Multi-axis moving type linear manipulator

Abstract

The invention provides a multi-axis moving type linear manipulator and relates to the technical field of multi-axis moving manipulators, the multi-axis moving type linear manipulator comprises a supporting frame, a driving air cylinder and a clamping jaw body, a longitudinal axis moving module is mounted at the upper end of the supporting frame, a transverse axis moving module is mounted on the surface of the upper end of the longitudinal axis moving module, and a mounting plate is mounted on the surface of the transverse axis moving module; the output end of the driving cylinder is fixedly connected with the upper end of the clamping jaw body, the driving cylinder is arranged on the surface of the mounting plate, and a rotating mechanism is arranged at the position, corresponding to the driving cylinder, of the surface of the mounting plate and comprises a rotating column. According to the multi-axis moving linear manipulator, the problems that in the using process of the multi-axis moving linear manipulator, due to the fact that a common manipulator horizontally moves by means of an axis moving module, when part of irregular parts are subjected to clamping and limiting operation, the manipulator is inconvenient to adjust and control at the corresponding angle, and the working efficiency of the manipulator is affected are solved. And therefore, the multi-axis moving manipulator cannot be effectively regulated and controlled for use.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-axis mobile manipulators, and in particular to a multi-axis mobile linear manipulator. Background Art

[0002] A multi-axis mobile linear robot usually refers to a robot arm with multiple independent control axes, which can be flexibly operated and positioned in three-dimensional space. By combining multiple linear drive axes such as slides and guides, this robot can move precisely in a linear direction to complete a series of complex tasks, such as handling, assembly, packaging, etc. The linear drive system can provide very precise linear motion and is suitable for applications that require high precision and high repeatability. The robot consists of multiple independent linear drive axes. Common configurations include three-axis, four-axis or more-axis systems. Each axis can move in different directions to achieve flexible spatial positioning, which is more common in daily life.

[0003] Prior art includes an invention with publication number CN108910511B, which discloses a high-efficiency light-duty transfer manipulator. The patent includes a first frame, a second frame, a cam bearing lifting mechanism, a spring clamping mechanism, a transfer linear guide, a multi-angle adjustable air claw mechanism, a power output cylinder, a transverse slider, a front and rear position adjustment screw, a lifting position adjustment screw and a protective cover. The present invention combines a cam bearing lifting mechanism with a transfer linear guide, and through a spring clamping mechanism, ensures the linear position consistency of the light-duty transfer manipulator and the stability and reliability during the transfer process; the present invention only needs an ordinary cylinder as a power source to achieve mobile grasping in two directions. Compared with the traditional two-cylinder transfer mechanical structure, it has higher precision, faster efficiency and more stability; the present invention can adjust the front and rear up and down grasping positions of the light-duty transfer manipulator through four adjustment screws.

[0004] It is found in daily use that in the process of using a multi-axis linear robot, since the conventional robot relies on an axis moving module to move its position horizontally, it will be inconvenient to adjust the robot to the corresponding angle when clamping and limiting some irregular parts, making it impossible to effectively control the multi-axis robot. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that in the prior art, when using a multi-axis linear robot, since the conventional robot relies on an axis moving module to move its position horizontally, it will be inconvenient to adjust the robot to the corresponding angle when clamping and limiting some irregular parts, thereby making it impossible to effectively adjust the multi-axis robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a multi-axis movable linear manipulator, including a support frame, a driving cylinder and a clamping claw body, a longitudinal axis movable module is installed on the upper end of the support frame, a transverse axis movable module is installed on the upper end surface of the longitudinal axis movable module, a mounting plate is installed on the surface of the transverse axis movable module, the output end of the driving cylinder is fixedly connected to the upper end of the clamping claw body, the driving cylinder is arranged on the surface of the mounting plate, a rotating mechanism is provided on the surface of the mounting plate corresponding to the position of the driving cylinder, the rotating mechanism includes a rotating column, the bottom end of the rotating column is rotatably connected to the surface of the mounting plate, the bottom arc surface of the rotating column is fixedly connected to a driving gear, and one side of the mounting plate is rotatably connected to two A driven gear, the tooth surface of the driven gear meshes with the tooth surface of the driving gear, the surface of the mounting plate is fixedly connected with a connecting plate near the driven gear, the cross-section of the connecting plate is "L"-shaped, and the surface of the connecting plate slides through two moving rods, and the two moving rods are fixedly connected with the same extrusion block at one end near the driven gear, and the side walls at both ends of the extrusion block abut against the tooth surface of the driven gear, and the arc surface of the moving rod is sleeved with a spring, and the two ends of the spring are respectively fixedly connected to the connecting plate and the extrusion block, and the lower surface of the driving cylinder is fixedly connected with a positioning block, and the upper end surface of the rotating column is threadedly connected with a plurality of screws, and the bottom end surface of the positioning block is fixedly connected to the upper end surface of the rotating column by means of screws.

