Three-channel machining center

Abstract

The utility model discloses a three-channel machining center which comprises a lathe bed body, the top end of the lathe bed body is connected with a connecting table in a sliding mode, three length bases are fixedly installed on one side of the top end of the connecting table, Y-axis moving assemblies are installed in the middles of the top ends of the three length bases respectively, and workbenches are installed in the middles of the three Y-axis moving assemblies respectively. According to the three-channel machining center, due to the fact that the Y-axis moving assembly, the X-axis moving assembly and the Z-axis moving assembly are arranged, after a pneumatic main shaft completes machining, a cutter handle is placed on the cutter placing position on the movable disc, then a standby cutter handle on the movable disc is taken, the cutter changing action is completed, and then the movable disc returns to the rear portion of the cross beam; the cutter handle at the cutter placing position of the cutter changing mechanical arm is placed back to the cutter magazine stock bin, then the cutter handle to be used next time is taken out from the corresponding cutter magazine stock bin and placed at the cutter preparing position on the movable disc, cutter changing is carried out after next-time spindle machining is completed, operation is easy and convenient, and practicability is high.

Description

Technical Field

[0001] This utility model relates to the field of machine tool metal processing technology, specifically a three-channel machining center. Background Technology

[0002] A three-channel machining center combines three traditional XYZ CNC machining centers into one machine. This type of three-channel machining center can process both metal and non-metal parts, sharing a single machine bed. One three-channel machine is equivalent to having the axes of three machining centers, with three XYZ axes each, reducing floor space and increasing processing efficiency.

[0003] Three-channel equipment can typically handle multiple tasks simultaneously. For example, a three-channel fertigation machine can control multiple solenoid valves at the same time, supports wireless decoders, and has a maximum transmission distance of up to 3 kilometers, greatly improving work efficiency. A three-channel DC resistance tester can simultaneously test three windings of a three-phase power transformer, saving time spent on repeated wiring and rewiring, and providing more accurate test data. A three-channel waterproof tester can simultaneously test three toilet inlet valves, with a testing speed three times faster than usual, saving time and costs. However, traditional single-channel systems have the following drawbacks:

[0004] Currently, single-channel tool changers on the market mainly use chain tool magazines or disc tool changers. Chain tool magazines are expensive, troublesome to maintain, and inconvenient to replace. Utility Model Content

[0005] The purpose of this invention is to provide a three-channel machining center to address the shortcomings of existing single-channel machining centers, which primarily use chain-type or disc-type tool changers. Chain-type tool changers are costly, difficult to maintain, and inconvenient to replace. This three-channel machine, with its tool magazine and hopper, allows for switching based on the tool holder type, facilitates expansion, and simplifies maintenance. It offers significant advantages in processing efficiency and floor space compared to traditional single-channel machining centers.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a three-channel machining center, including a bed body, a connecting table slidably connected to the top of the bed body, three length seats fixedly installed on one side of the top of the connecting table, a Y-axis moving assembly installed in the middle of the top of each of the three length seats, a worktable installed in the middle of each of the three Y-axis moving assemblies, a crossbeam frame fixedly installed above the length seats on the top of the bed body, three X-axis moving assemblies fixedly installed on one side of the crossbeam frame, a Z-axis moving assembly installed on one side of each of the three X-axis moving assemblies, a spindle installed on one side of each of the three Z-axis moving assemblies, a crossbeam frame robot arm bracket fixedly installed on one side of the top of the connecting table, a robot arm assembly fixedly installed on the top of the crossbeam frame robot arm bracket, three tool magazines fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket, and three robot arm grippers installed at the bottom of the robot arm assembly.

[0007] Preferably, each of the three Y-axis moving components includes two limiting seats and a first lead screw. The opposite sides of the two limiting seats are rotatably connected to both ends of the first lead screw. The middle of the first lead screw is threadedly connected to a first moving block that is slidably connected to a length seat. The top end of the first moving block is fixedly connected to the worktable. A tool magazine moving disc motor is fixedly mounted on the surface of one of the limiting seats. The output end of the tool magazine moving disc motor is fixedly connected to the side of the first lead screw facing away from it. The bottom ends of the two limiting seats are fixedly connected to the length seat. When the tool magazine moving disc motor is powered on, it starts and drives the first lead screw to rotate. The thread on the surface of the first lead screw matches the thread on the inner wall of the first moving block. The first moving block is limited by the length seat, so the first moving block slides along the first lead screw, adjusting the Y-axis direction of the worktable.

