Multi-axis robot

Abstract

According to the multi-axis robot applied to the field of robots, a plurality of mechanical arms stretch out of the same ground rail and the same transverse suspension beam, each mechanical arm has independent six degrees of freedom and can independently complete complex operations such as assembling, carrying, grinding and welding, the multiple mechanical arms work at the same time, the working efficiency is greatly improved, and the working efficiency is greatly improved. The overall operation deviation of the operation unit can be monitored through the arrangement of the first-stage monitoring unit, the operation deviation of the three-shaft-joint mechanical arm can be monitored through the arrangement of the second-stage re-inspection unit, the monitoring effect on the operation precision of the robot can be greatly improved through the cooperative use of the first-stage monitoring unit and the second-stage re-inspection unit, and timely maintenance is facilitated when the robot is abnormal; therefore, the operation precision of the multi-axis robot is effectively guaranteed, the working stability of the multi-axis robot is maintained, the multi-axis robot is effectively prevented from working under the condition of large deviation, the operation precision is effectively guaranteed, and the problems of reworking, poor product quality, increase of defective rate and the like caused by poor precision are solved.

Description

Technical Field

[0001] The present invention relates to a multi-axis robot, in particular to a multi-axis robot applied in the field of robots. Background Art

[0002] A conventional industrial robot body usually has six axes (degrees of freedom) to achieve multi-angle operation. However, in the prior art, a robot is generally only equipped with one or two multi-axis robotic arms, such as a vertical-axis cantilever robot disclosed in the Chinese patent specification with publication number CN118721228A, and a cantilever U-rib dual robot welding machine disclosed in the Chinese patent specification with publication number CN106002027A; however, for a relatively complex work with a large workload and long working time, such as complex assembly, handling, grinding, welding and other operations, a robot is only equipped with one or two multi-axis robotic arms, and can only operate near the robotic arms, with a limited operating range and limited efficiency of one operation, which makes it difficult to meet the requirements of large workload, long working time and more complex work.

[0003] Furthermore, in the prior art, when a robotic arm independently completes complex assembly, handling, grinding, welding and other operations, it is often necessary to constantly adjust its position and move back and forth to perform different operations. When performing large workloads, long working hours, and more complex tasks, some wear and tear is often prone to occur, resulting in a deviation between the actual operating point and the target operating point of the robotic arm, affecting the operating accuracy of the robotic arm. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that a robot is generally only equipped with one or two multi-axis robotic arms, which is difficult to meet the requirements of large workload, long working time, and more complex work, and the robotic arm is prone to deviation when working for a long time, and the accuracy will gradually decrease.

[0005] In order to solve the above problems, the present invention provides a multi-axis robot, including a ground rail with a control center, the upper end of the ground rail is connected to a column through an electric slide rail, the upper end of the column is connected to a horizontal suspension beam through a slewing bearing unit, the slewing bearing unit includes a slewing motor installed on the side of the upper end of the column through a fixed plate, a small gear installed at the output end of the slewing motor, and a large gear rotatably installed in the middle of the upper end of the column, the upper end of the large gear is fixedly connected to the horizontal suspension beam, and the small gear and the large gear are meshed with each other, the left and right upper ends and left and right end faces of the horizontal suspension beam are fixedly connected with main linear guide rails, and the two main linear guide rails on the same side form a guide group, and the two guide groups Three operating units are installed, and the lower end and the back of the operating unit are respectively slidably connected with the two main linear guide rails of the corresponding guide group. The upper ends of the two middle operating units are fixedly installed with translation motors, and the driving shafts of the translation motors movably penetrate the upper ends of the operating units and are fixedly connected with gears. The upper end of the horizontal suspension beam is also fixedly connected with two racks, and the two racks are respectively located on the outsides of the two corresponding main linear guide rails. The gears and the corresponding racks are meshed with each other. Two groups of linear drive units are arranged on the left and right end faces of the horizontal suspension beam, and the two groups of linear drive units are symmetrical about the vertical center line of the horizontal suspension beam, and the four groups of linear drive units correspond to the remaining four operating units respectively; The linear drive unit includes a drive motor fixedly connected to the end of the horizontal suspension beam, a screw rod fixedly connected to the drive end of the drive motor, and a positioning seat fixedly installed in the middle of the side end of the horizontal suspension beam. The end of the screw rod is connected to the positioning seat through a bearing. The back of the operating unit corresponding to the linear drive unit is also fixedly connected to a limit block, and the screw rod thread passes through the limit block. The operating unit includes a back plate, a small cantilever connected to the back plate through a vertically placed linear drive unit, and a three-axis section mechanical arm connected to the lower end of the small cantilever through a horizontally placed linear drive unit, the front of the back plate and the lower end of the small cantilever are respectively fixedly connected with secondary linear guide rails, the upper end of the three-axis section mechanical arm and the end surface of the small cantilever close to the back plate are both fixedly connected with sliders matching the corresponding secondary linear guide rails, and the lead screws in the two vertically placed and horizontally placed linear drive units are respectively threaded through the corresponding sliders; A secondary re-inspection unit is fixedly connected to the outer end of the upper section of the three-axis robotic arm, and the front of the secondary re-inspection unit faces the side of the cross-suspended beam. A primary monitoring unit is installed between the cross-suspended beam and each back plate. Multiple primary monitoring units and secondary re-inspection units are all connected to the control center signal.

