Multi-axis linkage device

Abstract

The utility model provides a multi-shaft linkage device. The device comprises a first mobile station, a second mobile station and a third mobile station. Wherein the first moving part can move in the length direction of the base, the second moving table can move in the length direction of the first moving table, and the third moving table can move in the length direction of the second moving table. The robot is connected with the third moving table. And the first moving table, the second moving table and the third moving table can form a three-axis coordinate system form, so that the working range of the robot is effectively expanded. And the second moving table comprises a balance part, the balance of the device can be adjusted in time, the stability of the whole device is guaranteed, and then the stability of the robot during moving and operation is guaranteed. A scanning device is arranged on the third moving table, and the operation precision of the robot can be effectively improved. And through the structural arrangement of the third moving table, the overall weight of the third moving table is reduced, and the stability of the whole device is further enhanced.

Description

Technical Field

[0001] The utility model relates to the field of robots, and particularly relates to a multi-axis linkage device. Background Art

[0002] With the continuous improvement of the level of industrial automation, robots are widely used in various fields due to their high precision, high degree of freedom, strong programmability, high degree of automation, strong flexibility and other characteristics. However, the arm span of the robot is limited, resulting in a small working range. Summary of the Utility Model

[0003] An object of the utility model is to solve the deficiencies in the prior art, and to provide a multi-axis linkage device that can expand the working range of the robot.

[0004] To solve the above technical problems, the utility model adopts the following technical solutions:

[0005] A multi-axis linkage device, comprising:

[0006] A first moving platform, which includes a base and a first moving part provided on the base, and the first moving part can move along the length direction of the base;

[0007] A second moving platform, which can move along the length direction of the first moving platform. The second moving platform includes a column, a second moving part and a balancing part. The column is erected on the first moving part. The balancing part and the second moving part are arranged on opposite sides of the column. The balancing part and the second moving part can move along the length direction of the column. The balancing part is connected to the second moving part, and the balancing part can move along with the movement of the second moving part;

[0008] A third moving platform, which can move along the length direction of the second moving platform. The third moving platform includes a cantilever and a third moving part. The cantilever is arranged on the second moving part, and the third moving part is arranged on the cantilever. The third moving part can move along the length direction of the cantilever, and the third moving part is used to connect with the robot;

[0009] In an exemplary embodiment, the balancing part includes a counterweight and a connecting member. One end of the connecting member is connected to the counterweight, and the other end of the connecting member is connected to the second moving part.

[0010] In an exemplary embodiment, the connecting member is a chain, and a sprocket is provided at the top of the column, and the sprocket meshes with the chain.

[0011] In an exemplary embodiment, a guide rail is provided on the side wall of the column along its length direction, and the counterweight can slide on the guide rail.

[0012] In an exemplary embodiment, the third moving part includes a linear guide rail and a moving plate for connecting the robot. The side of the cantilever facing the first moving table is the lower wall, and the linear guide rail and the moving plate are arranged on the lower wall. The moving plate is slidably arranged on the linear guide rail.

[0013] In an exemplary embodiment, the third moving part includes a fixing plate, a rack, and a transmission gear arranged on the fixing plate. The rack is arranged on the side wall of the cantilever, the side wall is adjacent to the lower wall, the fixing plate is connected to the moving plate, the transmission gear meshes with the rack, and the fixing plate can move along the length direction of the rack.

[0014] In an exemplary embodiment, one end of the cantilever connected to the second moving part is the connecting end, and the other end of the cantilever is the free end. The end face area of the connecting end is larger than the end face area of the free end.

[0015] In an exemplary embodiment, a limit switch is included, and the limit switch is arranged on the base, the column, or the cantilever.

[0016] In an exemplary embodiment, a carrier is arranged on the first moving part. The carrier is arranged on one side of the column, and a welding power source and a control cabinet are arranged on the carrier. The control cabinet is electrically connected to the first moving part, the second moving part, the third moving part, and the welding power source.

[0017] In an exemplary embodiment, a scanning device is arranged on one side of the cantilever. The scanning device is arranged away from the column, and the scanning device is used to collect the position information of the working position of the robot.