[0008] Preferably, displacement guide rails are fixedly installed on both sides of the top of the three length seats, and displacement blocks are fixedly installed on both sides of the bottom of the three worktables. The twelve displacement blocks are slidably connected to the six displacement guide rails respectively. During the sliding of the worktable, the displacement blocks slide along the displacement guide rails, thereby improving the stability of the worktable sliding.

[0009] Preferably, each of the three X-axis moving components includes a first servo motor and a second lead screw. The output end of the first servo motor is fixedly connected to one end of the second lead screw. The middle part of the second lead screw is threadedly connected to a second moving block that is slidably connected to the crossbeam frame. One side of the second moving block is connected to the Z-axis moving component, and one side of the first servo motor is fixedly connected to the crossbeam frame. When the first servo motor is powered on, it starts and drives the second lead screw to rotate. The thread on the surface of the second lead screw matches the thread on the inner wall of the second moving block. The second moving block is limited by the crossbeam frame, which matches its shape and size. Therefore, the second moving block slides along the second lead screw to adjust the X-direction of the spindle.

[0010] Preferably, the Z-axis moving assembly includes a height plate and a third lead screw. A second servo motor is fixedly installed at the top of one side of the height plate. The output end of the second servo motor is fixedly connected to one end of the third lead screw. A third moving block is threadedly connected to the middle of the third lead screw and slidably connected to the height plate. A mounting base is fixedly installed on one side of the third moving block. One side of the mounting base is fixedly connected to the main shaft. The other side of the height plate is fixedly connected to the X-axis moving assembly. When the second servo motor is powered on, it starts and drives the third lead screw to rotate. The thread on the surface of the third lead screw matches the thread on the inner wall of the third moving block. The third moving block is limited by the height plate, which matches its shape and size. Therefore, the third moving block slides along the third lead screw, adjusting the Z-axis direction of the main shaft.

[0011] Preferably, a tool turret is installed in the middle between the three length seats. Three tool preparation positions are fixedly installed on one side of the top of the tool turret. Three functional positions are fixedly installed on the tool magazine moving plate, namely a tool preparation position and a tool placement position on one side. Three tool setters are fixedly installed on the other side of the top of the tool magazine moving plate. The tool preparation position is used to place the tool preparation position, and the tool placement position is used to place the tool. The tool setter detects whether the tool preparation position and the tool placement position are aligned after tool change.

[0012] Preferably, the robotic arm assembly includes a first movable shell and a fifth servo motor. A first screw is rotatably connected inside the first movable shell. The bottom end of the inner wall of the first movable shell is fixedly connected to the bottom end of the fifth servo motor. The output end of the fifth servo motor is fixedly connected to one end of the first screw. A first movable plate, slidably connected to the first movable shell, is threadedly connected to the middle of the first screw. A second movable shell is fixedly installed on one side of the first movable plate. A fourth servo motor is fixedly installed on one side of the inner wall of the second movable shell. A second screw is fixedly installed at the output end of the fourth servo motor. A second movable plate, slidably connected to the second movable shell, is threadedly connected to the middle of the second screw. A third movable shell is fixedly installed on one side of the second movable plate. A fifth servo motor is fixedly installed on one side of the inner wall of the third movable shell. A third screw is fixedly installed at the output end of the fifth servo motor. A third movable plate, slidably connected to the middle of the third screw, is threadedly connected to the middle of the third movable plate. Three robotic arm grippers are installed at the bottom end of the third movable plate. The bottom end of the first movable shell is connected to the crossbeam frame. The robotic arm support is fixedly connected. After the fifth servo motor is powered on, it starts and drives the first screw to rotate. The thread on the surface of the first screw matches the thread on the inner wall of the first movable plate. The first movable plate is limited by the first movable shell, which matches its shape and size. Therefore, the first movable plate slides relative to the first screw, adjusting the position of the second movable shell. After the fourth servo motor is powered on, it starts and drives the second screw to rotate. The thread on the surface of the second screw matches the thread on the inner wall of the second movable plate. The second movable plate is limited by the second movable shell, so it slides relative to the second screw, adjusting the position of the third movable shell. After the fifth servo motor is powered on, it starts and drives the third screw to rotate. The thread on the surface of the third screw matches the thread on the inner wall of the third movable plate. The third movable plate is limited by the third movable shell, which matches its shape and size. Therefore, the third movable plate slides along the third screw, adjusting the position of the robotic arm gripper. This realizes the exchange of tools from the moving plate's tool preparation position and tool changing position from the moving plate to the material bin.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: By setting up Y-axis moving components, X-axis moving components and Z-axis moving components, the tool holder is placed on the tool holder on the moving plate after the pneumatic spindle finishes machining, and then the spare tool holder on the moving plate is retrieved. This completes the tool changing action. Then the moving plate retracts behind the crossbeam, and the tool changing robot puts the tool holder back into the tool magazine from the corresponding tool holder. Then the tool holder to be used next is retrieved from the corresponding tool magazine and placed in the spare tool holder on the moving plate, waiting for the next spindle machining to finish before tool changing. The operation is simple and convenient, and the practicality is high. Attached Figure Description

