Multi-axis industrial robot and using method thereof

Abstract

According to the technical scheme, the multi-axis industrial robot comprises a base, a mechanical arm body is installed on the base, the mechanical arm body comprises a mechanical arm tail end, a rotating block is rotationally connected to the mechanical arm tail end, mechanical claws are installed at the two ends of the rotating block, and an embedded fixing shell is inserted into the mechanical arm tail end; a pair of toothed belts is rotationally connected into the fixing shell, a connecting belt is installed between the pair of toothed belts, a rotating disc is rotationally connected to the base, and a lifting block is slidably connected to the rotating disc; the base is installed in an industrial manufacturing workshop, the rotating block can adjust the positions of the two mechanical claws, the two mechanical claws clamp workpieces on the connecting belt in turn, the lifting block moves upwards, the fixed shell can be supported and clamped out, the rotating disc is driven, the fixed shell containing the workpieces moves to the position below the tail end of the mechanical arm, the lifting block ascends to push the fixed shell, and the workpieces are clamped out through the rotating disc. Therefore, quick replacement of the fixing shell is completed, manual workpiece adding in the midway is not needed, and operation is convenient.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a multi-axis industrial robot and a use method thereof. Background Art

[0002] A multi-axis robot is a robotic arm or manipulator device that can perform at least multiple degrees of freedom. It can complete a given action in space through the combination of multiple degrees of freedom. The multi-axis robot includes a fixed base and multiple arms arranged on the base in sequence. Two adjacent arms are connected in rotation, and relative rotation can be generated between the two adjacent arms through the drive of a driving device. On the end arm, a gluing device, a grinding device or a clamping device can be provided, so that the multi-axis robot can complete operations such as gluing, welding, grinding, material picking, and loading in industrial applications.

[0003] Referring to the Chinese invention patent, publication number: CN116922362A, title: Multi-axis industrial robot, this invention patent achieves left-right and up-and-down balance of the overall center of gravity of the multi-axis industrial robot in a limited space through a main counterweight block, with its overall center of gravity concentrated on the vertical axis of the first arm and on the first arm, thereby achieving the purpose of reducing the possibility of overturning of the multi-axis industrial robot.

[0004] However, in actual use, the above technical solutions and related prior arts still have some problems:

[0005] 1. When a robot arm is equipped with a single mechanical claw to perform a grasping task, it faces the challenge of a long travel distance, that is, moving from the initial position to the workpiece placement area for grasping. This process not only increases the range of motion of the robot arm, but also significantly increases its frequency of use, which in turn has an adverse effect on the structural durability and overall life of the robot arm;

[0006] 2. The strategy of grabbing workpieces one by one from the storage area leads to a longer single operation cycle. Specifically, the robot arm needs to frequently go back and forth between the grabbing point and the storage area. This mode is not conducive to improving production efficiency and limits the overall throughput capacity of the production line.

[0007] 3. The design of the workpiece storage area limits the accessibility and storage capacity of the workpieces, forcing operators to intervene regularly to replenish the workpieces and ensure that the workpieces are arranged in a way that is easy for the robotic arm to grab. This process not only requires continuous manual monitoring, but also increases the consumption of human resources. At the same time, the frequency and intensity of manual intervention also restrict the degree of automation and efficiency of the production line. Summary of the invention

[0008] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a multi-axis industrial robot with a short grasping stroke, high working efficiency, and a workpiece placement area, and a method of using the same.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A multi-axis industrial robot comprises a base, a mechanical arm body is mounted on the base, the mechanical arm body comprises a mechanical arm end, a switching mechanism is connected to the mechanical arm end, the switching mechanism comprises a rotating block, a rotating block is rotatably connected to the mechanical arm end, and mechanical claws are mounted on both ends of the rotating block;

[0011] The end of the robot arm is connected to a conveying mechanism, which includes a fixed shell, an embedded fixed shell is inserted into the end of the robot arm, a pair of toothed belts are rotatably connected in the fixed shell, a connecting belt is installed between the pair of toothed belts, and a clamping assembly is connected to the outer wall of the connecting belt;

[0012] The base is connected to a feeding mechanism, which includes a rotating disk. The base is rotatably connected to the rotating disk. The bottom end of the robot arm body is arranged on the axis line of the rotating disk. The rotating disk is slidably connected to a plurality of electric lifting blocks, and the lifting blocks are connected to a limiting assembly for limiting the fixed shell.

