Multi-axis moving type linear robot

Abstract

The application provides a multi-axis moving type linear manipulator, relates to the technical field of multi-axis moving manipulators, and comprises a supporting frame, a driving cylinder and a gripper body. The upper end of the supporting frame is provided with a longitudinal axis moving module. The upper end surface of the longitudinal axis moving module is provided with a transverse axis moving module. The surface of the transverse axis moving module is provided with a mounting plate. The output end of the driving cylinder is fixedly connected with the upper end of the gripper body. The driving cylinder is arranged on the surface of the mounting plate. The surface of the mounting plate is provided with a rotating mechanism at the position corresponding to the driving cylinder. The rotating mechanism comprises a rotating column. The application solves the problem that the multi-axis moving manipulator cannot be effectively controlled and used because it is inconvenient to control the angle of the manipulator when the manipulator is used to clamp and position irregular parts by means of the horizontal movement of the axis moving module.

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 robotic arm with multiple independently controlled axes, which can be flexibly operated and positioned in three-dimensional space. By combining multiple linear drive axes such as slides and guide rails, this robot can move precisely in a straight line to complete a series of complex tasks such as handling, assembly, and packaging. The linear drive system can provide very precise linear motion and is suitable for applications requiring high precision and high repeatability. The robot is composed 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] Existing technologies include an invention with publication number CN108910511B, which discloses a high-efficiency light-duty transfer robot. 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 gripper 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 the spring clamping mechanism, ensures the linear position consistency of the light-duty transfer robot and its stability and reliability during the transfer process. The present invention only requires an ordinary cylinder as a power source to achieve two-directional movement and grasping. 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, rear, and upper and lower grasping positions of the light-duty transfer robot through four adjustment screws.

[0004] In daily use, it is found that when using a multi-axis linear robot, since the conventional robot relies on the axis moving module to move the position horizontally, it will be inconvenient to adjust the corresponding angle of the robot when performing clamping and limiting operations on 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 in the prior art that 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 performing clamping and limiting operations on 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, the upper end of the support frame is installed with a longitudinal axis movable module, the upper end surface of the longitudinal axis movable module is installed with a transverse axis movable module, the surface of the transverse axis movable module is installed with a mounting plate, 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, and 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 the driving gear, and one side of the mounting plate is rotatably connected to two The cam is an L-shaped plate that is fixedly connected to the surface of the mounting plate near the driven gear, and the cross-section of the connecting plate is "L"-shaped. Two moving rods are slidably passed through the surface of the connecting plate. The two moving rods are fixedly connected to the same extrusion block at one end near the driven gear. The side walls at both ends of the extrusion block abut against the tooth surface of the driven gear. The arc surface of the moving rod is covered with a spring, and the two ends of the spring are respectively fixedly connected to the connecting plate and the extrusion block. The lower surface of the driving cylinder is fixedly connected to a positioning block, and the upper end surface of the rotating column is threaded with a plurality of screws. 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: 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 adapted to 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, an auxiliary stretching operation can be performed by rotating the pull ring at one end of the moving rod.

[0012] Preferably, the cross section of the extrusion block is in the shape of a pointed cone, 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 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, the vertical axis moving module is provided with a mounting mechanism at a position 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 through with fixed blocks, the cross-section of the fixed block is "L"-shaped, the upper surface of the mounting frame is fixedly connected with four guide columns, and 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 surface 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, thereby preventing 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. The cross-sectional size of the protective block is adapted to 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 rubber protective block can be used to increase friction, which helps the protective block to protect and prevent the fixing block from falling off.

[0020] Preferably, a clamping mechanism is provided on both end surfaces of the clamping jaw body, and the clamping mechanism includes a connecting block, the upper end of the connecting block is fixedly connected to the bottom end of the clamping jaw body, the cross-section of the connecting block is "U"-shaped, the inner wall of the connecting block is plugged with an insert block, 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 slidingly passed through the surface of the connecting block, the arc surface of the adjusting rod is slidingly connected to the inner wall of the adjusting hole, an inlaid block is fixedly connected to the inner wall of the clamping jaw body, both side surfaces of the inlaid block are fixedly connected with a connecting rod, the arc surface of the connecting rod is slidingly passed through the 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 inlaid 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 it, 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 hard alloy 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 is avoided.

[0024] Preferably, a plurality of protrusions are fixedly connected to the lower surface of the clamping plate, and 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 during 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 controlled, so that the clamp body can be operated at multiple angles when in use. The rotating column rotating on the surface of the mounting plate drives the driving cylinder to deflect. After reaching the specified position, the driven gear can be used to drive the driving gear to rotate at the same time, and then the extrusion block is used to squeeze and fix the driven gear, thereby facilitating the position limiting 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 clamping body has been used for a long time, and convenient for installation and fixation of the clamping 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 clamping 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 end of the clamping jaw body is connected to the plug block on the upper end of the clamping plate, and the adjustment hole opened 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 The present invention provides a three-dimensional structural diagram of a multi-axis mobile linear manipulator;

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

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

[0034] Figure 5 The present invention provides a schematic diagram of the partial structure of an extrusion block of a multi-axis mobile linear manipulator;

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

[0036] Figure 7 The present invention provides a schematic structural 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 the 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 slot; 710. Connecting block; 711. Auxiliary slot; 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 slot; 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 objects, 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, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[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 disclosed below.

[0041] Example 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, the 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 on the surface of the mounting plate 6 corresponding to the position of the driving cylinder 2, a mounting mechanism 8 is provided on the position of the vertical axis moving module 5 corresponding to the mounting plate 6, and a clamping mechanism 9 is provided on the surfaces of both ends of the clamping jaw body 21.