[0014] Figure 1 This is the front view of the present invention;

[0015] Figure 2 This is a rear view of the present invention;

[0016] Figure 3 This is a top view of the present invention;

[0017] Figure 4 This is a perspective view of the present utility model;

[0018] Figure 5 This is a side view of the present invention.

[0019] In the diagram: 1. Bed body; 2. Crossbeam frame robot arm support; 3. Connecting table; 4. Crossbeam frame; 5. Length support; 6. Worktable; 7. Displacement guide rail; 8. Y-axis moving assembly; 81. Tool magazine moving plate motor; 82. Limit seat; 83. First lead screw; 84. First moving block; 9. Displacement block; 10. X-axis moving assembly; 101. First servo motor; 102. Second lead screw; 103. Second moving block; 11. Z-axis moving assembly; 111. Height plate; 112. Second servo motor; 113. Third lead screw; 114. Third moving block; 115. Mounting base; 12. Spindle; 13. Tool preparation position; 14. Tool placement position; 15. Tool setter; 16. Robotic arm assembly; 1601. Third movable housing; 1602. Fifth servo motor; 1603. Third screw; 1604. Second movable plate; 1605. Second movable housing; 1606. Second screw; 1607. Fourth servo motor; 1608. First movable plate; 1609. First movable housing; 1610. Third servo motor; 1611. First screw; 17. Tool magazine hopper; 18. Robotic arm gripper; 19. Tool magazine drive plate. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0021] Please see Figure 1-5This utility model provides a three-channel machining center, including a bed body 1. A connecting table 3 is slidably connected to the top of the bed body 1. Three length seats 5 are fixedly installed on one side of the top of the connecting table 3. Y-axis moving components 8 are installed in the middle of the top of each of the three length seats 5. A worktable 6 is installed in the middle of each of the three Y-axis moving components 8. A crossbeam frame 4 is fixedly installed above the length seats 5 at the top of the bed body 1. Three X-axis moving components 10 are fixedly installed on one side of the crossbeam frame 4. Z-axis moving components 11 are installed on one side of each of the three X-axis moving components 10. A spindle 12 is installed on one side of each of the three Z-axis moving components 11. A crossbeam frame robot arm bracket 2 is fixedly installed on one side of the top of the connecting table 3. A robot arm assembly 16 is fixedly installed at the top of the crossbeam frame robot arm bracket 2. Three tool magazines 17 are fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket 2. Three robot arm clamps 18 are installed at the bottom of the robot arm assembly 16.

[0022] Each of the three Y-axis moving components 8 includes two limiting seats 82 and a first lead screw 83. The opposite sides of the two limiting seats 82 are rotatably connected to the two ends of the first lead screw 83. The middle of the first lead screw 83 is threadedly connected to a first moving block 84 that is slidably connected to a length seat 5. The top of the first moving block 84 is fixedly connected to the worktable 6. A tool magazine moving disc motor 81 is fixedly mounted on the surface of one of the limiting seats 82. The output end of the tool magazine moving disc motor 81 is fixedly connected to the side of the first lead screw 83 facing away from it. The bottom ends of the two limiting seats 82 are fixedly connected to the length seat 5. When the tool magazine moving disc motor 81 is powered on, it starts and drives the first lead screw 83 to rotate. The thread on the surface of the first lead screw 83 matches the thread on the inner wall of the first moving block 84. The first moving block 84 is limited by the length seat 5, so the first moving block 84 slides along the first lead screw 83 to adjust the Y-axis direction of the worktable 6.

