A multi-arm synchronous industrial robot that can be used with separable arms

Abstract

The present invention belongs to the technical field of robotic arms, and particularly relates to a multi-arm synchronous industrial robot that can be used with separable arms. It includes a mobile frame, on the top of which a robotic arm is installed. The upper part of the mobile frame is connected with a fixed outer frame, inside which there is a lifting inner frame that slides up and down, and at the lower part of the fixed outer frame, there is a supporting mechanism for supporting the lifting inner frame. By inserting the data connection plug into the data connection head, multiple robotic arms can be used synchronously in a processing site with limited space. Push the limit rod upward, and the lifting inner frame and the control box will descend, so that the control box can be maintained at a low position and there is no obstruction around the control box, effectively utilizing the space in the vertical direction with a large operating space. Push the lifting inner frame upward, and the supporting end supports the lifting inner frame. The operation steps are simple, and the data connection head and the data connection plug can also be pulled out for docking to use the robotic arms synchronously at a relatively long distance, or a single robotic arm can be used alone. The usage method is flexible and suitable for various scenarios.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and particularly relates to a multi-arm synchronous industrial robot that can be used with split arms. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots mainly consist of a robotic arm system, a vision sensor, and a main control computer. However, when using industrial robots, there are certain limitations:

[0003] (1) The robotic arms of industrial robots are generally single-arm or double-arm, and the number of robotic arms is fixedly set. When the application scenario changes, the usage mode cannot be flexibly adjusted.

[0004] (2) For processing sites with limited space, the robotic arm and the control box are sometimes installed at a relatively high position. When data needs to be imported into the internal control box or maintenance is required, it is inconvenient to operate in the high-position area.

[0005] (3) If the control box is installed at a relatively low position and the control box is located inside a dust-proof closed outer frame, when maintaining the control box, one side of the frame door is opened, but there is a problem that the other three sides of the control box are blocked, and the operating space is limited.

[0006] Therefore, it is necessary to develop a multi-arm synchronous industrial robot that can be used with split arms, which can be flexibly applied to various scenarios to solve the above problems. Summary of the Invention

[0007] In view of this, the present invention provides a multi-arm synchronous industrial robot that can be used with split arms.

[0008] The technical solution is as follows: A multi-arm synchronous industrial robot that can be used with split arms includes a moving frame. A robotic arm is installed on the top of the moving frame. The upper part of the moving frame is connected with a fixed outer frame. An elevating inner frame that slides up and down is arranged inside the fixed outer frame. A supporting mechanism for supporting the elevating inner frame is arranged at the lower part of the fixed outer frame. A control box electrically connected to the robotic arm is installed at the lower part of the elevating inner frame. Jacks are opened on both the left and right sides of the fixed outer frame. A data connection head is arranged in the jack on the left side, and a data connection plug that cooperates with the data connection head is arranged in the jack on the right side. Wires are installed between the data connection head and the data connection plug and the control box.

[0009] As a further preferred solution, the support mechanism includes fixed blocks. A pair of fixed blocks are connected to both the front and rear sides of the fixed outer frame. A fixed rod is connected between each pair of fixed blocks. Support blocks are rotatably connected to both ends of the fixed rod. A scroll spring is connected between the support block and the fixed rod. An elevating frame that slides up and down is provided on the outside of the fixed outer frame. Two pairs of limiting rods for abutting against the support blocks are connected to the elevating frame.

[0010] As a further preferred solution, abutting ends are provided on the tops of the support blocks. Support ends are provided on the sides of the support blocks close to the fixed outer frame. The tops of the support ends are in contact with the bottom of the elevating inner frame. On the sides of the bottoms of the limiting rods close to the adjacent abutting ends, inclined surfaces two are provided; inclined surfaces one are provided on the sides of the abutting ends away from the fixed outer frame.

[0011] As a further preferred solution, the multi-arm synchronous industrial robot further includes a guiding mechanism. The guiding mechanism includes slide rails. Two slide rails are connected to the upper part of the elevating inner frame. Elevating blocks that slide up and down are provided on the slide rails. Tensile springs are connected between the elevating blocks and the slide rails. Guide wheels are rotatably connected to the elevating blocks. A pair of guide holes for the wire to pass through are opened on the elevating blocks. The wire is wound around the guide wheels.