[0042] The specific configuration 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 arc surface of the bottom end of the rotating column 707 is fixedly connected to a driving gear 708, one side of the mounting plate 6 is rotatably connected to two driven gears 706, the tooth surface of the driven gear 706 is meshed with the tooth surface of the driving gear 708, the surface of the mounting plate 6 near the driven gear 706 is fixedly connected to a connecting plate 701, 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 the two moving rods 702 are fixedly connected to the same extrusion block 705 at one end near the driven gear 706, 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 is fixedly connected, the lower surface of the driving cylinder 2 is fixedly connected with a positioning block 712, and the upper end surface of the rotating column 707 is threadedly connected with a number of screws. The bottom end surface of the positioning block 712 is fixedly connected to the upper end surface of the rotating column 707 by means of screws, and 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. 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 a number of auxiliary grooves 711 are provided on both side surfaces of the extrusion block 705. The several 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 threaded through with a fixing block 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 the guide hole 86 is plugged into the arc surface of the guide column 85, and fixing grooves 87 are provided on both sides of the mounting plate 6. The inner wall of the fixing groove 87 is snap-fitted with the surface of the fixed block 84. The inner wall of the mounting frame 81 is fixedly connected with the limiting rod 83, and the arc surface of the limiting rod 83 slides through the surface of the fixed block 84. The inner wall surface of the fixing groove 87 is fixedly connected with a protective block 88, which is a rubber block. The cross-sectional size of the protective block 88 is adapted to the cross-sectional size of the fixed 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, an adjustment hole 910 is opened on the surface of the insert block 902, an adjustment rod 909 is slidably passed through the surface of the connecting block 901, 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 inlaid block , both side surfaces of the inlaid block are fixedly connected with connecting rods 906, the arc surface of the connecting rod 906 slides through an adjustment 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 adjustment plate 908 and the inlaid plate 905, the cross-section of the clamping plate 903 is inclined, the clamping plate 903 is a carbide plate, and the lower surface of the clamping plate 903 is fixedly connected with several protrusions 904, which are evenly distributed on the surface of the clamping plate 903, and the protrusions 904 are silicone blocks.

[0046] Its overall working principle is that when the driving cylinder 2 on the surface of the mounting plate 6 drives the clamping body 21 to adjust and limit the position, the clamping body 21 can be adjusted to multiple angles with the help of the rotating mechanism 7. First, the driving cylinder 2 is plugged into and limited by 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 clamping 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 is connected to the mounting plate 6. 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, making the entire clamp body 21 easy to use. 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 inner wall clamping surface 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 inserted with the connecting block 901 on the lower surface of the jaw body 21, then the adjusting rod 909 is penetrated with the connecting block 901, the adjusting rod 909 is fixed with the adjusting hole 910 on the surface of the plug block 902, at the same time, the adjusting plate 908 is pulled to slide on the circular surface of the connecting rod 906, the adjusting plate 908 is protected and limited in position by the stretching force of the tension spring 907, so that the position of the adjusting rod 909 is prevented from falling off.

[0049] The above is only the preferred embodiment of the present application, and does not limit the present application in other forms. Any person skilled in the art can modify or change the above disclosed technical content into equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made on the basis of the technical essence of the present application to the above embodiments without departing from the technical scheme of the present application still belongs to the protection scope of the technical scheme of the present application.

Claims

1. A multi-axis mobile linear manipulator, comprising a support frame (1), a drive cylinder (2), a vertical axis moving module (5) and a gripper body (21), characterized in that: The upper end of the support frame (1) is mounted with a longitudinal axis moving module (3), the upper end surface of the longitudinal axis moving module (3) is mounted with a transverse axis moving module (4), the surface of the transverse axis moving module (4) is mounted with a mounting plate (6), the 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), the surface of the mounting plate (6) is provided with a rotating mechanism (7) 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), the bottom arc surface of the rotating column (707) is fixedly connected to a driving gear (708), one side of the mounting plate (6) is rotatably connected to two driven gears (706), the tooth surface of the driven gear (706) is meshed with the tooth surface of the driving gear (708), and the mounting plate (6) is provided with a rotating mechanism (7) at a position corresponding to the driving cylinder (2). ) surface is fixedly connected with a connecting plate (701) at a position close to the driven gear (706), the cross section of the connecting plate (701) is "L"-shaped, and two moving rods (702) are slidably passed through the surface of the connecting plate (701), and one end of the two moving rods (702) close to 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 fixedly connected to the connecting plate (701) and the extrusion block (705) respectively. The lower surface of the driving cylinder (2) is fixedly connected with a positioning block (712), and the upper end surface of the rotating column (707) is threaded 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. The multi-axis mobile linear robot according to claim 1, characterized in that: The upper end surface of the rotating column (707) is provided with a positioning groove (709), and 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 robot 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 adapted to the cross-sectional size of the moving rod (702).

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

5. The multi-axis mobile linear robot 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), and 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), and 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 in opposite directions, and 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. 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 opened 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 opened 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 robot 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 robot 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 adapted to the cross-sectional size of the fixing block (84).

8. The multi-axis mobile linear robot according to claim 1, characterized in that: The surfaces of both ends of the clamping jaw 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 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 with 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 provided with a plurality of holes. An adjusting rod (909) is slidably passed through the surface, and 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, and 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 passed through an adjusting plate (908), and the arc surface of the connecting rod (906) is covered 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 robot 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 robot 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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