[0023] Displacement guide rails 7 are fixedly installed on both sides of the top of the three length seats 5, and displacement blocks 9 are fixedly installed on both sides of the bottom of the three worktables 6. The six displacement blocks 9 are slidably connected to the twelve displacement guide rails 7 respectively. During the sliding process of the worktable 6, the displacement blocks 9 slide along the displacement guide rails 7, which improves the stability of the sliding of the worktable 6.

[0024] Each of the three X-axis moving components 10 includes a first servo motor 101 and a second lead screw 102. The output end of the first servo motor 101 is fixedly connected to one end of the second lead screw 102. The middle part of the second lead screw 102 is threadedly connected to a second moving block 103 that is slidably connected to the crossbeam frame 4. One side of the second moving block 103 is connected to the Z-axis moving component 11, and one side of the first servo motor 101 is fixedly connected to the crossbeam frame 4. When the first servo motor 101 is powered on, it starts and drives the second lead screw 102 to rotate. The thread on the surface of the second lead screw 102 matches the thread on the inner wall of the second moving block 103. The second moving block 103 is limited by the crossbeam frame 4, which matches its shape and size. Therefore, the second moving block 103 slides along the second lead screw 102 to adjust the X-direction of the main shaft 12.

[0025] Z-axis moving assembly 11 includes a height plate 111 and a third lead screw 113. A second servo motor 112 is fixedly installed on the top of one side of the height plate 111. The output end of the second servo motor 112 is fixedly connected to one end of the third lead screw 113. A third moving block 114 is threadedly connected to the middle of the third lead screw 113 and slidably connected to the height plate 111. A mounting base 115 is fixedly installed on one side of the third moving block 114. One side of the mounting base 115 is fixedly connected to the spindle 12. The other side of the height plate 111 is fixedly connected to the X-axis moving assembly 10. When the second servo motor 112 is powered on, it starts and drives the third lead screw 113 to rotate. The threads on the surface of the third lead screw 113 match the threads on the inner wall of the third moving block 114. The third moving block 114 is limited by the height plate 111, which matches its shape and size. Therefore, the third moving block 114 slides along the third lead screw 113 to adjust the Z-axis direction of the spindle 12.

[0026] A tool magazine moving plate 19 is installed in the middle between the three length seats 5. Three tool reserve positions 13 are fixedly installed on one side of the top of the tool magazine moving plate 19. Three tool placement positions 14 are fixedly installed on the tool magazine moving plate 19, each located on one side of the tool reserve positions 13. Three tool setting devices 15 are fixedly installed on the other side of the top of the tool magazine moving plate 19. The tool reserve positions 13 are used to place the tool, and the tool placement positions 14 are used to place the tool. The tool setting devices 15 detect the length of the spindle tool.

[0027] The robotic arm assembly 16 includes a first movable housing 1609 and a third servo motor 1610. A first screw 1611 is rotatably connected inside the first movable housing 1609. The bottom end of the inner wall of the first movable housing 1609 is fixedly connected to the bottom end of the third servo motor 1610. The output end of the third servo motor 1610 is fixedly connected to one end of the first screw 1611. A first movable plate 1608, which is slidably connected to the first movable housing 1609, is threadedly connected to the middle of the first screw 1611. A second movable housing 1605 is fixedly installed on one side of the first movable plate 1608. A fourth servo motor 1607 is fixedly installed on one side of the inner wall of the second movable housing 1605. A second screw 1606 is fixedly installed at the output end of machine 1607. A second movable plate 1604 is slidably connected to a second movable shell 1605 at the middle of the second screw 1606. A third movable shell 1601 is fixedly installed on one side of the second movable plate 1604. A fifth servo motor 1602 is fixedly installed on one side of the inner wall of the third movable shell 1601. A third screw 1603 is fixedly installed at the output end of the fifth servo motor 1602. A third movable plate slidably connected to the third movable shell 1601 at the middle of the third screw 1603 is threaded. Three robotic grippers 18 are installed at the bottom of the third movable plate. The bottom of the first movable shell 1609 is connected to the crossbeam frame mechanical... The hand support 2 is fixedly connected. After the third servo motor 1610 is powered on, it starts and drives the first screw 1611 to rotate. The threads on the surface of the first screw 1611 match the threads on the inner wall of the first movable plate 1608. The first movable plate 1608 is limited by the first movable shell 1609, which matches its shape and size. Therefore, the first movable plate 1608 slides relative to the first screw 1611, adjusting the position of the second movable shell 1605. After the fourth servo motor 1607 is powered on, it starts and drives the second screw 1606 to rotate. The threads on the surface of the second screw 1606... The threads on the inner wall of the second movable plate 1604 are matched with those on the second movable shell 1605. The second movable plate 1604 is limited by the second movable shell 1605, so the second movable plate 1604 slides relative to the second screw 1606, adjusting the position of the third movable shell 1601. After the fifth servo motor 1602 is powered on, it starts and drives the third screw 1603 to rotate. The threads on the surface of the third screw 1603 are matched with those on the inner wall of the third movable plate. The third movable plate is limited by the third movable shell 1601, which is matched with its shape and size. So the third movable plate slides along the third screw 1603, adjusting the position of the robotic gripper 18.

