Clamping jaw mechanism for tool changing robot

Abstract

The utility model discloses a clamping jaw mechanism for a tool changing robot, and relates to the technical field of slitting machines. The clamping jaw mechanism comprises a clamping jaw shell, wherein a clamping jaw mechanism, a fixing mechanism and a mechanical arm mechanism are arranged on the clamping jaw shell; the clamping jaw mechanism comprises a clamping jaw assembly and a positioning assembly, the clamping jaw assembly comprises a first motor fixedly connected to a clamping jaw shell, the first motor is fixedly connected with a two-way threaded rod, the two-way threaded rod is rotationally connected with the clamping jaw shell, the two-way threaded rod is in threaded connection with two threaded sliding blocks, and the two-way threaded rod is fixedly connected with a blocking block; the two-way threaded rod penetrates through the blocking block, the two threaded sliding blocks are both fixedly connected with clamping jaw rods, and the two clamping jaw rods are both fixedly connected with clamping jaw baffles. By arranging the clamping jaw mechanism, the cutting part of the blade cannot be extruded or collided by the outside, the utilization rate of the blade is improved, the effects of reducing the abrasion loss of the blade and protecting the clamping jaw component are achieved, and the working cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of slitting machines, in particular to a clamping claw mechanism for a tool changing robot. Background Art

[0002] In the prior art, after searching, it was found that a Chinese patent disclosed "a quick knife changing device for a longitudinal shearing machine", and its application number is "CN202022488000.4". This patent mainly benefits from holding two pull frames to put the round mouth on the round plate onto the knife shaft, and then the two claws clamp the back of the blade, and then the two first cylinders drive the two pillars to run relative to each other, and then the two claws clamp the blade, and then the two second cylinders drive the two anti-slip pads to run relative to each other to clamp the spacer block, and then hold the two pull frames to drive the device to move backward, so as to achieve the effect of quick blade replacement.

[0003] However, the device uses a clamping claw to clamp the cutting part of the blade. If the cutting part of the blade is clamped for a long time, it will cause wear and loss of the clamping claw parts. In addition, the cutting part of the blade is subjected to external compression or impact, which will aggravate the damage and wear of the blade, reduce the service life of the blade, and require frequent replacement of the blade, thereby reducing the utilization rate and work efficiency of the blade and increasing the work cost. Utility Model Content

[0004] The utility model aims to provide a clamping mechanism for a tool-changing robot. By providing the clamping mechanism, the cutting part of the blade will not be subjected to external squeezing or collision, thereby improving the utilization rate of the blade and solving the problems that the cutting part of the blade stuck for a long time will cause wear and loss of the clamping mechanism, and the cutting part of the blade will be subjected to external squeezing or collision, which will aggravate the damage and wear of the blade.

[0005] In order to solve the above technical problems, the utility model is achieved through the following technical solutions:

[0006] The utility model discloses a clamping mechanism for a tool-changing robot, comprising a clamping shell, on which a clamping mechanism, a fixing mechanism and a mechanical arm mechanism are arranged;

[0007] Furthermore, the clamping mechanism includes a clamping assembly and a positioning assembly, the clamping assembly includes a first motor fixedly connected to the outer wall of the clamping shell, the output end of the first motor is fixedly connected to a bidirectional threaded rod, the left end and the right end of the bidirectional threaded rod are rotatably connected to the inner wall of the clamping shell, the bidirectional threaded rod is threadedly connected to two threaded sliders, the bidirectional threaded rod passes through the two threaded sliders, the middle section of the bidirectional threaded rod is fixedly connected to a blocking block, the bidirectional threaded rod passes through the blocking block, the bottom surfaces of the two threaded sliders are fixedly connected to a clamping rod, and the bottom surfaces of the two clamping rods are fixedly connected to a clamping baffle.

[0008] Furthermore, the positioning assembly includes a positioning block fixedly connected to the left side of the left clamping jaw rod, a support spring is fixedly connected to the side where the two clamping jaw rods are close to each other, and a guide rail is fixedly connected to the inner bottom wall of the clamping jaw housing, and the guide rail is slidably connected to the top end of the clamping jaw rod.