[0007] The effect achieved by the above components is: in the process of operating the multi-axis mobile linear manipulator, the multi-axis position movement and control can be carried out with the help of the longitudinal axis moving module, the transverse axis moving module and the vertical axis moving module. In the process of operating the gripper body, in order to facilitate the multi-angle rotation of the gripper body, the rotating mechanism can be used for auxiliary operation to allow the gripper body to rotate at an angle, which helps to better operate the gripper body.

[0008] Preferably, a positioning groove is provided on the upper end surface of the rotating column, a connecting block is fixedly connected to the lower surface of the positioning block, the cross section of the connecting block is cross-shaped, and the inner wall of the positioning groove is plugged into the surface of the connecting block.

[0009] The effect achieved by the above components is that the positioning block fixed at the bottom end of the driving cylinder is docked and fixed with the positioning groove by means of a cross-shaped connecting block, which can protect the position of the entire driving cylinder and prevent the driving cylinder from driving the clamp body to shift its position.

[0010] Preferably, one end of the moving rod away from the extrusion block is rotatably connected to a pull ring, and the cross-sectional size of the pull ring is matched with the cross-sectional size of the moving rod.

[0011] The effect achieved by the above components is that when the positions of the moving rod and the extrusion block are moved and adjusted, the pull ring at one end of the moving rod can be rotated to perform auxiliary stretching operation.

[0012] Preferably, the cross section of the extrusion block is in a pointed cone shape, and a plurality of auxiliary grooves are provided on both side surfaces of the extrusion block, and the plurality of auxiliary grooves are evenly distributed on both side surfaces of the extrusion block.

[0013] The effect achieved by the above-mentioned components is that the auxiliary groove can be used to engage and limit the tooth surface of the driven gear, thereby preventing the extrusion block from sliding and falling off from the driven gear.

[0014] Preferably, a mounting mechanism is provided at a position of the vertical axis moving module corresponding to the mounting plate, and the mounting mechanism includes a mounting frame, the bottom end of the mounting frame is fixedly connected to the output end surface of the vertical axis moving module, the inner wall of the mounting frame is rotatably connected to a driving rod, the arc surface of the driving rod is provided with threads with opposite thread directions, both ends of the driving rod are threaded with fixing blocks, the cross-section of the fixing block is "L"-shaped, four guide columns are fixedly connected to the upper surface of the mounting frame, the four guide columns are distributed in a rectangular shape, four guide holes are provided on the surface of the mounting plate, the inner walls of the guide holes are plugged into the arc surfaces of the guide columns, and fixing grooves are provided on both sides of the mounting plate, and the inner walls of the fixing grooves are clamped with the surface of the fixing block.

[0015] The effect achieved by the above components is: during the long-term use and operation of the clamp, the clamp body is prone to aging and damage. At this time, it can be replaced and fixed with the help of the installation mechanism set at the output end of the vertical axis moving module, which facilitates the installation and adjustment of the clamp body, so that the entire mechanical clamp can continue to be operated.

[0016] Preferably, a limiting rod is fixedly connected to the inner wall of the installation frame, and the arc surface of the limiting rod slides through the surface of the fixing block.

[0017] The effect achieved by the above components is that the moving position of the fixed block can be protected by means of the limit rod to prevent the moving block from deviating and causing instability in the extrusion fixation.