[0018] It can be seen from the above technical solutions that the present utility model has at least the following advantages and positive effects:

[0019] The multi-axis linkage device in the present utility model includes a first moving table, a second moving table, and a third moving table. The second moving table can move along the length direction of the first moving table, and the third moving table can move along the length direction of the second moving table. It can be understood that the first moving table, the second moving table, and the third moving table can form a three-axis coordinate system form, so that the robot arranged on the third moving table can realize six-direction movement of front, back, left, and right, effectively expanding the working range of the robot. In addition, the setting of the balance part, that is, the balance part is arranged on the column and connected to the second moving part. And the balance part can move with the second moving part along the length direction of the column to adjust the balance of the multi-axis linkage device in time, effectively ensuring the stability of the whole device, and further being beneficial to improving the stability of the robot operation, and effectively ensuring the accuracy and quality of the robot operation. Description of the Drawings

[0020] Figure 1 It is a perspective view of a multi-axis linkage device according to an embodiment of the present utility model.

[0021] Figure 2 It is Figure 1 a perspective view of the multi-axis linkage device shown from another angle.

[0022] Figure 3 It is Figure 1 a perspective view of the multi-axis linkage device shown with the carrier removed.

[0023] Figure 4 It is Figure 3 an exploded view of the first moving table in the multi-axis linkage device shown.

[0024] Figure 5 It is Figure 3 an exploded view of the second moving table in the multi-axis linkage device shown.

[0025] Figure 6 It is Figure 3 an exploded view of the third moving table in the multi-axis linkage device shown.

[0026] The reference numerals are explained as follows:

[0027] 1. First moving table; 11. Base; 12. First moving part; 121. First moving plate; 122. First linear guide; 1221. First slider; 123. First motor; 124. First reducer; 125. First transmission gear; 126. First rack; 13. First cable carrier; 14. First limit switch; 15. First limiting member;

[0028] 2. Second moving table; 21. Column; 22. Second moving part; 221. Second moving plate; 222. Second linear guide; 2221. Second slider; 223. Second motor; 224. Second reducer; 225. Second transmission gear; 226. Second rack; 23. Second limit switch; 24. Second limiting member; 25. Balancing part; 251. Counterweight; 252. Connecting member; 253. Fourth slider; 254. Guide rail; 26. Sprocket; 27. Second cable carrier; 271. Fixed part;

[0029] 3. Third moving table; 31. Cantilever; 311. Connecting end; 312. Free end; 32. Third moving part; 321. Third linear guide; 322. Third moving plate; 3221. Third slider; 323. Fixed plate; 324. Third rack; 325. Third transmission gear; 326. Third motor; 327. Third reducer; 33. Third cable carrier; 34. Third limit switch; 35. Third limiting member;

[0030] 4. Carrier frame; 41. Control cabinet; 42. Wire spool; 43. Gun cleaning station;

[0031] 5. Scanning device;

[0032] 6. Lubrication pump;

[0033] 7. Robot. Detailed implementation manners

[0034] Typical implementation manners reflecting the features and advantages of the present utility model will be described in detail in the following description. It should be understood that the present utility model can have various changes in different implementation manners, all of which do not depart from the scope of the present utility model, and the descriptions and illustrations therein are essentially for illustrative purposes rather than for limiting the present utility model.

[0035] In the description of the present application, it should be understood that in the embodiments shown in the drawings, the indication of directions or positional relationships (such as up, down, left, right, front, and back, etc.) is only for the convenience of describing the present application 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. When these elements are in the positions shown in the drawings, these descriptions are appropriate. If the descriptions of the positions of these elements change, then the indication of these directions also changes accordingly.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0037] The present embodiment provides a multi-axis linkage device, which is connected to a robot and is used to expand the working range of the robot. The specific solution is described through the following embodiments.

[0038] Please refer to Figure 1 As shown, the multi-axis linkage device includes a first moving platform 1, a second moving platform 2, and a third moving platform 3.

[0039] Among them, the second moving platform 2 is erected on the first moving platform 1 and can move along the length direction of the first moving platform 1. The third moving platform 3 is arranged on the second moving platform 2 and can move along the length direction of the second moving platform 2. The third moving platform 3 is used to connect to the robot 7. And the robot 7 can move along the length direction of the third moving platform 3.

[0040] It should be noted that the robot 7 can be a welding robot, a laser processing robot, a spraying robot, etc., which can be specifically set according to needs. Here, a welding robotic arm is used for illustration, and the welding robotic arm can perform welding on the workpiece to be processed.