[0006] In the above-mentioned multi-axis robot, multiple operating units extend from the same ground rail and the same cantilever. Each robotic arm has six independent degrees of freedom and can independently complete relatively complex assembly, handling, grinding, welding and other operations. When the six robotic arms work at the same time, the work efficiency is greatly improved. Under the setting of the first-level monitoring unit and the second-level re-inspection unit, the offset of multiple operating units can be monitored. When the offset is too large, it can be detected in time, which is convenient for timely maintenance, effectively avoiding the multi-axis robot from working in the case of large deviations, thereby effectively ensuring the operation accuracy.

[0007] As a further improvement of the present application, the secondary re-inspection unit includes a connecting tube fixedly connected to the outer end of the upper section of the three-axis robot arm, a supporting plate fixedly connected to the outer end of the connecting tube, and a refractive ring fixedly connected to the end of the supporting plate facing the cross-cantilever beam, the refractive ring includes a T-tube fixedly connected to the supporting plate, a light guide ring connected to the outer end of the T-tube through an electric rotating shaft, and a laser coaxially arranged with the T-tube and the light guide ring, and the laser is fixedly connected to the supporting plate.

[0008] As a further improvement of the present application, a plurality of V-shaped reflective grooves distributed in a ring array are cut at the outer end of the light guide ring, the edge lines of the plurality of V-shaped reflective grooves are perpendicular to the central axis of the refracting ring, and the angle of the V-shaped reflective grooves is not greater than 120°.

[0009] As a further improvement of the present application, the inner wall of the V-shaped reflective groove is coated with a reflective layer, there is a gap between the edges of two adjacent V-shaped reflective grooves, and the surface of the gap facing the cross cantilever beam is roughened.

[0010] As another improvement of the present application, the first-level monitoring unit includes a high-definition camera installed on the horizontal suspension beam and a horizontal measurement bar installed on the back of the back panel, and the horizontal measurement bar is completely located within the shooting range of the high-definition camera.

[0011] As another improved supplement of the present application, the flat measuring strip includes a bottom plate fixedly connected to the back plate, a sensing shell fixedly connected to the outer end of the bottom plate, and a partition plate fixedly connected to the inside of the sensing shell, the partition plate divides the inside of the sensing shell into two cavities, a liquid guide hole is drilled on the partition plate, and the liquid guide hole connects the two cavities, both cavities are filled with colored liquid, and the distance between the liquid level of the colored liquid and the partition plate is not more than twice the thickness of the partition plate.

[0012] As another improvement supplement of the present application, the portion of the sensing shell located above the upper surface of the partition plate is made of a transparent material, and the portion located below the upper surface of the partition plate is made of a non-transparent material, a reference line is coated at the connection between the two materials, and the color of the reference line contrasts with the color of the colored liquid.

[0013] As another improvement of the present application, the flat measuring strip includes a pad fixedly connected to the back plate and a pressure line layer fixedly connected to the surface of the pad, the pressure line layer is made of a mechanochromic material, and the first-level monitoring unit also includes an electric push rod fixedly connected to the cross suspension beam through an electric slide, a triangular blunt head fixedly connected to the end of the electric push rod, and a reference strip fixedly connected to the back of the back plate, the reference strip is located above the pad, and a control line is also coated in the middle of the reference strip.