[0018] Preferably, a protective block is fixedly connected to the inner wall surface of the fixing groove, and the protective block is a rubber block, and the cross-sectional size of the protective block is matched with the cross-sectional size of the fixing block.

[0019] The effect achieved by the above components is: when the fixing block is used to insert and squeeze the fixing groove opened on the surface of the mounting plate, the friction can be increased with the help of the rubber protective block, which helps the protective block to protect and prevent the fixing block from falling off.

[0020] Preferably, clamping mechanisms are provided on the surfaces of both ends of the clamp body, and the clamping mechanisms include connecting blocks, the upper end of the connecting block is fixedly connected to the bottom end of the clamp body, the cross-section of the connecting block is U-shaped, an insert block is inserted into the inner wall of the connecting block, and the bottom end of the insert block is fixedly connected to a clamping plate, an adjustment hole is opened on the surface of the insert block, an adjusting rod is slidably penetrated through the surface of the connecting block, the arc surface of the adjusting rod is slidably connected to the inner wall of the adjusting hole, an inlay block is fixedly connected to the inner wall of the clamp body, both side surfaces of the inlay block are fixedly connected with connecting rods, the arc surface of the connecting rod is slidably penetrated through an adjusting plate, the arc surface of the connecting rod is sleeved with a tension spring, and the two ends of the tension spring are respectively fixedly connected to the adjustment plate and the inlay plate.

[0021] The effect achieved by the above components is: during the long-term operation of the clamp body, the inner wall surface of the clamp body will be worn. At this time, the clamping mechanism can be used to assist in replacing the clamping plate and limit the position, and at the same time, clamping plates of different sizes can be adjusted and protected.

[0022] Preferably, the cross section of the clamping plate is inclined, and the clamping plate is a cemented carbide plate.

[0023] The effect achieved by the above components is that the clamping plate made of cemented carbide can be used for a long time, and excessive extrusion deformation of the clamping plate can be avoided.

[0024] Preferably, a plurality of protrusions are fixedly connected to the lower surface of the clamping plate, the plurality of protrusions are evenly distributed on the surface of the clamping plate, and the protrusions are silicone blocks.

[0025] The effect achieved by the above components is that in the process of clamping and fixing the object by the clamping plate, the silicone material protrusions fixed on the lower surface of the clamping plate can be used for protection.

[0026] Compared with the prior art, the advantages and positive effects of the present invention are:

[0027] 1. In the present invention, by setting a rotating mechanism, the position of the driving cylinder and the clamp body can be rotationally regulated, so that the clamp body can be operated at multiple angles when in use. The driving cylinder is driven to deflect by the rotating column rotating on the surface of the mounting plate. After reaching the specified position, the driven gear can be driven to rotate at the same time, and then the driven gear can be squeezed and fixed by the extrusion block, thereby facilitating the position limitation of the entire clamp body.

[0028] 2. In the present invention, by setting up a mounting mechanism, the entire mounting plate can be replaced and adjusted, which is convenient for replacement after the jaw body is used for a long time, and convenient for installation and fixation of the jaw body after long-term use. With the help of the fixing blocks at both ends of the driving rod in the mounting frame, the fixing blocks are plugged and fixed with the fixing grooves opened on both sides of the mounting plate, which helps to quickly replace the jaw body.

[0029] 3. In the present invention, by setting up a clamping mechanism, the inner wall surface of the clamping jaw body can be effectively and quickly protected, effectively avoiding the situation where the clamping surface of the clamping jaw body is worn out due to long-term use, which makes it inconvenient to continue clamping. At this time, the connecting block at the bottom of the clamping jaw body is connected with the plug block at the upper end of the clamping plate, and the adjustment hole on the surface of the plug block is used to slide and connect with the adjustment rod to limit the position, so that the entire clamping plate can be replaced and clamped effectively and conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional structural schematic diagram of a multi-axis mobile linear manipulator is proposed for the present invention;

[0031] Figure 2 A partial schematic diagram of the three-dimensional structure of a multi-axis mobile linear manipulator proposed by the present invention;

[0032] Figure 3 The present invention provides a structural schematic diagram of a rotating mechanism of a multi-axis mobile linear manipulator;