[0041] The third moving platform 3 can be perpendicular to the first moving platform 1, so that the first moving platform 1, the second moving platform 2 and the third moving platform 3 can form a right-angle coordinate system. Equivalently, the robot 7 can move in six directions: forward and backward, left and right, up and down. The robot 7 can move freely within the space formed by the first moving platform 1, the second moving platform 2 and the third moving platform 3, effectively expanding the working range of the robot 7.

[0042] Please refer to Figure 4 and combine with Figure 1 , the first moving platform 1 includes a base 11 and a first moving part 12. The first moving part 12 is arranged on the base 11. The first moving part 12 can move along the length direction of the base 11. That is, the robot 7 can move in the forward and backward directions.

[0043] The first moving part 12 can include a first moving plate 121 and a first linear guide rail 122. Along the length direction of the base 11, the first linear guide rail 122 is arranged on both sides of the base 11. The first moving plate 121 can slide along the length direction of the first linear guide rail 122.

[0044] On the opposite sides of the first moving plate 121, there are first sliders 1221. The first sliders 1221 can be slidably arranged on the first linear guide rail 122. The first sliders 1221 can move along the length direction of the first linear guide rail 122. There can be multiple first sliders 1221.

[0045] The first moving part 12 can include a first motor 123, a first speed reducer 124, a first transmission gear 125 and a first rack 126.

[0046] Among them, the first rack 126 is arranged on one side of the base 11 and extends along the length direction of the base 11. The first rack 126 can be arranged close to the first linear guide rail 122. The first speed reducer 124 is arranged on the first moving plate 121. The first speed reducer 124 can be arranged at the corner of the first moving plate 121. The first motor 123 is connected to the first speed reducer 124. The output end of the first speed reducer 124 is connected to the first transmission gear 125. The first transmission gear 125 meshes with the first rack 126.

[0047] It can be understood that when the first motor 123 operates, it drives the first transmission gear 125 to rotate, so as to drive the first moving plate 121 to perform a reciprocating linear motion along the extension direction of the first rack 126.

[0048] The first motor 123 can be a servo motor.

[0049] The first mobile station 1 can include a first drag chain 13. Implementably, a receiving groove is provided in the middle of the base 11, and the first drag chain 13 is received in the receiving groove. The first drag chain 13 is disposed below the first moving plate 121. The first drag chain 13 is used to bind and protect related circuits, pipelines, etc.

[0050] The first mobile station 1 can be provided with a first limit switch 14. The first limit switch 14 can be disposed at the end of the base 11. The first limit switch 14 is used to define the limit position of the movement of the first moving part 12, and the movement should stop when reaching a fixed point.

[0051] The first mobile station 1 can be provided with a first limiting member 15. The first limiting member 15 can be disposed at both ends of the first linear guide 122. The limiting member is used to limit the first moving part 12 on the base 11.

[0052] See Figure 1 , Figure 2 , the first mobile station 1 can include a carrier 4. The carrier 4 is disposed on the first moving part 12. The carrier 4 can be disposed on one side of the column 21. The carrier 4 can be close to one end of the base 11. It can be understood that the carrier 4 moves with the movement of the first moving part 12.

[0053] A welding power source (not shown in the figure) and a control cabinet 41 can be provided on the carrier 4. The control cabinet 41 is electrically connected to the first moving part 12 and the welding power source. That is, the control cabinet 41 is electrically connected to the first motor 123 of the first moving part 12 to control the movement of the first moving part 12.

[0054] A wire barrel 42 and a gun cleaning station 43 can be provided on the other side of the column 21. The wire barrel 42 and the gun cleaning station 43 can be close to the other end of the base 11.

[0055] It should be noted that when the robot 7 is another robot 7, the carrier 4 may not be provided. Or, correspondingly, other devices adapted to the robot 7 can be placed on the carrier 4.

[0056] See Figure 5 and in combination with Figure 3 , the second mobile station 2 includes a column 21 and a second moving part 22. Among them, the column 21 is erected on the first moving part 12. The second moving part 22 is disposed on the column 21 and can move along the length direction of the column 21. That is, the up and down movement of the robot 7 can be realized.

[0057] The column 21 is disposed on the first moving plate 121 of the first moving part 12.

[0058] The second moving part 22 may include a second moving plate 221 and a second linear guide rail 222. Along the length direction of the column 21, the second linear guide rail 222 is arranged on both sides of the column 21. The second moving plate 221 can slide along the length direction of the second linear guide rail 222.