[0009] Furthermore, the fixing mechanism includes a driving assembly, a lifting assembly and a shock absorbing assembly, the driving assembly includes a second motor fixedly connected to the top surface of the clamp housing, the output end of the second motor is fixedly connected to a driving gear, the top surface of the driving gear is rotatably connected to the inner top wall of the clamp housing, the inner top wall of the clamp housing is rotatably connected to a rotating gear, and the driving gear is meshed with the rotating gear.

[0010] Furthermore, the lifting assembly includes two threaded gears rotatably connected to the inner top wall of the clamping jaw housing, the two threaded gears are meshed with the rotating gear, the inner walls of the two threaded gears are threadedly connected with lifting threaded rods, the two lifting threaded rods pass through the clamping jaw housing, the two lifting threaded rods are threadedly connected to the clamping jaw housing, the top ends of the two lifting threaded rods are fixedly connected with a blocking plate, and the bottom ends of the two lifting threaded rods are fixedly connected with a top plate.

[0011] Furthermore, the shock absorbing assembly includes a card shell fixedly connected to the top surface of the jaw shell, the top surface of the jaw shell is fixedly connected to a shock absorbing spring, the outer wall of the card shell is slidably connected to a jaw hinge component, and the top end of the shock absorbing spring is fixedly connected to the jaw hinge component.

[0012] Furthermore, the robotic arm mechanism includes a forearm assembly, an upper arm assembly and a blade assembly, the forearm assembly includes a first vertical joint hinged at the top of the clamp hinge component, the top surface of the first vertical joint is fixedly connected to a first rotary joint, the top surface of the first rotary joint is fixedly connected to an electric cylinder, and the top of the electric cylinder is fixedly connected to a second vertical joint.

[0013] Furthermore, the upper arm assembly includes a robotic arm hinged on a second vertical joint, the bottom end of the robotic arm is hinged with a third vertical joint, the bottom surface of the third vertical joint is fixedly connected to a second rotary joint, and the bottom surface of the second rotary joint is fixedly connected to a steering controller.

[0014] Furthermore, the blade assembly comprises a slitting machine blade arranged between the clamping jaw baffle and the top plate, and a blade slot is opened on the inner wall of the slitting machine blade.

[0015] The utility model has the following beneficial effects:

[0016] 1. By setting up a clamping mechanism, the clamping jaws support the inner circle of the blade, and the clamping jaw baffle is used to prevent the blade from falling off, so that the clamping jaws can clamp the blade when it contacts the unsharpened inner circle of the blade. The clamping jaws with adjustable width can clamp blades with different inner circle diameters, and the cutting part of the blade will not be squeezed or collided by the outside, thereby improving the utilization rate of the blade, reducing the wear and loss of the blade and protecting the clamping jaws, and reducing the working cost.

[0017] 2. By setting up a fixing mechanism and using a top plate to support the blade clamped by the clamp, the damage or wear of the blade caused by shaking or collision during the transportation and tool changing of the robot arm can be reduced, and the service life of the blade can be extended. At the same time, a shock-absorbing component is set to reduce the impact of the robot arm on the clamp and the vibration generated when the machine is driven during tool changing and transportation, thereby maintaining smooth work.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the front side of the utility model;

[0021] Figure 2 It is a schematic diagram of the overall structure of the back side of the utility model;

[0022] Figure 3 It is a schematic diagram of the enlarged structure of the clamping jaw of the utility model;

[0023] Figure 4 For this utility model Figure 3 A schematic diagram of a front cross-sectional structure;

[0024] Figure 5 For this utility model Figure 3 A schematic diagram of a side cross-sectional structure;