[0033] Figure 4 The present invention provides a schematic diagram of the split structure of the rotating mechanism of a multi-axis mobile linear manipulator;

[0034] Figure 5 A partial structural schematic diagram of an extrusion block of a multi-axis mobile linear manipulator is provided for the present invention;

[0035] Figure 6 The present invention provides a schematic structural diagram of a mounting mechanism for a multi-axis mobile linear manipulator;

[0036] Figure 7 The present invention provides a structural schematic diagram of a clamping mechanism of a multi-axis mobile linear manipulator;

[0037] Figure 8 The present invention provides a schematic diagram of the disassembled structure of a clamping mechanism of a multi-axis mobile linear manipulator.

[0038] Legend: 1. Support frame; 2. Driving cylinder; 21. Gripper body; 3. Longitudinal axis moving module; 4. Horizontal axis moving module; 5. Vertical axis moving module; 6. Mounting plate; 7. Rotating mechanism; 701. Connecting plate; 702. Moving rod; 703. Pull ring; 704. Spring; 705. Extrusion block; 706. Driven gear; 707. Rotating column; 708. Driving gear; 709. Positioning groove; 710. Connecting block; 711. Auxiliary groove; 712, positioning block; 8, mounting mechanism; 81, mounting frame; 82, driving rod; 83, limiting rod; 84, fixing block; 85, guide column; 86, guide hole; 87, fixing groove; 88, protective block; 9, clamping mechanism; 901, connecting block; 902, insert block; 903, clamping plate; 904, protrusion; 905, inlay plate; 906, connecting rod; 907, tension spring; 908, adjusting plate; 909, adjusting rod; 910, adjusting hole. DETAILED DESCRIPTION

[0039] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0041] Embodiment 1, as Figure 1-8 As shown, the present invention provides a multi-axis mobile linear manipulator, including a support frame 1, a driving cylinder 2 and a clamping jaw body 21, a longitudinal axis moving module 3 is installed on the upper end of the support frame 1, a transverse axis moving module 4 is installed on the upper end surface of the longitudinal axis moving module 3, a mounting plate 6 is installed on the surface of the transverse axis moving module 4, an output end of the driving cylinder 2 is fixedly connected to the upper end of the clamping jaw body 21, the driving cylinder 2 is arranged on the surface of the mounting plate 6, a rotating mechanism 7 is provided at a position of the mounting plate 6 corresponding to the driving cylinder 2, a mounting mechanism 8 is provided at a position of the vertical axis moving module 5 corresponding to the mounting plate 6, and clamping mechanisms 9 are provided on both end surfaces of the clamping jaw body 21.

[0042] The specific arrangement and functions of the rotating mechanism 7, the mounting mechanism 8 and the clamping mechanism 9 will be described in detail below.

[0043] like Figure 3 , Figure 4 and Figure 5As shown, the rotating mechanism 7 includes a rotating column 707, the bottom end of the rotating column 707 is rotatably connected to the surface of the mounting plate 6, the bottom arc surface of the rotating column 707 is fixedly connected with a driving gear 708, one side of the mounting plate 6 is rotatably connected with two driven gears 706, the tooth surface of the driven gear 706 is meshed with the tooth surface of the driving gear 708, and a connecting plate 701 is fixedly connected to the surface of the mounting plate 6 near the driven gear 706. The cross section of the connecting plate 701 is "L" shaped, and the surface of the connecting plate 701 slides through two moving rods 702, and one end of the two moving rods 702 near the driven gear 706 is fixedly connected with the same extrusion block 705, and the side walls of the two ends of the extrusion block 705 are in contact with the tooth surface of the driven gear 706, and the arc surface of the moving rod 702 is sleeved with a spring 704, and the two ends of the spring 704 are respectively connected to the connecting plate 701 and the extrusion block 7 05 fixed connection, the lower surface of the driving cylinder 2 is fixedly connected with a positioning block 712, the upper end surface of the rotating column 707 is threaded with a plurality of screws, the bottom end surface of the positioning block 712 is fixedly connected with the upper end surface of the rotating column 707 by means of screws, the upper end surface of the rotating column 707 is provided with a positioning groove 709, the lower surface of the positioning block 712 is fixedly connected with a connecting block 710, the cross-section of the connecting block 710 is cross-shaped, the inner wall of the positioning groove 709 is plugged into the surface of the connecting block 710, the end of the moving rod 702 away from the extrusion block 705 is rotatably connected to the pull ring 703, the cross-sectional size of the pull ring 703 is adapted to the cross-sectional size of the moving rod 702, the cross-sectional size of the extrusion block 705 is conical, and the two side surfaces of the extrusion block 705 are provided with a plurality of auxiliary grooves 711, and the plurality of auxiliary grooves 711 are evenly distributed on the two side surfaces of the extrusion block 705.

