A multi-axis flexible scanning engraving mechanism

Abstract

The utility model discloses a kind of multi-axis flexible scanning engraving mechanism, including flexible multidirectional clamping engraving table, multifunctional scanning identification table, the control system of flexible multidirectional clamping engraving table, multifunctional scanning identification table is electrically connected with control host computer;Flexible multidirectional clamping engraving table includes engraving table, clamping assembly, engraving component set on engraving table;Multifunctional scanning identification table includes vertical screw module, horizontal screw module, longitudinal screw module;The longitudinal screw module is connected with curved arm support, curved arm adjustment curved arm and is realized bending, help laser detector complete multidirectional detection;The top of multifunctional scanning identification table is equipped with bearing disc at center, and bearing disc is used to place pattern workpiece;Multifunctional scanning identification table is equipped with scanning plate, scanning plate below is equipped with rectangular channel, and rectangular channel is used to place plane sampling workpiece.It can realize curved surface adaptive scanning;It can also scan plane object, realize engraving integration.

Description

Technical Field

[0001] This utility model relates to scanning and engraving technology, specifically a multi-axis flexible scanning and engraving mechanism. Background Technology

[0002] Scanning engraving refers to scanning an object from all angles to obtain its precise three-dimensional data, which is then used for processing.

[0003] The existing scanning and engraving mechanisms have the problem that they cannot perform multi-style scanning of planar or curved surfaces. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a multi-axis flexible scanning and engraving mechanism, which can realize adaptive scanning of curved surfaces; it can also scan planar objects to achieve integrated engraving.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical means: A multi-axis flexible scanning and engraving mechanism includes a flexible multi-directional gripping engraving table and a multi-functional scanning and recognition table. The control systems of the flexible multi-directional gripping engraving table and the multi-functional scanning and recognition table are electrically connected to the control host. The flexible multi-directional clamping carving table includes a carving table, a clamping component and a carving component set on the carving table; The clamping assembly is equipped with flexible grippers, which include a pair of flexible grippers 1 and flexible grippers 2, and the lines connecting the four flexible grippers are perpendicular to each other; the flexible grippers 1 and flexible grippers 2 have the same structure, and their opposite inner surfaces are both elastic clamping parts; the flexible grippers are driven to move up and down vertically in the vertical direction, and the flexible grippers are driven to move closer or further apart in the horizontal direction. The engraving assembly is equipped with a robotic arm, which is connected to an engraving mechanism located at the drive end of the robotic arm. The multi-functional scanning and recognition station includes a vertical lead screw module, a horizontal lead screw module, and a longitudinal lead screw module. The vertical lead screw module has a left vertical lead screw module and a right vertical lead screw module distributed on both sides of the top surface of the multi-functional scanning and recognition station. The left vertical lead screw module and the right vertical lead screw module are connected to and support the horizontal lead screw module. The setting direction of the horizontal lead screw module is perpendicular to the setting direction of the left vertical lead screw module and the right vertical lead screw module. The horizontal lead screw module is connected to and supports the longitudinal lead screw module. The connection setting direction of the horizontal lead screw module is perpendicular to the connection setting direction of the longitudinal lead screw module. The longitudinal lead screw module is connected to a curved arm support, which is fixed to the longitudinal connecting block. The curved arm is mounted on the lower side of the curved arm support, and four wire-lifting motors are fixed to the top of the curved arm, each driving a reel. The curved arm is composed of multiple carrier plates arranged at intervals, with a rotating ball between two adjacent carrier plates. The top of the rotating ball is connected to a groove on the bottom surface of the upper carrier plate, and the bottom of the rotating ball rests against the center of the lower carrier plate. A laser detector and a beam lamp are fixed to the lower side of the lowest carrier plate. Four wire holes are evenly spaced along the edge of the carrier plate, and the four fiber lines are connected in the same way. That is, the bottom end of the fiber line is fixedly connected to the wire hole of the lowest carrier plate, and the upper end of the fiber line passes through the wire holes on each carrier plate in sequence and is fixedly connected to the reel. The four reels release or retract the wire as needed, thereby adjusting the curved arm to achieve bending and helping the laser detector to complete multi-directional detection.