[0025] Figure 6 It is an enlarged structural schematic diagram of the blade assembly of the utility model.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Gripper housing; 2. First motor; 3. Bidirectional threaded rod; 4. Threaded slider; 5. Blocking block; 6. Gripper rod; 7. Gripper baffle; 8. Positioning block; 9. Support spring; 10. Guide rail; 11. Second motor; 12. Driving gear; 13. Rotating gear; 14. Threaded gear; 15. Lifting threaded rod; 16. Blocking plate; 17. Top plate; 18. Jam; 19. Shock-absorbing spring; 20. Gripper hinged component; 21. First vertical joint; 22. First rotary joint; 23. Electric cylinder; 24. Second vertical joint; 25. Robot arm; 26. Third vertical joint; 27. Second rotary joint; 28. Steering controller; 29. ​​Slitting machine blade; 30. Blade slot. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] See also Figure 1-6 As shown, the utility model is a clamping mechanism for a tool changing robot, comprising a clamping housing 1, on which a clamping mechanism, a fixing mechanism and a mechanical arm mechanism are arranged;

[0030] The clamping mechanism includes a clamping assembly and a positioning assembly. The clamping assembly includes a first motor 2 fixedly connected to the outer wall of the clamping housing 1. The output end of the first motor 2 is fixedly connected to a bidirectional threaded rod 3. The left and right ends of the bidirectional threaded rod 3 are rotatably connected to the inner wall of the clamping housing 1. The bidirectional threaded rod 3 is threadedly connected to two threaded sliders 4. The bidirectional threaded rod 3 passes through the two threaded sliders 4. The middle section of the bidirectional threaded rod 3 is fixedly connected to a blocking block 5. The bidirectional threaded rod 3 passes through the blocking block 5. The bottom surfaces of the two threaded sliders 4 are fixedly connected to clamping rods 6. The bottom surfaces of the two clamping rods 6 are fixedly connected to clamping baffles 7.

[0031] Among them Figure 4 and Figure 5 As shown, the positioning assembly includes a positioning block 8 fixedly connected to the left side of the left clamping jaw rod 6, a support spring 9 is fixedly connected to the side where the two clamping jaw rods 6 are close to each other, and a guide rail 10 is fixedly connected to the inner bottom wall of the clamping jaw housing 1, and the guide rail 10 is slidably connected to the top end of the clamping jaw rod 6.

[0032] By setting a clamping mechanism, when the first motor 2 drives the bidirectional threaded rod 3 to rotate, the bidirectional threaded rod 3 rotates, driving the two threaded sliders 4 threadedly connected with the bidirectional threaded rod 3 to move in the direction of moving away from or approaching each other, and the blocking block 5 is used to prevent the two threaded sliders 4 from completely approaching each other. Under the cooperation of the threaded slider 4, the clamping claw rod 6 and the clamping claw baffle 7, the clamping claw rod 6 and the clamping claw baffle 7 are used to clamp the inner ring of the longitudinal shearing machine blade 29, and a positioning block 8 is provided to dock with the blade slot 30 to fix the direction of the longitudinal shearing machine blade 29. A supporting spring 9 is provided to support the two clamping claw rods 6, so that the clamping claw supports the inner ring of the blade, and the clamping claw baffle 7 is used to prevent the blade from falling off, so that the clamping claw component clamps the blade when it contacts the unsharpened inner ring of the blade, and the clamping claw with adjustable width can clamp blades with different inner ring diameters, and the cutting part of the blade will not be subjected to external extrusion or collision, thereby improving the utilization rate of the blade, reducing the wear and loss of the blade and protecting the clamping claw component, and reducing the working cost.

[0033] Among them Figure 3 , Figure 4 and Figure 5 As shown, the fixing mechanism includes a driving assembly, a lifting assembly and a shock absorbing assembly. The driving assembly includes a second motor 11 fixedly connected to the top surface of the clamp housing 1. The output end of the second motor 11 is fixedly connected to a driving gear 12. The top surface of the driving gear 12 is rotatably connected to the inner top wall of the clamp housing 1. The inner top wall of the clamp housing 1 is rotatably connected to a rotating gear 13. The driving gear 12 is meshed with the rotating gear 13. The lifting assembly includes two threaded gears 14 rotatably connected to the inner top wall of the clamp housing 1. The two threaded gears 14 are meshed with the rotating gear 13. The two threaded gears 14 are meshed with the rotating gear 13. 4 are both threadedly connected with lifting threaded rods 15, the two lifting threaded rods 15 both penetrate the clamping jaw housing 1, the two lifting threaded rods 15 are both threadedly connected with the clamping jaw housing 1, the top ends of the two lifting threaded rods 15 are fixedly connected with blocking plates 16, the bottom ends of the two lifting threaded rods 15 are fixedly connected with top plates 17, the shock absorbing assembly includes a card shell 18 fixedly connected to the top surface of the clamping jaw housing 1, the top surface of the clamping jaw housing 1 is fixedly connected with a shock absorbing spring 19, the outer wall of the card shell 18 is slidably connected with a clamping jaw hinge component 20, and the top end of the shock absorbing spring 19 is fixedly connected to the clamping jaw hinge component 20.