[0013] Preferably, the clamping assembly includes a through slot, the connecting belt is provided with a plurality of through slots, a fixed block is installed on the outer wall of the connecting belt at the through slot, a sliding block is slidably connected to the fixed block, a first spring is installed between the fixed block and the sliding block, a pair of clamping rods are slidably connected to the sliding block, a second spring is installed between the clamping rod and the sliding block, a push block is slidably connected to the sliding block, the clamping rods are located on both sides of the push block, the clamping rods are in contact with the push block, and the ends of the clamping rods that are in contact with the push block are both in the shape of an inclined surface, and a first electric push rod is installed on the fixed shell, and the telescopic end of the first electric push rod is in contact with the push block through the through slot.

[0014] Preferably, the toothed belt is rectangular in shape, a first gear is meshed on the inner corner of the rectangle of the toothed belt, the first gear is rotatably connected to a fixed shell, a second motor is mounted on the fixed shell, a second gear is mounted on the output shaft of the second motor, and the second gear is meshed with the first gear at one corner.

[0015] Preferably, a bayonet is provided on the fixed shell, and a second electric push rod is installed on the end of the mechanical arm, and the telescopic end of the second electric push rod extends into the bayonet and contacts the fixed shell.

[0016] Preferably, the rotating disk is provided with a first rack at each lifting block, a fourth motor is provided on the lifting block, a fifth gear is provided on the output shaft of the fourth motor, and the fifth gear is meshed with the first rack on one side.

[0017] Preferably, a limiting assembly is connected to the lifting block, and the limiting assembly includes a second rack. A pair of second racks are slidably connected to the lifting block. A fifth motor is installed on the lifting block. A sixth gear is installed on the output shaft of the fifth motor. A pair of second racks are respectively engaged with both sides of the sixth gear. A limiting block is installed on the second rack, and the limiting block is in conflict with the fixed shell.

[0018] Preferably, a third motor is mounted on the base, a third gear is mounted on the output shaft of the third motor, a coaxial fourth gear is mounted on the rotating disk, and the fourth gear meshes with the third gear.

[0019] Preferably, the rotating disk is rotatably connected to a protective plate located above the lifting block, and a torsion spring is installed between the protective plate and the rotating disk.

[0020] Preferably, a first motor is installed on the end of the robotic arm, and an output shaft of the first motor is fixedly connected to the rotating shaft of the rotating block.

[0021] The method for using a multi-axis industrial robot comprises the following steps:

[0022] S1, the main body of the robot arm controls the end of the robot arm to work, starts the first motor, and the first motor drives the rotating block to rotate. The positions of the two mechanical claws can be adjusted by the rotating block, and the two mechanical claws can take turns to clamp the workpiece on the connecting belt;

[0023] S2, start the second motor to drive the connecting belt to rotate, the connecting belt can clamp the workpiece, the first electric push rod pushes the push block, a pair of clamping rods release the workpiece, and the two mechanical claws grab it in turn;

[0024] S3, bend the main body of the robot arm, and make the end of the robot arm parallel to the rotating disk, so that the required lifting block rises, so that the top of the lifting block and the bottom of the fixed shell are in conflict, start the fifth motor, and a pair of limit blocks slide to limit the inner side of the fixed shell. The telescopic end of the second electric push rod exits the bayonet, controls the lifting block to move downward, and pulls the fixed shell out from the end of the robot arm, thereby completing the rapid replacement of the fixed shell.

[0025] Compared with the prior art, the present invention provides a multi-axis industrial robot with the following beneficial effects:

[0026] 1. The multi-axis industrial robot has a base installed inside an industrial manufacturing workshop. When working, the main body of the robotic arm controls the end of the robotic arm to work, starts the first motor, and the first motor drives the rotating block to rotate. The positions of the two mechanical claws can be adjusted by the rotating block. The two mechanical claws take turns to clamp the workpiece on the connecting belt, thereby improving work efficiency.

[0027] 2. The multi-axis industrial robot starts the second motor to drive the connecting belt to rotate. The connecting belt can clamp the workpiece, so that the two mechanical claws can grab it in turn. When the connecting belt drives the workpiece to move to the mechanical claw, the first electric push rod is started. The first electric push rod pushes the push block. The second spring force is greater than the first spring, so that the push block drives the sliding block to move. The sliding block and the fixed block are in contact and engaged. The first spring is stretched to make the workpiece clamped by a pair of clamping rods approach the mechanical claw. After the mechanical claw firmly clamps the workpiece, the first electric push rod continues to push the push block, and the push block slides on the clamping rod, thereby pushing the pair of clamping rods to release the workpiece. The second spring is compressed, which makes it easy for the mechanical claw to take it away. The fixed shell is plug-in, and the telescopic end of the second electric push rod is extended into the inside of the bayonet, so as to limit the fixed shell to avoid detachment. By replacing the fixed shell, it is convenient to supplement or replace the workpiece on the entire connecting belt.