[0014] In summary, multiple robotic arms are extended from the same horizontal suspension beam of the same ground rail, and each robotic arm has independent six degrees of freedom, and can independently complete more complex assembly, handling, grinding, welding and other operations. Multiple robotic arms work at the same time, which greatly improves work efficiency. Through the setting of the first-level monitoring unit, the overall operation deviation of the operation unit can be monitored, and through the setting of the second-level re-inspection unit, the operation deviation of the three-axis robotic arm can be monitored. The combination of the two can greatly improve the monitoring effect of the operation accuracy of the robot, which is convenient for timely maintenance in abnormal situations, thereby effectively ensuring the operation accuracy of the multi-axis robot, maintaining its working stability, and effectively avoiding the multi-axis robot from working in the case of large deviations, thereby effectively ensuring the operation accuracy, and not prone to rework due to poor accuracy, deterioration of product quality, and increased defective rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional diagram of the first embodiment of the present application; Figure 2 A three-dimensional diagram of a cantilever beam portion of the first embodiment of the present application; Figure 3 This is a side view of the first embodiment of the present application; Figure 4 This is a left side stereoscopic view of the operating arm of the first embodiment of the present application; Figure 5 A right side perspective view of the operating arm of the first embodiment of the present application; Figure 6 A three-dimensional diagram of a secondary re-inspection unit according to a first embodiment of the present application; Figure 7 This is a schematic diagram of the first embodiment of the present application when two relative secondary re-inspection units are performing monitoring when no deviation occurs; Figure 8 This is a schematic diagram of the second-level re-inspection unit performing monitoring when a deviation occurs in the first embodiment of the present application; Fig. 9 It is a schematic diagram of the front part of the first and second embodiments of the present application; Fig.10 for Fig. 9 Schematic diagram at A in the middle; Fig.11This is a schematic diagram of a primary monitoring unit in the first embodiment of the present application; Fig.12 A comparison diagram of normal and abnormal conditions detected by the primary detection unit in the first embodiment of the present application; Fig.13 A cross-sectional view of a flat test strip according to a second embodiment of the present application; Fig.14 This is a comparison chart of normal and abnormal conditions detected by the primary detection unit in the second embodiment of the present application.

[0016] Description of the numbers in the figure: 1 ground rail, 2 column, 21 rotary motor, 22 small gear, 23 large gear, 3 horizontal suspension beam, 301 main linear guide, 4 operating unit, 41 back plate, 42 small cantilever, 43 three-axis robot arm, 401 secondary linear guide, 51 translation motor, 52 rack, 6 linear drive unit, 61 drive motor, 62 lead screw, 63 positioning seat, 7 secondary re-inspection unit, 71 connecting pipe, 72 bearing plate, 731 T-shaped pipe, 732 light guide ring, 701 V-shaped reflective groove, 81 electric push rod, 821 pad, 822 pressure line layer, 83 reference strip, 84 triangular blunt head, 801 high-definition camera, 91 bottom plate, 92 sensing shell, 93 cavity plate, 901 liquid guide hole. DETAILED DESCRIPTION

[0017] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0018] The first implementation method: Figure 1-2 A multi-axis robot is shown, comprising a ground rail 1 with a control center, the upper end of the ground rail 1 is connected to a column 2 through an electric slide rail, the upper end of the column 2 is connected to a suspension beam 3 through a slewing bearing unit, the slewing bearing unit comprises a slewing motor 21 mounted on the side of the upper end of the column 2 through a fixing plate, a pinion 22 mounted on the output end of the slewing motor 21, and a large gear 23 rotatably mounted in the middle of the upper end of the column 2, the upper end of the large gear 23 is fixedly connected to the suspension beam 3, and the pinion 22 and the large gear 23 are meshed with each other, and the left and right upper ends and the left and right upper ends of the suspension beam 3 are connected. The end faces are fixedly connected with the main linear guide rails 301. The two main linear guide rails 301 on the same side form a guide group. The two guide groups are equipped with three operating units 4. The lower end and the back side of the operating unit 4 are slidingly connected with the two main linear guide rails 301 of the corresponding guide group respectively. Multiple operating units 4 are extended on the same ground rail and the same cantilever. Each robotic arm has six independent degrees of freedom and can independently complete more complex assembly, handling, grinding, welding and other operations. When the six robotic arms work at the same time, the work efficiency is greatly improved.