[0034] By setting a fixing mechanism, when the second motor 11 drives the driving gear 12 to rotate, the driving gear 12, the rotating gear 13 and the threaded gear 14 cooperate with each other, so that the driving gear 12, the rotating gear 13 and the threaded gear 14 rotate synchronously. When the threaded gear 14 rotates, the lifting threaded rod 15 drives the top plate 17 to rise and fall along the thread in the threaded gear 14. A blocking plate 16 is set to limit the descending height of the lifting threaded rod 15. Under the cooperation of the card shell 18, the shock-absorbing spring 19 and the clamping claw hinge part 20, the impact of the robot arm on the clamping claw is reduced. The card shell 18 and the clamping claw hinge part 20 are stuck with each other to prevent the clamping claw mechanism from falling off, so that the top plate 17 is used to support the blade clamped by the clamping claw, which can reduce the damage or wear of the blade caused by shaking or collision during the transportation and tool changing of the robot arm, and extend the service life of the blade. At the same time, the shock-absorbing component is set to reduce the impact of the robot arm on the clamping claw and the vibration generated when the machine is driven when the robot arm is changing the tool and transporting, so as to maintain the smooth progress of the work.

[0035] Among them Figure 1 , Figure 2 and Figure 6 As shown, the robot arm mechanism includes a forearm assembly, an upper arm assembly and a blade assembly. The forearm assembly includes a first vertical joint 21 hinged at the top of the clamping jaw hinged component 20, the top surface of the first vertical joint 21 is fixedly connected to the first rotating joint 22, the top surface of the first rotating joint 22 is fixedly connected to the electric cylinder 23, and the top of the electric cylinder 23 is fixedly connected to the second vertical joint 24. The upper arm assembly includes a robot arm 25 hinged on the second vertical joint 24, the bottom end of the robot arm 25 is hinged to the third vertical joint 26, the bottom surface of the third vertical joint 26 is fixedly connected to the second rotating joint 27, and the bottom surface of the second rotating joint 27 is fixedly connected to the steering controller 28. The blade assembly includes a slitting machine blade 29 arranged between the clamping jaw baffle 7 and the top plate 17, and a blade slot 30 is opened on the inner wall of the slitting machine blade 29.

[0036] By setting up a robotic arm mechanism, the first vertical joint 21 and the clamping jaw articulated component 20 are hinged to each other, the first rotating joint 22 is set to control the rotation of the clamping jaw, the electric cylinder 23 connects the first rotating joint 22 and the second vertical joint 24, and controls the extension and shortening of the clamping jaw, the second vertical joint 24 and the robotic arm upper arm 25 are hinged to each other, and the third vertical joint 26 and the robotic arm upper arm 25 are hinged to each other. Since the second rotating joint 27 is fixedly connected to the third vertical joint 26, the second rotating joint 27 controls the forward and backward rotation of the upper arm assembly, and a steering controller 28 is set to control the overall rotation direction of the robotic arm, thereby realizing the use of the robotic arm to control the clamping jaw to perform tool changing and transportation functions, saving labor while improving efficiency and operating accuracy.