[0059] Second sliders 2221 are arranged on opposite sides of the second moving plate 221. The second sliders 2221 are slidably arranged on the second linear guide rail 222. The second sliders 2221 can move along the length direction of the second linear guide rail 222. A plurality of second sliders 2221 may be provided.

[0060] The second moving part 22 may include a second motor 223, a second speed reducer 224, a second transmission gear 225, and a second rack 226.

[0061] Among them, the second rack 226 is arranged on one side of the column 21 and extends along the length direction of the column 21. The second rack 226 may be arranged close to the first linear guide rail 122. The second speed reducer 224 is arranged on the second moving plate 221. The second speed reducer 224 may be arranged at a corner of the second moving plate 221. The second motor 223 is connected to the second speed reducer 224. The output end of the second speed reducer 224 is connected to the second transmission gear 225. The second transmission gear 225 meshes with the second rack 226.

[0062] It can be understood that when the second motor 223 operates, it drives the second transmission gear 225 to perform a rotational motion, so as to drive the second moving plate 221 to perform a reciprocating linear motion along the extension direction of the second rack 226.

[0063] The second motor 223 may be a servo motor. The second motor 223 is electrically connected to the control cabinet 41.

[0064] The second moving platform 2 may be provided with a second limit switch 23 (not marked in the figure). The second limit switch 23 may be arranged at the end of the second linear guide rail 222. The second limit switch 23 is used to limit the extreme position of the movement of the second moving part 22, and the movement should stop when reaching a fixed point.

[0065] The second moving platform 2 may be provided with a second limiting member 24. The first limiting member 15 may be arranged at both ends of the first linear guide rail 122. The limiting member is used to limit the first moving part 12 on the base 11.

[0066] The second moving platform 2 may include a balancing part 25. The balancing part 25 is used to adjust the balance of the device in a timely manner to ensure the stability of the device. The balancing part 25 and the second moving part 22 are arranged on opposite sides of the column 21, that is, the balancing part 25 and the second moving part 22 are arranged oppositely. The balancing part 25 can move along the length direction of the column 21. The balancing part 25 is connected to the second moving part 22.

[0067] The balance part 25 includes a counterweight 251 and a connecting member 252 (not shown in the figure). One end of the connecting member 252 is connected to the counterweight 251, and the other end of the connecting member 252 is connected to the second moving part 22.

[0068] The connecting member 252 can be a chain. One end of the chain is connected to the counterweight 251, and the other end is connected to the second moving plate 221. A sprocket 26 can be provided at the top of the column 21 of the second moving part 22. The sprocket 26 meshes with the chain. Thus, it can be understood that the balance part 25 can move with the movement of the second moving part 22. That is, when the second moving part 22 moves towards the top of the column 21, the counterweight 251 descends due to gravity; when the second moving part 22 moves towards the bottom of the column 21, that is, towards the direction close to the first moving table 1, the chain pulls the counterweight 251 to rise.

[0069] Guide rails 254 are provided on the side wall of the column 21 along its length direction, and the counterweight 251 is slidably arranged on the guide rails 254 to prevent the counterweight 251 of the balance part 25 from swaying when rising or falling, further enhancing the stability of the multi-axis linkage device. Multiple guide rails 254 can be provided.

[0070] The balance part 25 includes fourth sliders 253, and the fourth sliders 253 are arranged on both sides of the counterweight 251. The fourth sliders 253 can move along the extension direction of the guide rails 254. Multiple fourth sliders 253 can be provided.

[0071] See Figure 6 and in combination with Figure 2 , the third moving table 3 includes a cantilever 31 and a third moving part 32.

[0072] The second moving table 2 can include a second drag chain 27. Practically, a fixing part 271 for fixing the second drag chain 27 is provided on the column 21. One end of the second drag chain 27 is fixed on the column 21, and the other end is connected to the cantilever 31. The second drag chain 27 is used to restrain and protect relevant lines, pipelines, etc.

[0073] The cantilever 31 is arranged on the second moving part 22. The cantilever 31 can be perpendicular to the base 11.

[0074] The third moving part 32 is arranged on the cantilever 31, and the third moving part 32 can move along the length direction of the cantilever 31. The third moving part 32 is used to connect with the robot 7. Equivalently, the left - right movement of the robot 7 can be realized.

[0075] The cantilever 31 is arranged on the second moving plate 221 of the second moving part 22. It can be understood that the cantilever 31 can move with the movement of the second moving plate 221.