[0019] The upper ends of the two middle operating units 4 are fixedly installed with translation motors 51, and the driving shaft of the translation motor 51 movably passes through the upper ends of the operating units 4 and is fixedly connected to a gear. The upper end of the cross suspension beam 3 is also fixedly connected to two racks 52, and the two racks 52 are respectively located on the outer sides of the two corresponding main linear guide rails 301, and the gears and the corresponding racks 52 are meshed with each other. Figure 3 , two groups of linear drive units 6 are arranged on the left and right end surfaces of the horizontal suspension beam 3, the two groups of linear drive units are symmetrical about the vertical center line of the horizontal suspension beam 3, and the four groups of linear drive units correspond to the remaining four operating units 4 respectively, so that the four operating units 4 located on both sides can move back and forth linearly along the linear drive units 6, so that the corresponding three-axis joint robot arm 43 has a larger working range; The linear drive unit 6 includes a drive motor 61 fixedly connected to the end of the horizontal suspension beam 3, a screw rod 62 fixedly connected to the drive end of the drive motor 61, and a positioning seat 63 fixedly installed in the middle of the side end of the horizontal suspension beam 3. The end of the screw rod 62 is connected to the positioning seat 63 through a bearing. The back of the operating unit 4 corresponding to the linear drive unit 6 is also fixedly connected to a limit block. The screw rod 62 threadedly penetrates the limit block. When in use, since the operating unit 4 is slidably connected to the main linear guide 301, the operating unit 4 is forced to move only in a straight line. Then the drive motor 61 is started and the screw rod 62 is driven to rotate, thereby forcing the limit block threadedly connected to it to move only in a straight line along the screw rod 62, thereby driving the operating unit 4 to move, thereby realizing the driving of the operating unit 4; like Figure 4-5 The operating unit 4 includes a back plate 41, a small cantilever 42 connected to the back plate 41 through a vertically placed linear drive unit 6, and a three-axis joint mechanical arm 43 connected to the lower end of the small cantilever 42 through a horizontally placed linear drive unit 6. The front of the back plate 41 and the lower end of the small cantilever 42 are respectively fixedly connected with secondary linear guide rails 401, and the upper end of the three-axis joint mechanical arm 43 and the end surface of the small cantilever 42 close to the back plate 41 are fixedly connected with sliders matching the corresponding secondary linear guide rails 401. The lead screws 62 in the two vertically placed and horizontally placed linear drive units 6 are respectively threaded through the corresponding sliders. Under the setting of the linear drive unit 6, the small cantilever 42 can move back and forth up and down along the back plate 41. Under the action of the horizontally placed linear drive unit 6, the three-axis robot arm 43 can move back and forth along the small cantilever 42. In addition, the three-axis robot arm 43 is composed of three sections, the upper and lower sections are both vertical axes, the middle one is a horizontal section, and the connections between the upper and lower sections and the horizontal section are both provided with horizontal rotating shafts, which can realize 360° rotation in the horizontal direction. A vertical rotating shaft is provided in the middle of the middle horizontal section, which can realize 360° rotation in the vertical direction, thereby significantly improving the entire operating range and flexibility of the three-axis robot arm 43.

[0020] like Figure 9-10The first-level monitoring unit includes a high-definition camera 801 installed on the horizontal suspension beam 3 and a flat measuring strip installed on the back of the back plate 41. The flat measuring strip is completely within the shooting range of the high-definition camera 801. The flat measuring strip includes a pad 821 fixedly connected to the back plate 41 and a pressure line layer 822 fixedly connected to the surface of the pad 821. The pressure line layer 822 is made of a mechanochromic material. The first-level monitoring unit also includes an electric push rod 81 fixedly connected to the horizontal suspension beam 3 through an electric slide, a triangular blunt head 84 fixedly connected to the end of the electric push rod 81, and a reference strip 83 fixedly connected to the back of the back plate 41. The reference strip 83 is located above the pad 821, and a control line is coated in the middle of the reference strip 83, as shown in FIG. Fig.11 In the figure, b represents the mark formed by the pressure layer 822 due to the force, that is, the detection line. When in use, the control center controls the operating unit 4 to move to the corresponding electric push rod 81, and then controls the electric push rod 81 to extend so that the end of the triangular blunt head 84 contacts the pressure layer 822, and controls the electric slide to move so that the electric push rod 81 squeezes the pressure layer 822 to form a horizontal mark, such as Fig.12 The high-definition camera 801 captures the image information of the horizontal mark and the reference line and feeds it back to the control center. The control center can effectively determine whether the operating unit 4 as a whole is tilted based on the parallelism of the two in the figure. When the two are parallel, it means that there is no tilt. When the operating unit 4 is tilted, the reference line is tilted accordingly, and thus is not parallel to the horizontal mark.