[0012] As a further preferred solution, the multi-arm synchronous industrial robot further includes a positioning mechanism. The positioning mechanism includes guide rods. A pair of guide rods are connected to both the left and right sides of the fixed outer frame. Sliding blocks are provided on the guide rods. Fixed sleeves are connected to the ends of the data connection head and the data connection plug located outside the fixed outer frame. Short hinge rods are rotatably connected between the pair of sliding blocks on the left side of the fixed outer frame and the fixed sleeve on the data connection head. Long hinge rods are rotatably connected between the pair of sliding blocks on the right side of the fixed outer frame and the fixed sleeve on the data connection plug. A fastening bolt is threadedly connected to one of the pair of sliding blocks on the right side of the fixed outer frame. The fastening bolt is in close contact with the guide rod on the same side.

[0013] As a further preferred solution, the multi-arm synchronous industrial robot further includes a guide rail. A guide rail is provided behind the moving frame. A pair of connecting rods are connected to the lower part of the moving frame. Two limiting plates that slide up and down are provided between the two connecting rods. Return springs are connected between the limiting plates and the connecting rods.

[0014] As a further preferred solution, guide grooves are opened on the guide rail. Two bending parts are provided on the guide rail at the guide grooves. Hook-shaped parts are provided at the rear ends of the limiting plates. Inclined surfaces four are provided at the rear sides of the hook-shaped parts. The hook-shaped parts are used to hook on the bending parts.

[0015] As a further preferred solution, the multi-arm synchronous industrial robot further includes sliding plates. Two sliding plates are slidably connected to the upper part of the moving frame. A placement plate is connected between the two sliding plates.

[0016] The present invention has the following advantages: 1. By plugging the data connection plug into the data connection head, multiple robotic arms can be used synchronously in a processing site with limited space. Push the limit rod upward, the lifting inner frame and the control box will descend, and the control box can be maintained at a low position. Moreover, the control box is not blocked on all sides, effectively utilizing the space in the vertical direction, with a large operating space. Push the lifting inner frame upward, and the support end supports the lifting inner frame. The operation steps are simple. The data connection head and the data connection plug can also be pulled out for docking. Multiple robotic arms can be used synchronously at a relatively long distance, or a single robotic arm can be used alone. The usage method is flexible and suitable for various scenarios.

[0017] 2. When the data connection head or the data connection plug is pulled out, the slider slides on the guide rod through the fixed sleeve, and the data connection head or the data connection plug can move horizontally, facilitating the positioning of the data connection head and the data connection plug, and making the docking more convenient.

[0018] 3. The hook-shaped part of the limit plate is located in the guide groove of the guide rail, aligning the positions of the two robotic arms, facilitating the synchronous use of multiple robotic arms. By pressing the two limit plates, the moving frame can be pushed to move. The hook-shaped part of the limit plate contacts the bent part, and the hook-shaped part automatically hooks the bent part again, with simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the state when the present invention is in use.

[0020] Figure 2 It is a schematic diagram of the structure of the moving frame, robotic arm, fixed outer frame, data connection head and data connection plug of the present invention.

[0021] Figure 3 For the present invention Figure 2 It is a schematic diagram of the structure after the moving frame and the robotic arm are hidden in the present invention.

[0022] Figure 4 It is a schematic diagram of the internal structure of the fixed outer frame of the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the lifting inner frame, control box, wire, data connection head, data connection plug and guiding mechanism of the present invention.

[0024] Figure 6 It is a schematic diagram of the connection relationship between the slide rail, lifting block, guide hole and guide wheel of the present invention.

[0025] Figure 7 It is a schematic diagram of the structure of the control box, wire, data connection head and data connection plug of the present invention.

[0026] Figure 8 It is a schematic diagram of the structure of the support mechanism and the extrusion plate of the present invention.

[0027] Figure 9 It is a schematic diagram of the connection relationship of the fixed rod, support block, limiting rod and scroll spring of the present invention.

[0028] Figure 10 It is a top view of the positioning mechanism of the present invention.

[0029] Figure 11 It is a side view of the guide rail, connecting rod and limiting plate of the present invention.

[0030] Figure 12 It is a schematic diagram of the structures of the sliding plate and the placement plate of the present invention.