[0076] One end of the cantilever 31 connected to the second moving part 22 is the connecting end 311. The other end of the cantilever 31 is the free end 312. The end face area of the connecting end 311 is larger than that of the free end 312. It can be understood that the setting of the connecting end 311 increases the connection area between the cantilever 31 and the column 21, enhancing the connection strength between the third moving platform 3 and the second moving platform 2. And the setting of the free end 312 reduces the overall weight of the cantilever 31, which is beneficial to enhancing the stability of the entire device.

[0077] A scanning device 5 can be provided on one side of the cantilever 31. Practically, the scanning device 5 is arranged away from the column 21. Equivalently, the scanning device 5 is close to the free end 312 of the cantilever 31. The scanning device 5 is electrically connected to the control cabinet 41. The scanning device 5 is used to collect the position information of the working position of the robot 7, which can effectively improve the working accuracy of the robot 7.

[0078] The third moving platform 3 can include a third drag chain 33. Practically, the third drag chain 33 is arranged on the other side of the cantilever 31. That is, the scanning device 5 and the third drag chain 33 are arranged on opposite sides of the cantilever 31. The first drag chain 13 is arranged below the first moving plate 121. The first drag chain 13 is used to restrain and protect relevant lines or pipelines, etc.

[0079] The third moving part 32 includes a third linear guide rail 321 and a third moving plate 322 for connecting the robot 7. The side of the cantilever 31 facing the first moving platform 1 is the lower wall. The third linear guide rail 321 and the third moving plate 322 are arranged on the lower wall. The third linear guide rail 321 is arranged along the length direction of the cantilever 31. The third linear guide rail 321 is arranged on both sides of the lower wall. The third moving plate 322 can slide along the length direction of the third linear guide rail 321.

[0080] It can be understood that the third moving plate 322 is arranged on the lower wall of the cantilever 31, so that the normal use height of the robot 7 will not exceed the column 21, making the requirements for the height of the factory building of the multi-axis linkage device in this embodiment not high and having strong practicability.

[0081] Third sliders 3221 are provided on opposite sides of the third moving plate 322. The third sliders 3221 are slidably arranged on the third linear guide rail 321. The third sliders 3221 can move along the length direction of the third linear guide rail 321. Multiple third sliders 3221 can be provided.

[0082] The third moving part 32 includes a fixing plate 323, a third rack 324 and a third transmission gear 325. The cantilever 31 includes side walls adjacent to the lower wall. The third rack 324 is provided on the side wall. The third transmission rack is provided on the fixing plate 323. The third transmission gear 325 meshes with the third rack 324. The fixing plate 323 is connected to the third moving plate 322. It can be understood that the fixing plate 323 and the third moving plate 322 are arranged at an angle. When the third transmission gear 325 rotates, it can move along the extension direction of the third rack 324, thereby driving the fixing plate 323 to move along the length direction of the third rack 324.

[0083] The third moving part 32 may include a third motor 326 and a third speed reducer 327. The third speed reducer 327 is arranged on the fixing plate 323. The third motor 326 is connected to the third speed reducer 327. The output end of the third speed reducer 327 is connected to the third transmission gear 325.

[0084] It can be understood that when the third motor 326 operates, it drives the third transmission gear 325 to rotate, thereby driving the moving plate to perform a reciprocating linear motion along the extension direction of the third linear guide 321.

[0085] The third motor 326 may be a servo motor. The third motor 326 is electrically connected to the control cabinet 41.

[0086] The third moving platform 3 may be provided with a third limit switch 34. The third limit switch 34 may be arranged close to the third linear guide 321. The third limit switch 34 is used to limit the extreme position of the movement of the third moving part 32, and the movement should stop when reaching a fixed point.

[0087] The third moving platform 3 may be provided with a third limiting member 35. The third limiting member 35 may be arranged at both ends of the third linear guide 321. The third limiting member 35 is used to limit the third moving part 32 on the base 11.

[0088] It should be noted that the first linear guide 122, the second linear guide 222 and the third linear guide 321 may be high-precision linear guides 254 to ensure the accuracy and stability of the movement of the robot 7.

[0089] Implementably, the multi-axis linkage device may include a lubricating pump 6. The lubricating pump 6 is used to provide lubricating grease. The lubricating oil pump may be arranged on the base 11 of the first moving platform 1. The lubricating pump 6 may be arranged on the column 21 of the second moving platform 2. The lubricating pump 6 may be arranged on the third moving platform 3.