[0028] 3. When replacing the fixed shell of the multi-axis industrial robot, the main body of the mechanical arm is bent, and the end of the mechanical arm is parallel to the rotating disk. The third motor is started to drive the rotating disk to rotate, so that the required lifting block moves to the bottom of the end of the mechanical arm, and the fourth motor is started to move the lifting block upward, so that the top of the lifting block and the bottom of the fixed shell are in conflict with each other. The fifth motor is started to drive a pair of second racks to slide through the sixth gear to make a pair of limit blocks slide, thereby limiting the inner side of the fixed shell. The telescopic end of the second electric push rod exits the bayonet and controls the lifting block to move downward, so that the fixed shell can be pulled out from the end of the mechanical arm through the pair of limit blocks, and the fixed shell can be stored in the rotating disk for temporary storage. The rotating disk is driven to move the fixed shell with the workpiece to the bottom of the end of the mechanical arm, and the lifting block is pushed upward to complete the rapid replacement of the fixed shell. There is no need to manually add workpieces in the middle, and the operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional view of a multi-axis industrial robot and a method of using the same proposed by the present invention;

[0030] Figure 2 A view of the connection structure of the rotating disk of the present invention;

[0031] Figure 3 A view of the connection structure of the robot arm body of the present invention;

[0032] Figure 4 A view of the connection structure of the end of the robot arm of the present invention;

[0033] Figure 5 A view of a connection structure of a first electric push rod of the present invention;

[0034] Figure 6 A view of a connection structure of a connection belt of the present invention;

[0035] Figure 7 A view of the connection structure of the push block of the present invention;

[0036] Figure 8 A view of the connection structure of the clamp rod of the present invention;

[0037] Fig. 9 A view of a connection structure of a third motor of the present invention;

[0038] Fig.10 A view of the connection structure of the lifting block of the present invention;

[0039] Fig.11 This is a view of the connection structure of the limit block of the present invention.

[0040] In the figure: 1, base; 2, robot arm body; 3, robot arm end; 4, switching mechanism; 41, first motor; 42, rotating block; 43, mechanical claw; 5, conveying mechanism; 51, fixed shell; 52, toothed belt; 53, clamping assembly; 531, first electric push rod; 532, fixed block; 533, sliding block; 534, first spring; 535, clamping rod; 536, push block; 537, second spring; 538, through slot; 54, connecting belt; 5 5. First gear; 56. Second gear; 57. Second motor; 6. Protective plate; 7. Bayonet; 8. Second electric push rod; 9. Loading mechanism; 91. Rotating plate; 92. Third gear; 93. Third motor; 94. Fourth gear; 95. Lifting block; 96. First rack; 97. Fifth gear; 98. Fourth motor; 99. Limiting assembly; 991. Limiting block; 992. Fifth motor; 993. Sixth gear; 994. Second rack. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] Example 1: Reference Figure 1 , Figure 3 and Figure 4 A multi-axis industrial robot comprises a base 1, on which a robot arm body 2 is mounted, the robot arm body 2 comprises a robot arm end 3, the robot arm end 3 is connected with a switching mechanism 4, the switching mechanism 4 comprises a rotating block 42, the robot arm end 3 is rotatably connected with the rotating block 42, both ends of the rotating block 42 are mounted with mechanical claws 43, and the two mechanical claws 43 switch work in turn, thereby improving work efficiency.

[0044] In the present invention, a first motor 41 is installed on the end 3 of the robot arm, and the output shaft of the first motor 41 is fixedly connected to the rotating shaft of the rotating block 42, so as to facilitate driving the rotating block 42 to rotate.

[0045] Example 2: Based on Example 1 Figure 5 , Figure 6 , Figure 7 and Figure 8 A conveying mechanism 5 is connected to the end 3 of the robot arm, and the conveying mechanism 5 includes a fixed shell 51. The inside of the end 3 of the robot arm is plugged with an embedded fixed shell 51. A pair of toothed belts 52 are rotatably connected in the fixed shell 51. A connecting belt 54 is installed between the pair of toothed belts 52. A clamping assembly 53 is connected to the outer wall of the connecting belt 54, so as to facilitate the storage of multiple workpieces at a time and reduce the grasping stroke of the robot arm body 2.

