axis manipulator, characterized in that: include: A hanging plate (10); Two support arms (20), the two support arms (20) being arranged on the suspension plate body (10) at intervals along the extension direction of the suspension plate body (10), each of the support arms (20) comprising a support plate body (210), and the two support arms (20) being arranged close to or far from each other to clamp or release a workpiece; Two clamping components (30), the two clamping components (30) are arranged in a one-to-one correspondence with the two support arms (20), each of the clamping components (30) is rotatably arranged on the support plate body (210) of the corresponding support arm (20) around a first predetermined axis, and each of the support arms (20) is connected to the workpiece through the corresponding clamping component (30) so as to drive the workpiece to rotate through the two clamping components (30).

2. The multi-axis manipulator according to claim 1, characterized in that: The multi-axis manipulator also includes: Mounting bracket (40); A rotation drive assembly (50), wherein the suspension plate body (10) is rotatably mounted on the mounting bracket (40) around a second predetermined axis through the rotation drive assembly (50); Wherein, the first predetermined axis is perpendicular to the second predetermined axis.

3. The multi-axis manipulator according to claim 2, characterized in that: The rotary drive assembly (50) comprises: a rotation driving component (510), wherein the rotation driving component (510) is arranged on the mounting bracket (40); A driving gear (520), wherein the driving gear (520) is connected to an output end of the rotating driving component (510); A driven gear (530), the driven gear (530) meshing with the driving gear (520), one side of the driven gear (530) being mounted on the suspension plate (10) via a connecting bracket (60); Wherein, the second predetermined axis coincides with the axis of the driving gear (520).

4. The multi-axis manipulator according to claim 2, characterized in that: The multi-axis manipulator also includes: a first driving module (100), the first driving module (100) being drivingly connected to the mounting bracket (40) so as to drive the mounting bracket (40) to move in a vertical direction; and / or The mounting bracket (40) comprises a first connecting plate body (410) and a second connecting plate body (420) which are vertically arranged, and the second connecting plate body (420) is used to be connected to the suspension plate body (10).

5. The multi-axis manipulator according to claim 1, characterized in that: The multi-axis manipulator also includes: A transmission shaft (70) extending along the length direction of the suspension plate (10); A clamping drive component (80), wherein the clamping drive component (80) is mounted on the suspension plate body (10); A first driving wheel, a first transmission wheel and a first transmission belt (1), wherein the first driving wheel is connected to the output end of the clamping driving component (80), the first transmission wheel is sleeved on the transmission shaft (70), and the first transmission belt (1) is sleeved on the first driving wheel and the first transmission wheel; Two transmission assemblies are connected to the two clamping components (30) in a one-to-one correspondence, and each transmission assembly is connected to the transmission shaft (70) to transmit the rotation of the transmission shaft (70) to the corresponding clamping component (30), so that the clamping component (30) rotates around the first preset axis.

6. The multi-axis manipulator according to claim 5, characterized in that: Each of the transmission components comprises: a third transmission wheel (2), a fourth transmission wheel and a second conveyor belt (3), wherein the third transmission wheel (2) is sleeved on the transmission shaft (70) and rotates coaxially with the first transmission wheel, the fourth transmission wheel is connected to the clamping component (30) and is coaxially arranged, and the second conveyor belt (3) is sleeved on the third transmission wheel (2) and the fourth transmission wheel to drive the corresponding clamping component (30) to rotate.

7. The multi-axis manipulator according to any one of claims 1 to 6, characterized in that: The multi-axis manipulator also includes: A transmission screw (8) extends along the length direction of the suspension plate (10), and the two clamping components (30) are threadedly engaged with the transmission screw (8) via a transmission nut; A mobile driving component (90), wherein the mobile driving component (90) is mounted on the suspension plate body (10); A sixth transmission wheel, a seventh transmission wheel and a third conveyor belt, wherein the sixth transmission wheel is connected to the output end of the mobile drive component (90), the seventh transmission wheel is sleeved on the transmission screw (8), and the third conveyor belt is sleeved on the sixth transmission wheel and the seventh transmission wheel to drive the transmission screw (8) to rotate, so that the two clamping components (30) are moved closer to or farther away from each other.

8. The multi-axis manipulator according to any one of claims 1 to 6, characterized in that: The multi-axis manipulator also includes: A sliding assembly (200) comprises a slide rail (4) and two sliding blocks (5) which cooperate with each other, wherein the slide rail (4) is arranged on the suspension plate body (10) and extends along the length direction of the suspension plate body (10), and the two sliding blocks (5) are respectively connected to the two support arms (20) in a one-to-one correspondence; There are multiple sliding components (200), and the multiple sliding components (200) are distributed along the width direction of the suspension plate body (10).

9. The multi-axis manipulator according to claim 3, characterized in that: The multi-axis manipulator also includes: An image acquisition component, used for acquiring image information of the workpiece; A control device is connected to the image acquisition component and the rotation driving component (510) respectively to acquire image information transmitted by the image acquisition component and control the rotation angle of the clamping component (30) according to the image information.

10. A mobile platform, characterized in that: The mobile platform comprises a multi-axis manipulator, wherein the multi-axis manipulator is a multi-axis manipulator according to any one of claims 1 to 9, and the mobile platform further comprises: Two supporting beams (300) are arranged parallel to each other and spaced apart; A plurality of supporting longitudinal beam groups (400), wherein the plurality of supporting longitudinal beam groups (400) are arranged at intervals along the extension direction of the supporting cross beam (300); each of the supporting longitudinal beam groups (400) comprises two supporting longitudinal beams (401) arranged in parallel, and the two ends of each of the supporting longitudinal beams are respectively connected to the two supporting cross beams; A plurality of multi-axis manipulators are provided in one-to-one correspondence with the plurality of supporting longitudinal beam groups (400), each of the multi-axis manipulators is installed on a corresponding supporting longitudinal beam group (400), and each of the multi-axis manipulators is movably provided along an extension direction of a corresponding supporting longitudinal beam (401).

Images