[0090] From the above technical solutions, it can be seen that the multi-axis linkage device provided by this embodiment has the following advantages and beneficial implementation effects.

[0091] By setting the structures of the first mobile station 1, the second mobile station 2, and the third mobile station 3, the robot 7 can move freely within the space formed by the first mobile station 1, the second mobile station 2, and the third mobile station 3. The multi-axis linkage device and the robot 7 coordinate to work together, effectively expanding the working range of the robot 7. The second mobile station 2 is provided with a balancing part 25, effectively enhancing the stability of the device, and thus being conducive to improving the stability of the robot 7 during movement and operation. By setting the structure of the third mobile station 3, that is, the end face area of the connecting end 311 of the cantilever 31 is larger than the end face area of the free end 312, it is further conducive to improving the stability of the entire device. A scanning device 5 is also provided on the third mobile station 3, which can collect the position information of the working position of the robot 7, and can effectively improve the working accuracy of the robot 7.

[0092] The above embodiments are only illustrative examples of the structures. The structures in each embodiment are not fixedly combined structures. Without structural conflicts, the structures in multiple embodiments can be arbitrarily combined and used.

[0093] Although the present invention has been described with reference to several exemplary embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be broadly construed within the spirit and scope defined by the appended claims. Therefore, all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A multi-axis linkage device, characterized in that: include: A first moving platform comprises a base and a first moving part arranged on the base, wherein the first moving part can move along the length direction of the base; a second moving platform, which can move along the length direction of the first moving platform, the second moving platform comprising a column, a second moving part and a balancing part, the column being erected on the first moving part, the balancing part and the second moving part being arranged on opposite sides of the column, the balancing part and the second moving part being movable along the length direction of the column, the balancing part being connected to the second moving part, and the balancing part being movable along with the movement of the second moving part; The third movable platform can move along the length direction of the second movable platform. The third movable platform includes a cantilever and a third moving part. The cantilever is arranged on the second moving part, and the third moving part is arranged on the cantilever. The third moving part can move along the length direction of the cantilever, and the third moving part is used to connect with the robot.

2. The multi-axis linkage device according to claim 1, characterized in that: The balancing part includes a counterweight block and a connecting member, one end of the connecting member is connected to the counterweight block, and the other end of the connecting member is connected to the second moving part.

3. The multi-axis linkage device according to claim 2, characterized in that: The connecting member is a chain, and a sprocket is provided at the top of the column, and the sprocket is meshed with the chain.

4. The multi-axis linkage device according to claim 2, characterized in that: A guide rail is arranged on the side wall of the column along the length direction, and the counterweight block can be slidably arranged on the guide rail.

5. The multi-axis linkage device according to claim 1, characterized in that: The third moving part includes a linear guide rail and a moving plate for connecting the robot, the side of the cantilever facing the first moving platform is a lower wall, the linear guide rail and the moving plate are arranged on the lower wall, and the moving plate can be slidably arranged on the linear guide rail.

6. The multi-axis linkage device according to claim 5, characterized in that: The third moving part includes a fixed plate, a rack and a transmission gear arranged on the fixed plate, the rack is arranged on the side wall of the cantilever, the side wall is arranged adjacent to the lower wall, the fixed plate is connected to the moving plate, the transmission gear is meshed with the rack, and the fixed plate can move along the length direction of the rack.

7. The multi-axis linkage device according to claim 1, characterized in that: One end of the cantilever connected to the second moving part is a connecting end, and the other end of the cantilever is a free end. The end surface area of ​​the connecting end is larger than the end surface area of ​​the free end.

8. The multi-axis linkage device according to claim 1, characterized in that: It comprises a limit switch, and the limit switch is arranged on the base, the column or the cantilever.

9. The multi-axis linkage device according to claim 1, characterized in that: The first moving part is provided with a carrier frame, the carrier frame is arranged on one side of the column, the carrier frame is provided with a welding power supply and a control cabinet, and the control cabinet is electrically connected to the first moving part, the second moving part, the third moving part and the welding power supply.

10. The multi-axis linkage device according to claim 1, characterized in that: A scanning device is provided on one side of the cantilever, and the scanning device is arranged away from the column. The scanning device is used to collect position information of the working position of the robot.

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