[0006] The multi-functional scanning and recognition station has a support plate at the center of its top surface, which is used to place the workpiece with the drawing. The multi-functional scanning and recognition station is equipped with a scanning plate, and a rectangular channel is provided below the scanning plate for placing planar sampling workpieces.

[0007] Further preferred technical solutions are as follows: The carving table is equipped with a slide rail assembly. There are four slide rail assemblies, which are perpendicularly connected to each other on the carving table. Each slide rail assembly includes two pairs of spaced-apart high fixed slide rails and low fixed slide rails. The slide rail assembly is used to connect and set the bosses. There are 4 bosses, and the 4 bosses are respectively set on the 4 slide rail assemblies. The two ends of the bosses are connected to the high fixed slide rail and the low fixed slide rail by nuts and screws respectively. Loosen the nuts to move the position of the four bosses along the slide rail assembly for position adjustment. After adjustment, tighten the nuts again. Each of the four bosses is equipped with a flexible gripper.

[0008] The boss is provided with a threaded hole, which is threaded into the lead screw; the flexible grippers are all connected to the top of the lead screw through bearings, and the lead screw moves up and down along the threaded hole to drive the flexible grippers to adjust their height; the position of the flexible grippers is adjusted by moving the boss.

[0009] The robotic arm consists of a base, a base rotation axis, a shoulder, a shoulder pitch axis, an elbow, an elbow extension axis, a wrist, a wrist rotation axis, a wrist pitch section, a wrist pitch axis, a wrist deflection section, a wrist deflection axis, an end effector, and an end effector rotation axis, all hinged together from bottom to top. It is fixed to the upper left corner of the carving table. Specifically, the base is hinged to the shoulder via the base rotation axis; the shoulder is hinged to the elbow via the shoulder pitch axis; the elbow is hinged to the wrist via the elbow extension axis; the wrist is hinged to the wrist via the wrist rotation axis; the wrist pitch section is hinged to the wrist deflection section via the wrist pitch axis; the wrist deflection section is hinged to the end effector rotation axis; and the end effector rotation axis connects to the carving head.

[0010] The left vertical lead screw module is equipped with a left vertical lead screw. The two ends of the left vertical lead screw are connected and mounted on the multi-functional scanning and recognition platform through the bearing seats. One end of the left vertical lead screw is driven by the left vertical lead screw module motor. The left vertical lead screw is threadedly connected to the left vertical connecting block. The other end of the vertical lead screw is equipped with a left blocking block and is vertically placed on one side of the platform. The right vertical lead screw module is equipped with a right vertical lead screw, and the right vertical lead screw, right vertical lead screw module motor, right vertical connecting block, and right blocking block are also connected and vertically placed on the opposite side of the platform.

[0011] The left vertical connecting block and the right vertical connecting block are respectively connected to the bottom end of the movable support plate. The top end of the movable support plate is connected to a horizontal screw module. The horizontal screw module adjusts its position with the synchronous movement of the left vertical connecting block and the right vertical connecting block. The horizontal screw module motor drives the horizontal screw to rotate. The horizontal connecting block and the horizontal screw are threaded together and moved by the horizontal screw to change the horizontal position. The longitudinal lead screw module is equipped with a longitudinal lead screw module motor, which drives the longitudinal lead screw to rotate. The longitudinal connecting block is threaded with the longitudinal lead screw and is driven by the longitudinal lead screw to move and change its longitudinal position. The lower surface of the rectangular channel is provided with an air jet plate, and air jet holes are evenly distributed on the surface of the air jet plate; The front and rear jet nozzles are opposite each other, arranged in pairs, and arrayed along the middle of the left and right sides of the rectangular channel.

[0012] Each of the flexible grippers is provided with an elastic planar gripping part and an arc-shaped back, and an elastic grid is disposed between the elastic planar gripping part and the arc-shaped back.