[0046] In the present invention, the clamping assembly 53 includes a through slot 538, a plurality of through slots 538 are provided on the connecting belt 54, a fixed block 532 is installed on the outer wall of the connecting belt 54 at the through slot 538, a sliding block 533 is slidably connected to the fixed block 532, a first spring 534 is installed between the fixed block 532 and the sliding block 533, a pair of clamping rods 535 are slidably connected to the sliding block 533, a second spring 537 is installed between the clamping rod 535 and the sliding block 533, The sliding block 533 is slidably connected to a push block 536, and the clamping rod 535 is located on both sides of the push block 536. The clamping rod 535 abuts against the push block 536, and the ends of the clamping rod 535 and the push block 536 that abut against each other are both in an inclined shape. A first electric push rod 531 is installed on the fixed shell 51, and the telescopic end of the first electric push rod 531 abuts against the push block 536 through a through slot 538, thereby facilitating the clamping and releasing of the workpiece, and facilitating the stable transportation of the workpiece to one end of the mechanical claw 43.

[0047] In the present invention, the toothed belt 52 is rectangular in shape, and a first gear 55 is meshed on the inner corner of the rectangle of the toothed belt 52. The first gear 55 is rotatably connected to the fixed shell 51. A second motor 57 is installed on the fixed shell 51. A second gear 56 is installed on the output shaft of the second motor 57. The second gear 56 is meshed with the first gear 55 at one corner, thereby facilitating the driving of the toothed belt 52 to rotate.

[0048] In the present invention, a bayonet 7 is provided on the fixed shell 51, and a second electric push rod 8 is installed on the end 3 of the robot arm. The telescopic end of the second electric push rod 8 extends into the bayonet 7 and contacts the fixed shell 51, thereby facilitating the limiting and releasing of the fixed shell 51.

[0049] Example 3: Based on Example 2 Figure 2 , Fig. 9 , Fig.10 and Fig.11 The base 1 is connected to a loading mechanism 9, and the loading mechanism 9 includes a rotating disk 91. The base 1 is rotatably connected to the rotating disk 91. The bottom end of the robot arm body 2 is arranged on the axis line of the rotating disk 91. The rotating disk 91 is slidably connected to a plurality of electric lifting blocks 95. The lifting blocks 95 are connected to a limiting assembly 99 for limiting the fixed shell 51. The rotating disk 91 can load a plurality of fixed shells 51 at one time, so as to facilitate the loading and unloading of the robot arm body 2.

[0050] In the present invention, the rotating disk 91 is provided with a first rack 96 at each lifting block 95, a fourth motor 98 is provided on the lifting block 95, a fifth gear 97 is provided on the output shaft of the fourth motor 98, and the fifth gear 97 is meshed with the first rack 96 on one side, so as to facilitate driving the lifting block 95 to rise and fall.

[0051] In the present invention, a limiting assembly 99 is connected to the lifting block 95, and the limiting assembly 99 includes a second rack 994. A pair of second racks 994 are slidably connected to the lifting block 95. A fifth motor 992 is installed on the lifting block 95, and a sixth gear 993 is installed on the output shaft of the fifth motor 992. A pair of second racks 994 are respectively engaged with both sides of the sixth gear 993. A limiting block 991 is installed on the second rack 994, and the limiting block 991 is in contact with the fixed shell 51, so as to facilitate the limiting of the fixed shell 51 and facilitate the withdrawal of the fixed shell 51.

[0052] In the present invention, a third motor 93 is installed on the base 1, a third gear 92 is installed on the output shaft of the third motor 93, a coaxial fourth gear 94 is installed on the rotating disk 91, and the fourth gear 94 is meshed with the third gear 92, so as to facilitate driving the rotating disk 91 to rotate and facilitate switching the position of the unused fixed shell 51.

[0053] In the present invention, the rotating disk 91 is rotatably connected to the protective plate 6 above the lifting block 95, and a torsion spring is installed between the protective plate 6 and the rotating disk 91 to prevent workpieces or other objects from falling onto the lifting block 95 during operation.