[0028] In this embodiment, during use: The tool magazine drive motor 81 starts when powered on, driving the first lead screw 83 to rotate. The thread on the surface of the first lead screw 83 matches the thread on the inner wall of the first moving block 84. The first moving block 84 is limited by the length seat 5, so it slides along the first lead screw 83, adjusting the Y-axis direction of the worktable 6. During the sliding of the worktable 6, the displacement block 9 slides along the displacement guide rail 7, improving the stability of the worktable 6. The first servo motor 101 starts when powered on, driving the second lead screw 102 to rotate. The thread on the surface of the second lead screw 102 matches the thread on the inner wall of the second moving block 84. The threads on the inner walls of the third moving block 103 are matched, and the second moving block 103 is limited by the crossbeam frame 4, which matches its shape and size. Therefore, the second moving block 103 slides along the second lead screw 102, adjusting the X-direction of the main shaft 12. After the second servo motor 112 is powered on, it starts and drives the third lead screw 113 to rotate. The threads on the surface of the third lead screw 113 match the threads on the inner wall of the third moving block 114. The third moving block 114 is limited by the height plate 111, which matches its shape and size. Therefore, the third moving block 114 slides along the third lead screw 113, adjusting the Z-direction of the main shaft 12. The third servo motor... After 1610 is powered on, it starts. The third servo motor 1610 drives the first screw 1611 to rotate. The thread on the surface of the first screw 1611 matches the thread on the inner wall of the first movable plate 1608. The first movable plate 1608 is limited by the first movable shell 1609, which matches its shape and size. Therefore, the first movable plate 1608 slides relative to the first screw 1611, adjusting the position of the second movable shell 1605. After the fourth servo motor 1607 is powered on, it starts. The fourth servo motor 1607 drives the second screw 1606 to rotate. The thread on the surface of the second screw 1606 matches the thread on the inner wall of the second movable plate 1604. The threads on the walls are matched, and the second movable plate 1604 is limited by the second movable shell 1605, so the second movable plate 1604 slides relative to the second screw 1606, adjusting the position of the third movable shell 1601. After the fifth servo motor 1602 is powered on, it starts and drives the third screw 1603 to rotate. The threads on the surface of the third screw 1603 are matched with the threads on the inner wall of the third movable plate. The third movable plate is limited by the third movable shell 1601, which is matched in shape and size, so the third movable plate slides along the third screw 1603, adjusting the position of the robot arm clamp 18 and performing a tool changing operation.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-channel machining center, comprising a bed body (1), characterized in that: A connecting platform (3) is slidably connected to the top of the bed body (1). Three length seats (5) are fixedly installed on one side of the top of the connecting platform (3). Y-axis moving components (8) are installed in the middle of the top of each of the three length seats (5). A worktable (6) is installed above each of the three Y-axis moving components (8). A crossbeam frame (4) located above the length seats (5) is fixedly installed at the top of the bed body (1). Three X-axis moving components (10) are fixedly installed on one side of the crossbeam frame (4). One side of each of the moving components (10) is equipped with a Z-axis moving component (11), and one side of each of the three Z-axis moving components (11) is equipped with a spindle (12). One side of the top of the connecting platform (3) is fixedly equipped with a crossbeam frame robot arm bracket (2). The top of the crossbeam frame robot arm bracket (2) is fixedly equipped with a robot arm component (16). Three tool magazine bins (17) are fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket (2). Three robot arm clamps (18) are installed at the bottom of the robot arm component (16).