[0013] The above configuration allows the flexible grippers to maximize the space and capacity for elastic deformation at the center of the elastic plane clamping part after the elastic grid is filled between the elastic plane clamping part and the curved back. This creates a wrapping clamping effect and improves the stability of the clamping.

[0014] The working process of this utility model is as follows: 1. Place the workpiece whose image needs to be acquired on the recognition plate, and start the horizontal lead screw module motor, vertical lead screw module motor, left vertical lead screw module motor, and right vertical lead screw module motor of the multi-functional scanning recognition station. Drive the laser detector to move along the horizontal lead screw, vertical lead screw, right vertical lead screw, and left vertical lead screw to the initial scanning position. Alternatively, place the drawing document whose image needs to be acquired into the rectangular channel, and start the air jet plate to spray air upwards, so that the paper of the image carrier being scanned is pushed upwards. At the same time, air is sprayed through the front air jet hole or the rear air jet hole, so that the airflow flows horizontally in the inlet or outlet direction and drives the paper to move. Fine adjust the paper position to the center of the scanning area.

[0015] 2. Simultaneously start four wire-lifting motors to control the winding reel for feeding and unloading the fiber thread. The fiber thread, guided by the flexible bearing plate and rotating ball, drives the laser detector and beam lamp to deflect at multiple angles, adaptively scanning the workpiece surface to acquire three-dimensional shape data and transmit it to the engraving table; or use a scanning plate to scan the paper image carrier to acquire image information.

[0016] 3. Determine the clamping height according to the size of the workpiece to be engraved, and adjust the clamping height of the flexible jaws to meet the clamping requirements; loosen the nuts on the high fixed slide rail and the low fixed slide rail, move the boss laterally so that the flexible jaws press against the workpiece to be engraved, and then tighten the nuts. Adjust the four flexible jaws in sequence to clamp the workpiece properly.

[0017] 4. To improve the stability of workpiece clamping during clamping, a robotic arm can be activated to assist in the clamping process. The robotic arm's base rotation axis, shoulder pitch axis, elbow extension axis, wrist rotation axis, wrist pitch axis, wrist deflection axis, and end-effector rotation axis are activated to support the workpiece by having the end-effector rotate against the workpiece surface. This allows for easy adjustment of the flexible grippers to complete the clamping process.

[0018] 5. Perform engraving operation: The robotic arm moves in a coordinated manner along seven axes, controlling the engraving mechanism to perform engraving along a preset path.

[0019] 6. Inspection and Repair: After processing, the multi-functional scanning and recognition station is restarted. The laser detector re-inspects the engraved workpiece, and the beam lamp assists in inspecting surface details. If deviations are found, the data is fed back to the engraving table for secondary calibration. The workpiece is then repaired and engraved again by fine-tuning the boss position or the robotic arm axis parameters. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention.

[0021] Figure 2 This is a perspective view of the flexible gripper of this utility model.

[0022] Figure 3This is a perspective view of the high-fixed slide rail and the low-fixed slide rail of this utility model.

[0023] Figure 4 This is a three-dimensional view of the carving table of this utility model.

[0024] Figure 5 This is a detailed drawing of the multi-axis robotic arm of this utility model.

[0025] Figure 6 This is a utility model jet-type scanning recognition station.

[0026] Figure 7 This is a perspective view of the longitudinal lead screw module motor, the transverse lead screw module motor, and components of this utility model.

[0027] Figure 8 This is a perspective view of the right vertical lead screw module motor, the left vertical lead screw module motor, and components of this utility model.

[0028] Figure 9 This is a perspective view of the reel and wire-lifting motor of this utility model.

[0029] Figure 10 This is a three-dimensional view of the bearing plate, rotating ball, and fiber thread of this utility model.

[0030] Figure 11 This is a three-dimensional view of the laser detector and beam lamp of this utility model.