[0031] Names of the reference numerals in the figure: 1 - moving frame, 2 - robotic arm, 3 - fixed outer frame, 4 - lifting inner frame, 51 - fixing block, 52 - fixed rod, 53 - support block, 531 - abutting end, 5310 - first inclined surface, 532 - supporting end, 54 - lifting frame, 55 - limiting rod, 551 - second inclined surface, 56 - scroll spring, 6 - control box, 7 - wire, 71 - slide rail, 72 - lifting block, 73 - guide hole, 74 - guide wheel, 8 - data connector, 9 - data connection plug, 102 - guide rod, 103 - slider, 104 - fixed sleeve, 105 - short articulated rod, 106 - long articulated rod, 107 - fastening bolt, 122 - guide rail, 1221 - bent portion, 123 - connecting rod, 124 - limiting plate, 125 - hook portion, 1251 - fourth inclined surface, 131 - sliding plate, 132 - placement plate. Specific embodiments

[0032] The following further illustrates the technical solution with specific embodiments. It should be noted that: The words indicating directions such as up, down, left, and right mentioned in this article are only for the positions of the shown structures in the corresponding drawings.

[0033] Embodiment 1: A multi - arm synchronous industrial robot that can be used with split arms, refer to Figures 1 - 9, including a mobile frame 1, a robotic arm 2, a fixed outer frame 3, a lifting inner frame 4, a support mechanism, a control box 6, a wire 7, a data connector 8, and a data connection plug 9. There are two mobile frames 1. The bottom of the mobile frame 1 has four universal wheels. The top of the mobile frame 1 is equipped with a robotic arm 2. The upper part of the mobile frame 1 is welded with a fixed outer frame 3. Inside the fixed outer frame 3, there is a lifting inner frame 4 that slides up and down. There is a damping at the sliding connection between the lifting inner frame 4 and the fixed outer frame 3. The lower part of the fixed outer frame 3 is provided with a support mechanism for supporting the lifting inner frame 4. The lower part of the lifting inner frame 4 is installed with a control box 6 that is electrically connected to the robotic arm 2. On the lower parts of the left and right sides of the fixed outer frame 3, there are sockets. The socket on the left is provided with a data connector 8, and the socket on the right is provided with a data connection plug 9 that cooperates with the data connector 8. The data connector 8 and the data connection plug 9 are prior arts, and their specific function is to provide data transmission. Wires 7 are installed between the data connector 8 and the data connection plug 9 and the control box 6.

[0034] Reference Figures 1 - 4 , Figure 8 and Figure 9 , the support mechanism includes a fixed block 51, a fixed rod 52, a support block 53, a lifting frame 54, a limiting rod 55, and a scroll spring 56. On the lower parts of the front and rear sides of the fixed outer frame 3, a pair of symmetrically arranged fixed blocks 51 are welded. A fixed rod 52 is fixedly connected between each pair of fixed blocks 51. Both ends of the fixed rod 52 are rotatably connected to a support block 53. A scroll spring 56 is fixedly connected between the support block 53 and the fixed rod 52. There is a lifting frame 54 that slides up and down on the outside of the fixed outer frame 3. Two pairs of limiting rods 55 for abutting against the support block 53 are welded on the lifting frame 54; There are abutting ends 531 at the tops of the support blocks 53, and support ends 532 are provided on the sides of the support blocks 53 close to the fixed outer frame 3. The tops of the support ends 532 are in contact with the bottom of the lifting inner frame 4. On the sides of the bottoms of the limiting rods 55 close to the adjacent abutting ends 531, there are inclined surfaces two 551; On the sides of the abutting ends 531 away from the fixed outer frame 3, there are inclined surfaces one 5310.

[0035] Reference Figures 4 - 6 , the multi-arm synchronous industrial robot further includes a guiding mechanism. The guiding mechanism includes a slide rail 71, a lifting block 72, and a guiding wheel 74. Two slide rails 71 are fixedly connected to the upper part of the lifting inner frame 4. On the slide rails 71, there are lifting blocks 72 that slide up and down. A tension spring is fixedly connected between the top of the lifting block 72 and the slide rail 71. Guiding wheels 74 are rotatably connected to the lifting blocks 72. The wire 7 is wound around the guiding wheels 74; On the lifting blocks 72, there are a pair of guide holes 73 for the wire 7 to pass through to prevent the wire 7 from detaching from the guiding wheels 74.