[0021] like Figure 5-6 A primary monitoring unit is installed between the cross suspension beam 3 and each back plate 41, and multiple primary monitoring units and a secondary re-inspection unit 7 are connected to the control center signal. The upper outer end of the three-axis section robot 43 is fixedly connected with a secondary re-inspection unit 7, and the front of the secondary re-inspection unit 7 faces the side of the cross suspension beam 3; the secondary re-inspection unit 7 includes a connecting tube 71 fixedly connected to the outer end of the upper section of the three-axis section robot 43, a bearing plate 72 fixedly connected to the outer end of the connecting tube 71, and a refraction ring fixedly connected to the end of the bearing plate 72 facing the cross suspension beam 3, the refraction ring includes a T-shaped tube 731 fixedly connected to the bearing plate 72, a light guide ring 732 connected to the outer end of the T-shaped tube 731 through an electric rotating shaft, and a light guide ring 732 connected to the T-shaped tube 731 through an electric rotating shaft. 1 and a laser coaxially arranged with a light guide ring 732, the laser is fixedly connected to the carrier plate 72, a plurality of V-shaped reflective grooves 701 distributed in a ring array are cut on the outer end of the light guide ring 732, the edge lines of the plurality of V-shaped reflective grooves 701 are perpendicular to the central axis of the refractive ring, and the angle of the V-shaped reflective grooves 701 is not greater than 120°, the inner wall of the V-shaped reflective groove 701 is coated with a reflective layer, there is a gap between the edges of two adjacent V-shaped reflective grooves 701, and the surface of the gap facing the cross suspension beam 3 is roughened, so that when light is irradiated on its surface, no obvious emission phenomenon occurs, and there is an interval when the laser falls on the light guide ring 732, so that the dynamic effect of the flashing is better and the reminder effect is better.

[0022] At regular intervals, the control center performs the same control on the two operating units 4 facing each other at the back, so that the operating points of the two are symmetrical about the horizontal suspension beam 3, and the two light guide rings 732 are opposite to each other. At this time, the two lasers are controlled to turn on at the same time, such as Figure 7 When there is no deviation between the two, the two lasers can receive the laser emitted by the other party after being emitted. When there is a deviation, the laser landing point will deviate from the relative laser, and the laser will not receive the laser signal emitted by the other party. At this time, the electric shaft is controlled to rotate so that the light guide ring 732 is in the rotating rod state, such as Figure 8 When the deviation is small, the laser will fall on the surface of the light guide ring 732. Under the action of the V-shaped reflective groove 701 and the reflective layer, the light will be reflected. As the electric shaft rotates, the reflection angle of the laser will continue to change, and then the reflected light will continue to change. When the deviation is large, the laser cannot receive the laser signal emitted by the other party, and the light reflection phenomenon will not occur. Based on the above different phenomena, it can play an obvious reminder role for the staff, and the deviation amplitude can be roughly judged, so as to facilitate timely corresponding maintenance according to the actual situation.

[0023] In summary, multiple operating units 4 are extended from the same cantilever on the same ground rail, and each robotic arm has six independent degrees of freedom, and can independently complete more complex assembly, handling, grinding, welding and other operations. When the six robotic arms work at the same time, the work efficiency is greatly improved. Through the setting of the first-level monitoring unit, the overall operation deviation of the operating unit 4 can be monitored, and through the setting of the second-level re-inspection unit 7, the operation deviation of the three-axis robotic arm 43 can be monitored. The combination of the two can greatly improve the monitoring effect of the operation accuracy of the robot, and is convenient for timely maintenance in abnormal situations, thereby effectively ensuring the operation accuracy of the multi-axis robot, maintaining its working stability, and effectively avoiding the multi-axis robot from working in the event of large deviations, thereby effectively ensuring the operation accuracy, and not prone to rework due to poor accuracy, deterioration of product quality, and increased defective rate.