[0031] Figure 12 This is a perspective view of the jet plate, front jet hole, and rear jet hole of this utility model.

[0032] Figure 13 This is a three-dimensional view of the scanning plate of this utility model.

[0033] Explanation of reference numerals in the attached figures: Flexible multi-directional clamping engraving table 1; 101. Lead screw, 102. Flexible gripper 1, 103. Flexible gripper 2, 104. Nut, 105. Screw, 106. Bearing, 107. Boss, 108. High fixed slide rail, 109. Low fixed slide rail, 110. Engraving table, 111. Base rotation axis, 112. Shoulder pitch axis, 113. Elbow extension axis, 114. Wrist rotation axis, 115. Wrist pitch axis, 116. End rotation axis, 117. Engraving head, 118. Multifunctional scanning and recognition station 2; Longitudinal lead screw module motor 201, transverse lead screw module motor 202, longitudinal connecting block 203, curved arm support 204, movable support plate 205, transverse connecting block 206, transverse lead screw 207, longitudinal lead screw 208, left blocking block 209, right vertical connecting block 210, platform 211, identification disk 212, right vertical lead screw 213, right vertical lead screw module motor 214, left vertical lead screw 215, left vertical lead screw module motor 216, left vertical connecting block 217, right blocking block 218, reel 219, wire lifting motor 220, bearing disk 221, rotating ball 222, fiber optic thread 223, laser detector 224, beam lamp 225, jet plate 226, front jet nozzle 227, rear jet nozzle 228, scanning plate 229. Detailed Implementation

[0034] The present invention will be further described below with reference to the embodiments.

[0035] See Figures 1-12 As can be seen, the multi-axis flexible scanning and engraving mechanism of this utility model consists of a flexible multi-directional clamping engraving table 1 and a multi-functional scanning and recognition table 2.

[0036] The control systems of the flexible multi-directional clamping engraving table 1 and the multi-functional scanning and recognition table 2 are both electrically connected to the control host. The flexible multi-directional clamping carving table 1 includes a carving table 110, a clamping component and a carving component disposed on the carving table 110; The clamping assembly is equipped with flexible grippers, which include a pair of flexible grippers 102 and 103, and the lines connecting the four flexible grippers are perpendicular to each other. The flexible grippers 102 and 103 have the same structure, and their opposite inner surfaces are elastic clamping parts. The flexible grippers are driven to move up and down vertically in the vertical direction, and the flexible grippers are driven to move closer or further apart in the horizontal direction. The engraving assembly is equipped with a robotic arm, which is connected to an engraving mechanism located at the drive end of the robotic arm. The multi-functional scanning and recognition station 2 includes a lead screw module, a horizontal lead screw module, and a vertical lead screw module. The vertical lead screw module has a left vertical lead screw module and a right vertical lead screw module distributed on both sides of the top surface of the multi-functional scanning and recognition station 2. The left vertical lead screw module and the right vertical lead screw module are connected to and support the horizontal lead screw module. The setting direction of the horizontal lead screw module is perpendicular to the setting direction of the left vertical lead screw module and the right vertical lead screw module. The horizontal lead screw module is connected to and supports the vertical lead screw module. The connection setting direction of the horizontal lead screw module is perpendicular to the connection setting direction of the vertical lead screw module. The longitudinal lead screw module is connected to a crank arm support 204, which is fixed to the longitudinal connecting block 203. The crank arm is mounted on the lower side of the crank arm support 204. Four wire-lifting motors 220 are fixed to the top of the crank arm, and each wire-lifting motor 220 drives a reel 219. The crank arm is composed of multiple bearing plates 221 arranged at intervals. A rotating ball 222 is provided between two adjacent bearing plates 221. The top of the rotating ball 222 is connected to the groove on the bottom surface of the upper bearing plate 221, and the bottom of the rotating ball 222 abuts against the center of the lower bearing plate 221. The lowermost support plate 221 is fixed with a laser detector 224 and a beam lamp 225. Four wire holes are evenly spaced along the edge of the support plate 221. The four fiber wires are connected in the same way. That is, the bottom end of the fiber wire 223 is fixedly connected to the wire hole of the lowermost support plate 221, and the upper end of the fiber wire 223 passes through the wire holes on each support plate 221 in sequence and is fixedly connected to the reel 219. The four reels 219 can release or retract the wire as needed, thereby adjusting the curved arm to achieve bending and help the laser detector 224 complete multi-directional detection.