2. A three-channel machining center according to claim 1, characterized in that: Each of the three Y-axis moving components (8) includes two limiting seats (82) and a first lead screw (83). The two limiting seats (82) are rotatably connected to the two ends of the first lead screw (83) on opposite sides. The first lead screw (83) is threadedly connected to a first moving block (84) that is slidably connected to a length seat (5). The top of the first moving block (84) is fixedly connected to the worktable (6). A tool magazine moving disc motor (81) is fixedly installed on the surface of one of the limiting seats (82). The output end of the tool magazine moving disc motor (81) is fixedly connected to the side of the first lead screw (83) facing it. The bottom ends of the two limiting seats (82) are fixedly connected to the length seat (5).

3. A three-channel machining center according to claim 1, characterized in that: Displacement guide rails (7) are fixedly installed on both sides of the top of the three length seats (5), and displacement blocks (9) are fixedly installed on both sides of the bottom of the three worktables (6). The twelve displacement blocks (9) are slidably connected to the six displacement guide rails (7) respectively.

4. A three-channel machining center according to claim 1, characterized in that: Each of the three X-axis moving components (10) includes a first servo motor (101) and a second lead screw (102). The output end of the first servo motor (101) is fixedly connected to one end of the second lead screw (102). The middle part of the second lead screw (102) is threadedly connected to a second moving block (103) that is slidably connected to the crossbeam frame (4). One side of the second moving block (103) is connected to the Z-axis moving component (11), and one side of the first servo motor (101) is fixedly connected to the crossbeam frame (4).

5. A three-channel machining center according to claim 1, characterized in that: The Z-axis moving assembly (11) includes a height plate (111) and a third lead screw (113). A second servo motor (112) is fixedly installed on the top of one side of the height plate (111). The output end of the second servo motor (112) is fixedly connected to one end of the third lead screw (113). A third moving block (114) is threadedly connected to the middle of the third lead screw (113) and is slidably connected to the height plate (111). A mounting base (115) is fixedly installed on one side of the third moving block (114). One side of the mounting base (115) is fixedly connected to the main shaft (12). The other side of the height plate (111) is fixedly connected to the X-axis moving assembly (10).

6. A three-channel machining center according to claim 1, characterized in that: A tool magazine moving plate (19) is installed in the middle between the three length seats (5). Three tool preparation positions (13) are fixedly installed on one side of the top of the tool magazine moving plate (19). Three tool positions are fixedly installed on the tool magazine moving plate (19), namely the tool placement position (14) on one side of the tool preparation position (13). Three tool setting devices (15) are fixedly installed on the other side of the top of the tool magazine moving plate (19).

7. A three-channel machining center according to claim 1, characterized in that: The robotic arm assembly (16) includes a first movable housing (1609) and a third servo motor (1610). A first screw (1611) is rotatably connected inside the first movable housing (1609). The bottom end of the inner wall of the first movable housing (1609) is fixedly connected to the bottom end of the third servo motor (1610). The output end of the third servo motor (1610) is fixedly connected to one end of the first screw (1611). A first movable plate (1608) that is slidably connected to the first movable housing (1609) is threadedly connected to the middle of the first screw (1611). A second movable housing (1605) is fixedly installed on one side of the first movable plate (1608). A fourth servo motor (1607) is fixedly installed on one side of the inner wall of the second movable housing (1605). The output end of the first movable housing (1607) is fixedly installed with a second screw (1606). The middle part of the second screw (1606) is threadedly connected to the second movable housing (1605) and the second movable plate (1604) is slidably connected. The second movable plate (1604) is fixedly installed with a third movable housing (1601) on one side. The inner wall of the third movable housing (1601) is fixedly installed with a fifth servo motor (1602). The output end of the fifth servo motor (1602) is fixedly installed with a third screw (1603). The middle part of the third screw (1603) is threadedly connected to the third movable plate slidably connected to the third movable housing (1601). The bottom end of the third movable plate is installed with three robotic grippers (18). The bottom end of the first movable housing (1609) is fixedly connected to the crossbeam frame robotic arm bracket (2).

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