[0037] A specific application of this embodiment is as follows: by setting a clamping mechanism, when the first motor 2 drives the bidirectional threaded rod 3 to rotate, since the threads on both sides of the bidirectional threaded rod 3 are in opposite directions, the bidirectional threaded rod 3 rotates to drive the two threaded sliders 4 threadedly connected with the bidirectional threaded rod 3 to move in the direction of moving away from or approaching each other, and the blocking block 5 is used to prevent the two threaded sliders 4 from completely approaching each other. Under the cooperation of the threaded slider 4, the clamping claw rod 6 and the clamping claw baffle 7, the threaded slider 4 drives the two clamping claw rods 6 connected thereto to close and separate along the guide rail 10, and also drives the two clamping claw baffles 7 to close and separate, and the clamping claw rod 6 is used to prevent the two threaded sliders 4 from completely approaching each other. 6 and the clamping claw baffle 7 are used to clamp the inner circle of the slitting machine blade 29, a positioning block 8 is arranged to dock with the blade slot 30 to fix the direction of the slitting machine blade 29, a supporting spring 9 is arranged to support the two clamping claw rods 6, so that the clamping claw can support the inner circle of the blade, and the clamping claw baffle 7 is used to prevent the blade from falling off, so that the clamping claw component can clamp the blade when it contacts the unsharpened inner circle of the blade, and the adjustable width clamping claw can clamp blades with different inner circle diameters, and the cutting part of the blade will not be subjected to external extrusion or collision, thereby improving the utilization rate of the blade, reducing the wear and loss of the blade and protecting the clamping claw component, and reducing the working cost.

[0038] By setting a fixing mechanism, when the second motor 11 drives the driving gear 12 to rotate, the driving gear 12, the rotating gear 13 and the threaded gear 14 cooperate with each other. Since the driving gear 12 and the rotating gear 13 are meshed with each other, and the rotating gear 13 and the two threaded gears 14 are meshed with each other, the driving gear 12, the rotating gear 13 and the threaded gear 14 rotate synchronously. The lifting threaded rod 15 passes through the clamping jaw housing 1 and is threadedly connected with the threaded gear 14. When the threaded gear 14 rotates, the lifting threaded rod 15 rises and falls along the threads in the threaded gear 14, and the top plate 17 also rises and falls with the lifting threaded rod 15. The barrier is set The plate 16 is used to limit the descending height of the lifting threaded rod 15. Under the cooperation of the card shell 18, the shock-absorbing spring 19 and the clamping claw hinge part 20, the shock-absorbing spring 19 is set to reduce the impact of the robot arm on the clamping claw. The card shell 18 and the clamping claw hinge part 20 are stuck with each other to prevent the clamping claw mechanism from falling off, and the top plate 17 is used to support the blade clamped by the clamping claw, which can reduce the damage or wear of the blade caused by shaking or collision during the transportation and tool changing of the robot arm, and extend the service life of the blade. At the same time, the shock-absorbing component is set to reduce the impact of the robot arm on the clamping claw and the vibration generated when the machine is driven when the robot arm is changing the tool and transporting, thereby maintaining smooth work.

[0039] By setting up a robotic arm mechanism, the first vertical joint 21 and the clamping jaw articulated component 20 are hinged to each other, the first rotating joint 22 is set to control the rotation of the clamping jaw, the electric cylinder 23 connects the first rotating joint 22 and the second vertical joint 24, and controls the extension and shortening of the clamping jaw, the second vertical joint 24 and the robotic arm upper arm 25 are hinged to each other, and the third vertical joint 26 and the robotic arm upper arm 25 are hinged to each other. Since the second rotating joint 27 is fixedly connected to the third vertical joint 26, the second rotating joint 27 controls the forward and backward rotation of the upper arm assembly, and a steering controller 28 is set to control the overall rotation direction of the robotic arm, thereby realizing the use of the robotic arm to control the clamping jaw to perform tool changing and transportation functions, saving labor while improving efficiency and operating accuracy.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0041] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A clamping mechanism for a tool changing robot, comprising a clamping housing (1), characterized in that: The clamping jaw housing (1) is provided with a clamping jaw mechanism, a fixing mechanism and a mechanical arm mechanism; The clamping mechanism comprises a clamping assembly and a positioning assembly, wherein the clamping assembly comprises a first motor (2) fixedly connected to the outer wall of the clamping housing (1), the output end of the first motor (2) is fixedly connected to a bidirectional threaded rod (3), the left end and the right end of the bidirectional threaded rod (3) are both rotatably connected to the inner wall of the clamping housing (1), the bidirectional threaded rod (3) is threadedly connected to two threaded sliders (4), the bidirectional threaded rod (3) passes through the two threaded sliders (4), the middle section of the bidirectional threaded rod (3) is fixedly connected to a blocking block (5), the bidirectional threaded rod (3) passes through the blocking block (5), the bottom surfaces of the two threaded sliders (4) are fixedly connected to clamping rods (6), and the bottom surfaces of the two clamping rods (6) are fixedly connected to clamping baffles (7).