[0036] Initially, the scroll spring 56 is in a natural state. The bottom end of the limit rod 55 abuts against the abutting end 531 of the support block 53, and the top of the supporting end 532 of the support block 53 contacts the bottom of the lifting inner frame 4, so as to support the lifting inner frame 4 through the supporting end 532.

[0037] When it is necessary to synchronously use two robotic arms 2 in a processing site with limited space, such as Figure 1 the state shown in the figure, the data connection plug 9 on the left is directly inserted into the data connection head 8 on the right. The two robotic arms 2 are in a compact distance, and the two robotic arms 2 are synchronously used through the cooperation of the control box 6, the data connection plug 9 and the data connection head 8.

[0038] When it is necessary to maintain the control box 6, push the limit rod 55 and the lifting frame 54 upward. The bottom end of the limit rod 55 no longer blocks the abutting end 531 of the support block 53. Under the action of gravity, the lifting inner frame 4, the control box 6 and the slide rail 71 descend. The damping plays a role in reducing the descending speed. The frame at the bottom of the lifting inner frame 4 will push the supporting end 532 of the support block 53. Refer to Figure 9 Figure, so that the two support blocks 53 on the front side rotate counterclockwise, while the two support blocks 53 on the rear side rotate clockwise, and the scroll spring 56 deforms; after the frame at the bottom of the lifting inner frame 4 is separated from the support block 53, release the limit rod 55, and the scroll spring 56 resumes its original state, driving the two support blocks 53 on the front side to rotate clockwise to reset, and the two support blocks 53 on the rear side to rotate counterclockwise to reset. The abutting end 531 of the support block 53 squeezes the limit rod 55 through the first inclined surface 5310, so that the support block 53 smoothly resets to the position in the initial state. Through the setting of the second inclined surface 551, the limit rod 55 smoothly descends to the initial position under the action of gravity, and the bottom end of the limit rod 55 abuts against the abutting end 531 again; at this time, the control box 6 is no longer inside the fixed outer frame 3, so that the control box 6 can be maintained at a low position, and the periphery of the control box 6 is not blocked by the fixed outer frame 3, effectively utilizing the space in the vertical direction, reducing the requirement for the space of the processing site, having a large operating space, and making it more convenient for the staff to maintain.

[0039] After the maintenance is completed, push the lifting inner frame 4 upward. The control box 6 and the slide rail 71 rise. When the frame at the bottom of the lifting inner frame 4 contacts the supporting end 532, the lifting inner frame 4 pushes the bottom surface of the supporting end 532 to make the two support blocks 53 on the front side rotate clockwise, and the two support blocks 53 on the rear side rotate counterclockwise, and the scroll spring 56 deforms. When the lifting inner frame 4 rises to the initial position, the scroll spring 56 resumes its original state, and the support block 53 rotates and resets to the initial position, and the top surface of the supporting end 532 supports the lifting inner frame 4 again. In this way, only by pushing the limit rod 55 upward can the lifting inner frame 4 descend, and only by pushing the lifting inner frame 4 upward can it be reset. The operation steps are simple and convenient to use.

[0040] When two robotic arms 2 need to be used synchronously at a relatively long distance, pull out the data connection head 8 and the data connection plug 9, pull the wire 7 so that the guide wheel 74 descends. The guide wheel 74 rotates self-driven under the action of friction. The guide wheel 74 drives the lifting block 72 to descend, and the tension spring stretches. Then, dock the data connection head 8 corresponding to one of the robotic arms 2 with the data connection plug 9 of the other robotic arm 2. And the resistance when the data connection head 8 and the data connection plug 9 are docked is greater than the elastic force of the tension spring, so the data connection head 8 and the data connection plug 9 will not separate due to the tension spring. At this time, two robotic arms 2 can be used synchronously at a relatively long distance. Similarly, multiple robotic arms 2 can be combined and used synchronously through the data connection head 8 and the data connection plug 9, or a single robotic arm 2 can be used alone. The usage method is flexible and suitable for various scenarios.