[0054] Working principle: The base 1 is installed inside the industrial manufacturing workshop. When working, the robot arm body 2 controls the robot arm end 3 to work, starts the first motor 41, and the first motor 41 drives the rotating block 42 to rotate. The positions of the two mechanical claws 43 can be adjusted by the rotating block 42. The two mechanical claws 43 take turns to clamp the workpiece on the connecting belt 54, thereby improving the working efficiency;

[0055] The second motor 57 is started, and the second motor 57 drives the second gear 56 to rotate, thereby driving the first gear 55 at one corner to rotate, and driving the pair of toothed belts 52 to rotate. The rotation of the pair of toothed belts 52 can drive the connecting belt 54 to rotate. The connecting belt 54 can clamp the workpiece, so that the two mechanical claws 43 can grab it in turn. When the connecting belt 54 drives the workpiece to move to the mechanical claw 43, the first electric push rod 531 is started, and the first electric push rod 531 pushes the push block 536. The elastic force of the second spring 537 is greater than that of the first spring 534, so that the push block 536 drives the sliding block 533 to move, and the sliding block 533 and the fixed block 532 The first spring 534 is stretched to make the workpiece clamped by the pair of clamping rods 535 close to the mechanical claw 43. After the mechanical claw 43 firmly clamps the workpiece, the first electric push rod 531 continues to push the push block 536, and the push block 536 slides on the clamping rod 535, thereby pushing the pair of clamping rods 535 to release the workpiece. The second spring 537 is compressed, so that it is easy to take away the mechanical claw 43. The fixed shell 51 is plug-in, and the telescopic end of the second electric push rod 8 is inserted into the inside of the bayonet 7, so as to limit the fixed shell 51 to prevent it from being separated. By replacing the fixed shell 51, it is convenient to supplement or replace the workpiece on the entire connecting belt 54;

[0056] When replacing the fixed shell 51, the robot arm body 2 is bent, the robot arm end 3 is parallel to the rotating disk 91, the third motor 93 is started, the third motor 93 drives the third gear 92 to rotate, and the rotating disk 91 is driven to rotate through the fourth gear 94, so that the required lifting block 95 moves to the bottom of the robot arm end 3, the fourth motor 98 is started, the fourth motor 98 drives the fifth gear 97 to rotate, and the lifting block 95 is driven to move upward through the fixed first rack 96, the protective plate 6 is turned outward, the torsion spring is compressed, the top of the lifting block 95 and the bottom of the fixed shell 51 are in conflict, the fifth motor 992 is started, and the sixth gear 94 is driven to rotate. 993 drives a pair of second racks 994 to slide, so that a pair of limit blocks 991 slide, thereby limiting the inner side of the fixed shell 51. The telescopic end of the second electric push rod 8 exits the bayonet 7, and controls the lifting block 95 to move downward. The fixed shell 51 can be pulled out from the end 3 of the robot arm through the pair of limit blocks 991, and the fixed shell 51 is put into the interior of the rotating disk 91, so as to facilitate temporary storage. The rotating disk 91 is driven to move the fixed shell 51 containing the workpiece to the bottom of the end 3 of the robot arm, and the lifting block 95 is raised and pushed, so as to complete the rapid replacement of the fixed shell 51, without the need to manually add workpieces in the middle, and the operation is convenient.

[0057] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-axis industrial robot, comprising a base (1), a robot arm body (2) being mounted on the base (1), the robot arm body (2) comprising a robot arm end (3), characterized in that: The end (3) of the mechanical arm is connected to a switching mechanism (4), the switching mechanism (4) comprises a rotating block (42), the end (3) of the mechanical arm is rotatably connected to the rotating block (42), and both ends of the rotating block (42) are equipped with mechanical claws (43); The end (3) of the robot arm is connected to a conveying mechanism (5), the conveying mechanism (5) comprises a fixed shell (51), the end (3) of the robot arm is plugged with an embedded fixed shell (51), a pair of toothed belts (52) are rotatably connected in the fixed shell (51), a connecting belt (54) is installed between the pair of toothed belts (52), and a clamping assembly (53) is connected to the outer wall of the connecting belt (54); The base (1) is connected to a feeding mechanism (9), the feeding mechanism (9) comprising a rotating disk (91), the base (1) is rotatably connected to the rotating disk (91), the bottom end of the mechanical arm body (2) is arranged on the axis of the rotating disk (91), the rotating disk (91) is slidably connected to a plurality of electrically-operated lifting blocks (95), and the lifting blocks (95) are connected to a limiting assembly (99) for limiting the fixed shell (51).