[0044] like Figure 6 As shown, the mounting mechanism 8 includes a mounting frame 81, the bottom end of the mounting frame 81 is fixedly connected to the output end surface of the vertical axis moving module 5, the inner wall of the mounting frame 81 is rotatably connected to a driving rod 82, the arc surface of the driving rod 82 is provided with threads with opposite thread directions, both ends of the driving rod 82 are threadedly penetrated by fixing blocks 84, the cross section of the fixing block 84 is "L" shaped, the upper surface of the mounting frame 81 is fixedly connected to four guide columns 85, the four guide columns 85 are distributed in a rectangular shape, and the surface of the mounting plate 6 is provided with four Guide hole 86, the inner wall of guide hole 86 is plugged into the arc surface of guide column 85, fixing grooves 87 are opened on both sides of mounting plate 6, the inner wall of fixing groove 87 is snap-fitted with the surface of fixing block 84, the inner wall of mounting frame 81 is fixedly connected with limiting rod 83, the arc surface of limiting rod 83 slides through the surface of fixing block 84, the inner wall surface of fixing groove 87 is fixedly connected with protective block 88, protective block 88 is a rubber block, the cross-sectional size of protective block 88 is adapted to the cross-sectional size of fixing block 84.

[0045] like Figure 7 and Figure 8As shown, the clamping mechanism 9 includes a connecting block 901, the upper end of the connecting block 901 is fixedly connected to the bottom end of the clamping jaw body 21, the cross section of the connecting block 901 is "U"-shaped, the inner wall of the connecting block 901 is plugged with an insert block 902, the bottom end of the insert block 902 is fixedly connected to a clamping plate 903, the surface of the insert block 902 is provided with an adjustment hole 910, the surface of the connecting block 901 is slidably penetrated by an adjustment rod 909, the arc surface of the adjustment rod 909 is slidably connected to the inner wall of the adjustment hole 910, and the inner wall of the clamping jaw body 21 is fixedly connected with an inlay block The surfaces of both sides of the inlay block are fixedly connected with connecting rods 906, and the arc surface of the connecting rod 906 slides through an adjusting plate 908, and the arc surface of the connecting rod 906 is sleeved with a tension spring 907, and the two ends of the tension spring 907 are respectively fixedly connected to the adjusting plate 908 and the inlay plate 905. The cross-section of the clamping plate 903 is inclined, and the clamping plate 903 is a hard alloy plate. A plurality of protrusions 904 are fixedly connected to the lower surface of the clamping plate 903, and the plurality of protrusions 904 are evenly distributed on the surface of the clamping plate 903, and the protrusions 904 are silicone blocks.

[0046] The overall working principle is that when the driving cylinder 2 on the surface of the mounting plate 6 drives the clamp body 21 to adjust and limit the position, the clamp body 21 can be adjusted at multiple angles with the help of the rotating mechanism 7. First, the driving cylinder 2 is plugged and limited with the help of the connecting block 710 fixed at the bottom and the positioning groove 709 opened at the upper end of the rotating column 707 on the surface of the mounting plate 6. At this time, the entire driving cylinder 2 and the clamp body 21 can be simply fixed to the upper surface of the rotating column 707, and then the driving gear 708 at the bottom of the rotating column 707 and the mounting plate 6 are connected. The driven gear 706 is rotated and regulated on one side of the mounting plate 6, so that the entire clamp body 21 can be rotated at multiple angles, allowing the entire clamp body 21 to be conveniently used. After reaching the specified position, the pull ring 703 at one end of the moving rod 702 on the surface of the connecting plate 701 is pulled, and the extrusion block 705 fixed at one end of the moving rod 702 is clamped and fixed to the tooth surface of the driven gear 706 with the extrusion force generated by the spring 704, so that the entire clamp body 21 cannot deflect in position, and then the clamp body 21 can be operated and used.