[0024] The second implementation method: Based on the first embodiment, this embodiment replaces the flat measuring bar, and does not provide the electric push rod 81, the reference bar 83 and the triangular blunt head 84. The rest of the parts remain the same as the first embodiment.

[0025] Fig.13As shown, d in the figure represents the liquid surface, c represents the reference line, the flat measuring strip includes a bottom plate 91 fixedly connected to the back plate 41, a sensing shell 92 fixedly connected to the outer end of the bottom plate 91, and a cavity plate 93 fixedly connected to the inside of the sensing shell 92, the cavity plate 93 divides the inside of the sensing shell 92 into two cavities, a liquid guide hole 901 is drilled on the cavity plate 93, and the liquid guide hole 901 connects the two cavities, both cavities are filled with colored liquid, and the distance between the liquid surface of the colored liquid and the cavity plate 93 is not more than twice the thickness of the cavity plate 93, the portion of the sensing shell 92 located above the upper surface of the cavity plate 93 is made of transparent material, and the portion located below the upper surface of the cavity plate 93 is made of non-transparent material, the connection between the two materials is coated with a reference line, and the color of the reference line contrasts with the color of the colored liquid, in this embodiment, when the operating unit 4 is tilted, the reference line is tilted accordingly, and the liquid surface is relatively horizontal, at this time, the parallelism between the two can be judged according to the image obtained by the high-definition camera 801, so as to achieve the effect of detecting whether the operating unit 4 is tilted.

[0026] In this embodiment, the detection line formed by the liquid surface of the colored liquid does not need to be formed by external force, but is formed spontaneously, so that as long as it is within the shooting range of the high-definition camera 801, real-time monitoring can be achieved. Compared with the first embodiment that requires certain preliminary preparations and then detection, the timeliness of the detection is higher. However, due to the instability of the liquid surface, the monitoring result has certain accuracy defects compared with the first embodiment. Only after the operating unit 4 remains stationary for a certain period of time, the detection result is relatively accurate. Therefore, during the specific implementation, a suitable implementation method can be selected according to actual needs.

[0027] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A multi-axis robot, characterized in that: The invention comprises a ground rail (1) with a control center, wherein the upper end of the ground rail (1) is connected to a column (2) via an electric slide rail, and the upper end of the column (2) is connected to a suspension beam (3) via a slewing bearing unit, wherein the slewing bearing unit comprises a slewing motor (21) mounted on the side of the upper end of the column (2) via a fixing plate, a pinion (22) mounted on the output end of the slewing motor (21), and a large gear (23) rotatably mounted on the middle part of the upper end of the column (2), wherein the upper end of the large gear (23) is fixedly connected to the suspension beam (3), and the pinion (22) and the large gear (23) are meshed with each other, and the left and right upper ends and left and right end surfaces of the suspension beam (3) are fixedly connected to main linear guide rails (301), and two main linear guide rails (301) on the same side form a guide group, and the two guide groups are each equipped with three operating units ( 4), the lower end and the back side of the operating unit (4) are respectively slidably connected to the two main linear guide rails (301) of the corresponding guide group, the upper ends of the two middle operating units (4) are fixedly mounted with a translation motor (51), the driving shaft of the translation motor (51) movably passes through the upper ends of the operating units (4) and is fixedly connected with a gear, the upper end of the transverse suspension beam (3) is also fixedly connected with two racks (52), the two racks (52) are respectively located on the outsides of the two corresponding main linear guide rails (301), the gears and the corresponding racks (52) are meshed with each other, the left and right end faces of the transverse suspension beam (3) are respectively provided with two groups of linear drive units (6), the two groups of linear drive units (6) are symmetrical about the vertical center line of the transverse suspension beam (3), and the four groups of linear drive units (6) correspond to the remaining four operating units (4); The linear drive unit (6) comprises a drive motor (61) fixedly connected to the end of the transverse suspension beam (3), a screw rod (62) fixedly connected to the drive end of the drive motor (61), and a positioning seat (63) fixedly installed in the middle of the side end of the transverse suspension beam (3), the end of the screw rod (62) is connected to the positioning seat (63) via a bearing, and a limit block is also fixedly connected to the back of the operating unit (4) corresponding to the linear drive unit (6), and the screw rod (62) is threadedly inserted through the limit block; The operating unit (4) comprises a back plate (41), a small cantilever (42) connected to the back plate (41) via a vertically placed linear drive unit (6), and a three-axis joint mechanical arm (43) connected to the lower end of the small cantilever (42) via a horizontally placed linear drive unit (6), the front of the back plate (41) and the lower end of the small cantilever (42) are respectively fixedly connected to secondary linear guide rails (401), the upper end of the three-axis joint mechanical arm (43) and the end surface of the small cantilever (42) close to the back plate (41) are both fixedly connected to sliders matching the corresponding secondary linear guide rails (401), and the lead screws (62) in the two vertically placed and horizontally placed linear drive units (6) are respectively threadedly penetrated through the corresponding sliders; A secondary re-inspection unit (7) is fixedly connected to the outer end of the upper section of the three-axis robot arm (43), the front of the secondary re-inspection unit (7) faces one side of the horizontal suspension beam (3), a primary monitoring unit is installed between the horizontal suspension beam (3) and each back plate (41), and a plurality of the primary monitoring units and the secondary re-inspection units (7) are all connected to the control center signal.