2. A multi-axis industrial robot according to claim 1, characterized in that: The clamping assembly (53) comprises a through slot (538), a plurality of through slots (538) are provided on the connecting belt (54), a fixed block (532) is installed on the outer wall of the connecting belt (54) at the through slot (538), a sliding block (533) is slidably connected to the fixed block (532), a first spring (534) is installed between the fixed block (532) and the sliding block (533), a pair of clamping rods (535) are slidably connected to the sliding block (533), and the clamping rods (535) and the sliding block (533) are slidably connected to each other. A second spring (537) is installed between the two ends of the push block (536), the sliding block (533) is slidably connected to a push block (536), the clamping rod (535) is located on both sides of the push block (536), the clamping rod (535) is in contact with the push block (536), and the ends of the clamping rod (535) and the push block (536) that are in contact with each other are both in the shape of an inclined surface, and a first electric push rod (531) is installed on the fixed shell (51), and the telescopic end of the first electric push rod (531) is in contact with the push block (536) through a through groove (538).

3. A multi-axis industrial robot according to claim 1, characterized in that: The toothed belt (52) is rectangular in shape, a first gear (55) is meshed on an inner corner of the rectangle of the toothed belt (52), the first gear (55) is rotatably connected to a fixed shell (51), a second motor (57) is mounted on the fixed shell (51), a second gear (56) is mounted on an output shaft of the second motor (57), and the second gear (56) is meshed with the first gear (55) at one corner.

4. A multi-axis industrial robot according to claim 1, characterized in that: The fixed shell (51) is provided with a bayonet (7), and a second electric push rod (8) is installed on the end (3) of the mechanical arm, and the telescopic end of the second electric push rod (8) extends into the bayonet (7) and contacts the fixed shell (51).

5. A multi-axis industrial robot according to claim 1, characterized in that: The rotating disk (91) is provided with a first rack (96) at each lifting block (95), a fourth motor (98) is provided on the lifting block (95), a fifth gear (97) is provided on the output shaft of the fourth motor (98), and the fifth gear (97) is meshed with the first rack (96) on one side.

6. A multi-axis industrial robot according to claim 1, characterized in that: The lifting block (95) is connected to a limit assembly (99), the limit assembly (99) comprises a second rack (994), a pair of second racks (994) are slidably connected to the lifting block (95), a fifth motor (992) is mounted on the lifting block (95), a sixth gear (993) is mounted on the output shaft of the fifth motor (992), a pair of the second racks (994) are respectively meshed with two sides of the sixth gear (993), a limit block (991) is mounted on the second rack (994), and the limit block (991) is in contact with the fixed shell (51).

7. A multi-axis industrial robot according to claim 1, characterized in that: A third motor (93) is mounted on the base (1), a third gear (92) is mounted on the output shaft of the third motor (93), a coaxial fourth gear (94) is mounted on the rotating disk (91), and the fourth gear (94) meshes with the third gear (92).

8. The multi-axis industrial robot according to claim 1, characterized in that: The rotating disk (91) is rotatably connected to a protective plate (6) located above the lifting block (95), and a torsion spring is installed between the protective plate (6) and the rotating disk (91).

9. The multi-axis industrial robot according to claim 1, characterized in that: A first motor (41) is installed on the end (3) of the mechanical arm, and an output shaft of the first motor (41) is fixedly connected to a rotating shaft of a rotating block (42).

10. A method for using a multi-axis industrial robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the robot arm body (2) controls the robot arm end (3) to work, starts the first motor (41), and the first motor (41) drives the rotating block (42) to rotate. The positions of the two mechanical claws (43) can be adjusted by the rotating block (42), and the two mechanical claws (43) take turns to clamp the workpiece on the connecting belt (54); S2, starting the second motor (57) to drive the connecting belt (54) to rotate, the connecting belt (54) can clamp the workpiece, the first electric push rod (531) pushes the push block (536), a pair of clamping rods (535) releases the workpiece, and the two mechanical claws (43) grab the workpiece in turn; S3, the robot arm body (2) is bent, the robot arm end (3) is parallel to the rotating disk (91), the required lifting block (95) is raised, the top end of the lifting block (95) is abutted against the bottom end of the fixed shell (51), the fifth motor (992) is started, a pair of limit blocks (991) slide, and the inner side of the fixed shell (51) is abutted and limited, the telescopic end of the second electric push rod (8) exits the bayonet (7), the lifting block (95) is controlled to move downward, and the fixed shell (51) is pulled out from the robot arm end (3), thereby completing the rapid replacement of the fixed shell (51).

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