[0047] In the process of installing and fixing the entire mounting plate 6 and the vertical axis moving module 5, the mounting mechanism 8 can be used for auxiliary operation. First, the guide hole 86 opened on the surface of the mounting plate 6 is plugged into the guide column 85 fixed on the upper surface of the mounting frame 81. At this time, the position of the entire mounting plate 6 cannot be shifted. Then, the driving rod 82 on the inner wall of the mounting frame 81 is rotated to allow the fixing blocks 84 at both ends of the driving rod 82 to move toward the fixing grooves 87 opened on both sides of the mounting plate 6 until the fixing blocks 84 are plugged and fixed to the inner walls of the fixing grooves 87. At the same time, the fixing blocks 84 are protected from sliding along the limit rods 83 in the mounting frame 81, so that the position between the entire mounting plate 6 and the mounting frame 81 is effectively fixed and limited.

[0048] After the jaw body 21 is used for a long time, the clamping surface of the inner wall of the jaw body 21 will be worn. At this time, in order to better clamp the jaw body 21, the plug block 902 fixed on the upper end of the clamping plate 903 is first plugged into the connecting block 901 on the lower surface of the jaw body 21, and then the adjusting rod 909 is penetrated by the connecting block 901, so that the adjusting rod 909 is docked and fixed with the adjusting hole 910 opened on the surface of the plug block 902, and at the same time, the adjusting plate 908 sliding on the arc surface of the connecting rod 906 is pulled, so that the adjusting plate 908 can use the tensile force generated by the tension spring 907 to protect and limit the position of the adjusting rod 909 to prevent the adjusting rod 909 from falling off.

[0049] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A multi-axis mobile linear manipulator, comprising a support frame (1), a driving cylinder (2), a vertical axis moving module (5) and a clamping claw body (21), characterized in that: A longitudinal axis moving module (3) is installed at the upper end of the support frame (1), a transverse axis moving module (4) is installed on the upper end surface of the longitudinal axis moving module (3), a mounting plate (6) is installed on the surface of the transverse axis moving module (4), an output end of the driving cylinder (2) is fixedly connected to the upper end of the clamping claw body (21), the driving cylinder (2) is arranged on the surface of the mounting plate (6), a rotating mechanism (7) is provided on the surface of the mounting plate (6) at a position corresponding to the driving cylinder (2), the rotating mechanism (7) comprises a rotating column (707), the bottom end of the rotating column (707) is rotatably connected to the surface of the mounting plate (6), a driving gear (708) is fixedly connected to the arc surface of the bottom end of the rotating column (707), two driven gears (706) are rotatably connected to one side of the mounting plate (6), the tooth surface of the driven gear (706) is meshed with the tooth surface of the driving gear (708), and the mounting plate (6) ) surface near the driven gear (706) is fixedly connected with a connecting plate (701), the cross section of the connecting plate (701) is "L" shaped, the surface of the connecting plate (701) is slidably penetrated by two moving rods (702), one end of the two moving rods (702) near the driven gear (706) is fixedly connected with the same extrusion block (705), the side walls at both ends of the extrusion block (705) are in contact with the tooth surface of the driven gear (706), the circular arc surface of the moving rod (702) is sleeved with a spring (704), the two ends of the spring (704) are respectively fixedly connected to the connecting plate (701) and the extrusion block (705), the lower surface of the driving cylinder (2) is fixedly connected with a positioning block (712), the upper end surface of the rotating column (707) is threadedly connected with a plurality of screws, and the bottom end surface of the positioning block (712) is fixedly connected with the upper end surface of the rotating column (707) by means of screws.