2. The tool-changing robot gripper mechanism according to claim 1, characterized in that: The positioning assembly comprises a positioning block (8) fixedly connected to the left side of the left clamping jaw rod (6), a support spring (9) fixedly connected to the side where the two clamping jaw rods (6) are close to each other, and a guide rail (10) fixedly connected to the inner bottom wall of the clamping jaw housing (1), and the guide rail (10) is slidably connected to the top end of the clamping jaw rod (6).

3. The tool-changing robot gripper mechanism according to claim 1, characterized in that: The fixing mechanism comprises a driving assembly, a lifting assembly and a shock absorbing assembly, wherein the driving assembly comprises a second motor (11) fixedly connected to the top surface of the clamping jaw housing (1), the output end of the second motor (11) is fixedly connected to a driving gear (12), the top surface of the driving gear (12) is rotatably connected to the inner top wall of the clamping jaw housing (1), the inner top wall of the clamping jaw housing (1) is rotatably connected to a rotating gear (13), and the driving gear (12) is meshed with the rotating gear (13).

4. The tool-changing robot gripper mechanism according to claim 3, characterized in that: The lifting assembly comprises two threaded gears (14) rotatably connected to the inner top wall of the clamping jaw housing (1); the two threaded gears (14) are meshed with the rotating gear (13); the inner walls of the two threaded gears (14) are threadedly connected with lifting threaded rods (15); the two lifting threaded rods (15) pass through the clamping jaw housing (1); the two lifting threaded rods (15) are threadedly connected to the clamping jaw housing (1); the top ends of the two lifting threaded rods (15) are fixedly connected with a blocking plate (16); and the bottom ends of the two lifting threaded rods (15) are fixedly connected with a top plate (17).

5. The clamping mechanism for a tool changing robot according to claim 3, characterized in that: The shock absorbing assembly comprises a casing (18) fixedly connected to the top surface of a jaw housing (1); a shock absorbing spring (19) is fixedly connected to the top surface of the jaw housing (1); a jaw hinge component (20) is slidably connected to the outer wall of the casing (18); and the top end of the shock absorbing spring (19) is fixedly connected to the jaw hinge component (20).

6. The tool-changing robot gripper mechanism according to claim 5, characterized in that: The mechanical arm mechanism comprises a small arm assembly, a large arm assembly and a blade assembly, wherein the small arm assembly comprises a first vertical joint (21) hinged at the top end of a clamping jaw hinge component (20), the top surface of the first vertical joint (21) is fixedly connected to a first rotating joint (22), the top surface of the first rotating joint (22) is fixedly connected to an electric cylinder (23), and the top end of the electric cylinder (23) is fixedly connected to a second vertical joint (24).

7. The tool-changing robot gripper mechanism according to claim 6, characterized in that: The upper arm assembly comprises a mechanical arm (25) hinged on a second vertical joint (24); the bottom end of the mechanical arm (25) is hinged with a third vertical joint (26); the bottom surface of the third vertical joint (26) is fixedly connected with a second rotating joint (27); and the bottom surface of the second rotating joint (27) is fixedly connected with a steering controller (28).

8. The clamping mechanism for a tool-changing robot according to claim 6, characterized in that: The blade assembly comprises a slitting machine blade (29) arranged between a clamping jaw baffle (7) and a top plate (17), and a blade clamping groove (30) is provided on the inner wall of the slitting machine blade (29).

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