[0041] Embodiment 2: On the basis of Embodiment 1, referring to Figure 3 and Figure 10 , the multi-arm synchronous industrial robot further includes a positioning mechanism. The positioning mechanism includes a guide rod 102, a slider 103, a fixed sleeve 104, a short articulated rod 105, a long articulated rod 106, and a fastening bolt 107. A pair of guide rods 102 are fixedly connected to the lower parts of the left and right sides of the fixed outer frame 3 respectively. Sliders 103 that can slide back and forth are provided on the guide rods 102. Fixed sleeves 104 are fixedly connected to the ends of the data connection head 8 and the data connection plug 9 located outside the fixed outer frame 3. Short articulated rods 105 are rotatably connected between a pair of sliders 103 on the left side of the fixed outer frame 3 and the fixed sleeve 104 on the data connection head 8. Long articulated rods 106 are rotatably connected between a pair of sliders 103 on the right side of the fixed outer frame 3 and the fixed sleeve 104 on the data connection plug 9. A fastening bolt 107 is threadedly connected to one of the pair of sliders 103 on the right side of the fixed outer frame 3, and the fastening bolt 107 is in close contact with the guide rod 102 on the same side.

[0042] When the data connection head 8 or the data connection plug 9 is pulled out, it drives the fixed sleeve 104 to move horizontally synchronously. The fixed sleeve 104 pulls the short articulated rod 105 and the long articulated rod 106, causing the slider 103 to slide on the guide rod 102. The two sliders 103 on the same side approach each other in the front-rear direction, enabling the data connection head 8 or the data connection plug 9 to move horizontally, facilitating the positioning of the data connection head 8 and the data connection plug 9, and making the docking more convenient. Turn the fastening bolt 107 so that the end of the fastening bolt 107 is in close contact with the surface of the guide rod 102 on the right side, thereby fixing the position of the slider 103 and preventing the slider 103 from sliding randomly during the use of the robotic arm 2.

[0043] Embodiment 3: On the basis of Embodiment 2, referring to Figure 1 and Figure 11, the multi-arm synchronous industrial robot further includes a guide rail 122, a connecting rod 123, and a limiting plate 124. There is a guide rail 122 installed on the ground behind the moving frame 1. A pair of connecting rods 123 are fixedly connected to the lower part of the moving frame 1. There are two limiting plates 124 sliding up and down between the two connecting rods 123. A linear guide groove is formed on the guide rail 122. There are two opposite bending parts 1221 on the guide rail 122 at the guide groove. Hook-shaped parts 125 are provided at the rear ends of the limiting plates 124. Bevel surfaces four 1251 are provided at the rear sides of the hook-shaped parts 125. The hook-shaped parts 125 are used to hook on the bending parts 1221; A return spring is fixedly connected between the limiting plate 124 and the connecting rod 123.

[0044] Initially, the hook-shaped part 125 of the limiting plate 124 is located in the guide groove of the guide rail 122, and the hook-shaped part 125 hooks the bending part 1221. The positions of the two robotic arms 2 are aligned through the guide rail 122, facilitating the synchronous use of multiple robotic arms 2. When it is necessary to move the moving frame 1, by manually pressing the two limiting plates 124, the two limiting plates 124 approach each other, the return spring is stretched, and the hook-shaped part 125 is separated from the bending part 1221, then the moving frame 1 can be pushed to move. After releasing the limiting plate 124, the limiting plate 124 is reset by the return spring; When it is necessary to synchronously use the robotic arm 2 again, push the moving frame 1 so that the hook-shaped part 125 of the limiting plate 124 contacts the bending part 1221. The bending part 1221 presses the hook-shaped part 125 of the limiting plate 124 through the bevel surface four 1251. When the hook-shaped part 125 is located in the guide groove, the limiting plate 124 is reset by the return spring, and the hook-shaped part 125 hooks the bending part 1221 again, with simple operation.

[0045] Reference Figure 1 and Figure 12 , the multi-arm synchronous industrial robot further includes a sliding plate 131 and a placement plate 132. Two sliding plates 131 are slidably connected to the upper part of the moving frame 1. A placement plate 132 is welded between the front ends of the two sliding plates 131. A pair of fixing bolts are threadedly connected to the upper part of the moving frame 1, and the ends of the fixing bolts are in close contact with the sliding plates 131.

[0046] By turning the fixing bolts to loosen the sliding plates 131, then pulling the sliding plates 131 and the placement plate 132 forward, and tightening the fixing bolts to fix the position of the placement plate 132, maintenance tools or a computer for importing data can be placed on the placement plate 132, with more convenient operation. After loosening the fixing bolts again, the placement plate 132 can be pushed to retract to save occupied space.