2. A multi-axis robot according to claim 1, characterized in that: The secondary re-inspection unit (7) comprises a connecting tube (71) fixedly connected to the outer end of the upper section of the three-axis section mechanical arm (43), a bearing plate (72) fixedly connected to the outer end of the connecting tube (71), and a refracting ring fixedly connected to the end of the bearing plate (72) facing the transverse suspension beam (3), the refracting ring comprising a T-shaped tube (731) fixedly connected to the bearing plate (72), a light guide ring (732) connected to the outer end of the T-shaped tube (731) via an electric rotating shaft, and a laser coaxially arranged with the T-shaped tube (731) and the light guide ring (732), the laser being fixedly connected to the bearing plate (72).

3. A multi-axis robot according to claim 2, characterized in that: The outer end of the light guide ring (732) is provided with a plurality of V-shaped reflective grooves (701) distributed in a ring array, the edge lines of the plurality of V-shaped reflective grooves (701) are perpendicular to the central axis of the light guide ring (732), and the included angle of the V-shaped reflective grooves (701) is not greater than 120°.

4. A multi-axis robot according to claim 3, characterized in that: The inner wall of the V-shaped reflective groove (701) is coated with a reflective layer, there is a gap between the edges of two adjacent V-shaped reflective grooves (701), and the surface of the gap facing the horizontal suspension beam (3) is roughened.

5. A multi-axis robot according to claim 1, characterized in that: The primary monitoring unit comprises a high-definition camera (801) mounted on the horizontal suspension beam (3) and a horizontal measuring strip mounted on the back of the back plate (41), wherein the horizontal measuring strip is completely within the shooting range of the high-definition camera (801).

6. A multi-axis robot according to claim 5, characterized in that: The flat measuring strip comprises a bottom plate (91) fixedly connected to the back plate (41), a sensing shell (92) fixedly connected to the outer end of the bottom plate (91), and a cavity plate (93) fixedly connected to the inside of the sensing shell (92); the cavity plate (93) divides the inside of the sensing shell (92) into two cavities; a liquid guide hole (901) is drilled on the cavity plate (93), and the liquid guide hole (901) connects the two cavities; the two cavities are filled with colored liquid, and the distance between the liquid surface of the colored liquid and the cavity plate (93) is not greater than twice the thickness of the cavity plate (93).

7. A multi-axis robot according to claim 6, characterized in that: The portion of the sensing shell (92) located above the upper surface of the cavity plate (93) is made of a transparent material, and the portion located below the upper surface of the cavity plate (93) is made of a non-transparent material. A reference line is coated at the connection between the two materials, and the color of the reference line contrasts with the color of the colored liquid.

8. A multi-axis robot according to claim 5, characterized in that: The flat measuring strip comprises a pad (821) fixedly connected to the back plate (41) and a pressure line layer (822) fixedly connected to the surface of the pad (821), wherein the pressure line layer (822) is made of a mechanochromic material. The primary monitoring unit also comprises an electric push rod (81) fixedly connected to the cross suspension beam (3) via an electric slide, a triangular blunt head (84) fixedly connected to the end of the electric push rod (81), and a reference strip (83) fixedly connected to the back of the back plate (41), wherein the reference strip (83) is located above the pad (821), and a control line is coated in the middle of the reference strip (83).

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