2. A multi-axis mobile linear manipulator according to claim 1, characterized in that: The upper end surface of the rotating column (707) is provided with a positioning groove (709), the lower surface of the positioning block (712) is fixedly connected with a connecting block (710), the cross section of the connecting block (710) is cross-shaped, and the inner wall of the positioning groove (709) is plugged into the surface of the connecting block (710).

3. The multi-axis mobile linear manipulator according to claim 1, characterized in that: One end of the moving rod (702) away from the extrusion block (705) is rotatably connected to a pull ring (703), and the cross-sectional size of the pull ring (703) is matched with the cross-sectional size of the moving rod (702).

4. The multi-axis mobile linear manipulator according to claim 1, characterized in that: The cross section of the extrusion block (705) is in the shape of a pointed cone. Both side surfaces of the extrusion block (705) are provided with a plurality of auxiliary grooves (711), and the plurality of auxiliary grooves (711) are evenly distributed on both side surfaces of the extrusion block (705).

5. The multi-axis mobile linear manipulator according to claim 1, characterized in that: The vertical axis moving module (5) is provided with a mounting mechanism (8) at a position corresponding to the mounting plate (6), the mounting mechanism (8) comprising a mounting frame (81), the bottom end of the mounting frame (81) being fixedly connected to the output end surface of the vertical axis moving module (5), the inner wall of the mounting frame (81) being rotatably connected to a driving rod (82), the arc surface of the driving rod (82) being provided with threads in opposite directions, and both ends of the driving rod (82) being threadedly penetrated by fixing blocks (84), The cross section of the fixing block (84) is in an "L" shape. Four guide columns (85) are fixedly connected to the upper surface of the mounting frame (81). The four guide columns (85) are distributed in a rectangular shape. Four guide holes (86) are provided on the surface of the mounting plate (6). The inner walls of the guide holes (86) are plugged into the arc surfaces of the guide columns (85). Both sides of the mounting plate (6) are provided with fixing grooves (87). The inner walls of the fixing grooves (87) are snap-fitted into the surface of the fixing block (84).

6. The multi-axis mobile linear manipulator according to claim 5, characterized in that: The inner wall of the installation frame (81) is fixedly connected to a limiting rod (83), and the arc surface of the limiting rod (83) slides through the surface of the fixing block (84).

7. The multi-axis mobile linear manipulator according to claim 5, characterized in that: A protective block (88) is fixedly connected to the inner wall surface of the fixing groove (87). The protective block (88) is a rubber block. The cross-sectional size of the protective block (88) is compatible with the cross-sectional size of the fixing block (84).

8. The multi-axis mobile linear manipulator according to claim 1, characterized in that: The surfaces of both ends of the clamp body (21) are provided with a clamping mechanism (9), the clamping mechanism (9) comprises a connecting block (901), the upper end of the connecting block (901) is fixedly connected to the bottom end of the clamp body (21), the cross section of the connecting block (901) is "U" shaped, the inner wall of the connecting block (901) is plugged with an insert block (902), the bottom end of the insert block (902) is fixedly connected with a clamping plate (903), the surface of the insert block (902) is provided with an adjustment hole (910), and the surface of the connecting block (901) is An adjusting rod (909) is slidably penetrated through the surface, the arc surface of the adjusting rod (909) is slidably connected to the inner wall of the adjusting hole (910), the inner wall of the clamping jaw body (21) is fixedly connected to an inlay block, both side surfaces of the inlay block are fixedly connected to a connecting rod (906), the arc surface of the connecting rod (906) is slidably penetrated by an adjusting plate (908), the arc surface of the connecting rod (906) is sleeved with a tension spring (907), and the two ends of the tension spring (907) are respectively fixedly connected to the adjusting plate (908) and the inlay plate (905).

9. The multi-axis mobile linear manipulator according to claim 8, characterized in that: The cross section of the clamping plate (903) is inclined, and the clamping plate (903) is a hard alloy plate.

10. The multi-axis mobile linear manipulator according to claim 8, characterized in that: A plurality of protrusions (904) are fixedly connected to the lower surface of the clamping plate (903), and the plurality of protrusions (904) are evenly distributed on the surface of the clamping plate (903), and the protrusions (904) are silicone blocks.

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