[0047] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-arm synchronous industrial robot with separable arms, comprising a mobile frame (1), a mechanical arm (2) being mounted on the top of the mobile frame (1), wherein: The upper part of the mobile frame (1) is connected to a fixed outer frame (3), the fixed outer frame (3) is provided with a lifting inner frame (4) that slides up and down, the lower part of the fixed outer frame (3) is provided with a supporting mechanism for supporting the lifting inner frame (4), the lower part of the lifting inner frame (4) is installed with a control box (6) that is electrically connected to the mechanical arm (2), the left and right sides of the fixed outer frame (3) are provided with sockets, the left socket is provided with a data connector (8), and the right socket is provided with a data connection plug (9) that cooperates with the data connector (8), and the data connector ( 8) and a wire (7) is installed between the data connection plug (9) and the control box (6); the support mechanism comprises a fixed block (51), a pair of fixed blocks (51) are connected to the front and rear sides of the fixed outer frame (3), a fixed rod (52) is connected between each pair of fixed blocks (51), both ends of the fixed rod (52) are rotatably connected to a support block (53), a spiral spring (56) is connected between the support block (53) and the fixed rod (52), and a lifting frame (54) that slides up and down is provided on the outer side of the fixed outer frame (3), and the lifting frame (54) is provided on the outer side of the fixed outer frame (3). The lowering frame (54) is connected to two pairs of limit rods (55) for abutting the support blocks (53); the top of each support block (53) is provided with an abutting end (531); the side of each support block (53) close to the fixed outer frame (3) is provided with a support end (532); the top of each support end (532) contacts the bottom of the lifting inner frame (4); the bottom of each limit rod (55) is provided with a second inclined surface (551) on a side close to the adjacent abutting end (531); the side of each abutting end (531) away from the fixed outer frame (3) is provided with a first inclined surface (531); 0); the multi-arm synchronous industrial robot further comprises a guide mechanism, the guide mechanism comprising a slide rail (71), the upper part of the lifting inner frame (4) is connected to two slide rails (71), the slide rails (71) are each provided with a lifting block (72) that slides up and down, a tension spring is connected between the lifting block (72) and the slide rail (71), the lifting block (72) is rotatably connected to a guide wheel (74), the lifting block (72) is each provided with a pair of guide holes (73) for the wire (7) to pass through, and the wire (7) is wound around the guide wheel (74);The multi-arm synchronous industrial robot further comprises a positioning mechanism, the positioning mechanism comprising a guide rod (102), a pair of guide rods (102) being connected to both left and right sides of the fixed outer frame (3), a sliding slider (103) being provided on each of the guide rods (102), a fixing sleeve (104) being connected to one end of each of the data connector (8) and the data connector plug (9) located outside the fixed outer frame (3), a short hinged rod (105) being rotatably connected between the pair of sliders (103) on the left side of the fixed outer frame (3) and the fixing sleeve (104) on the data connector (8), a long hinged rod (106) being rotatably connected between the pair of sliders (103) on the right side of the fixed outer frame (3) and the fixing sleeve (104) on the data connector plug (9), and a fastening bolt (107) being threadedly connected to one of the sliders (103) on the right side of the fixed outer frame (3), the fastening bolt (107) being in close contact with the guide rod (102) on the same side. ; 2. A multi-arm synchronous industrial robot capable of being used with separate arms as claimed in claim 1, characterized in that: The multi-arm synchronous industrial robot further comprises a guide rail (122), the guide rail (122) being arranged at the rear of the moving frame (1), a pair of connecting rods (123) being connected to the lower part of the moving frame (1), two limit plates (124) being arranged between the two connecting rods (123) and sliding up and down, and a return spring being connected between the limit plates (124) and the connecting rods (123).

3. A multi-arm synchronous industrial robot capable of being used with separate arms as claimed in claim 2, characterized in that: The guide rail (122) is provided with a guide groove, and the guide rail (122) is provided with two bent portions (1221) at the guide groove. The rear end of the limiting plate (124) is provided with a hook-shaped portion (125), and the rear side of the hook-shaped portion (125) is provided with a fourth inclined surface (1251), and the hook-shaped portion (125) is used to hook on the bent portion (1221).

4. A multi-arm synchronous industrial robot capable of being used with separate arms as claimed in claim 3, characterized in that: The multi-arm synchronous industrial robot further comprises a sliding plate (131), the upper part of the mobile frame (1) is slidably connected to two sliding plates (131), and a placement plate (132) is connected between the two sliding plates (131).

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