[0037] The multi-functional scanning and recognition station 2 has a support plate 221 at the center of its top surface, which is used to place the workpiece with the drawing. The multi-functional scanning and recognition station 2 is equipped with a scanning plate 229, and a rectangular channel is provided below the scanning plate for placing planar sampling workpieces.

[0038] Further preferred technical solutions are as follows: The carving table 110 is equipped with a slide rail assembly. There are four slide rail assemblies, which are vertically connected to each other on the carving table 110. Each slide rail assembly includes two pairs of spaced high fixed slide rails 108 and low fixed slide rails 109. The slide rail assembly is used to connect the bosses 107. There are four bosses 107, which are respectively set on the four slide rail assemblies. The two ends of the bosses 107 are connected to the high fixed slide rail 108 and the low fixed slide rail 109 by nuts 104 and screws 105 respectively. Loosening the nuts 104 allows the positions of the four bosses 107 to be moved along the slide rail assembly for position adjustment. After adjustment, the nuts 104 are tightened again. Each of the four bosses 107 is equipped with a flexible gripper.

[0039] The boss 107 is provided with a threaded hole, which is threadedly engaged with the lead screw 101; the flexible grippers are all connected to the top of the lead screw 101 through bearings, and the lead screw 101 moves up and down along the threaded hole to drive the flexible grippers to adjust their height; the position of the flexible grippers is adjusted by moving the boss 107.

[0040] The robotic arm consists of a base, a base rotation axis 111, a shoulder, a shoulder pitch axis 112, an elbow, an elbow extension axis 113, a wrist, a wrist rotation axis 114, a wrist pitch section, a wrist pitch axis 115, a wrist deflection section, a wrist deflection axis 116, an end effector, and an end effector rotation axis 117, all hinged together and fixed to the upper left corner of the carving table 110. Specifically, the base is hinged to the shoulder via the base rotation axis 111, the shoulder is hinged to the elbow via the shoulder pitch axis 112, the elbow is hinged to the wrist via the elbow extension axis 113, the wrist is hinged to the wrist pitch section via the wrist rotation axis 114, the wrist pitch section is hinged to the wrist deflection section via the wrist pitch axis 115, the wrist deflection section is hinged to the end effector rotation section via the wrist deflection axis 116, and the end effector rotation section is connected to the carving mechanism via the end effector rotation axis 117.

[0041] The left vertical lead screw module is provided with a left vertical lead screw 215. The two ends of the left vertical lead screw 215 are connected to the multi-functional scanning and recognition stage 2 through the bearing seats. One end of the left vertical lead screw 215 is driven by the left vertical lead screw module motor 216. The left vertical lead screw 215 is threadedly connected to the left vertical connecting block 217. The other end of the vertical lead screw 215 is provided with a left blocking block 209, which is vertically placed on one side of the stage body 211. The right vertical lead screw module is provided with a right vertical lead screw 213. The right vertical lead screw 213, the right vertical lead screw module motor 214, the right vertical connecting block 210, and the right blocking block 218 are also connected and vertically placed on the opposite side of the platform 211.

[0042] The left vertical connecting block 217 and the right vertical connecting block 210 are respectively connected to the bottom end of the movable support plate 205. The top end of the movable support plate 205 is connected to a horizontal lead screw module. The horizontal lead screw module adjusts its position with the synchronous movement of the left vertical connecting block 217 and the right vertical connecting block 210. The horizontal lead screw module motor 202 of the horizontal lead screw module drives the horizontal lead screw 207 to rotate. The horizontal connecting block 206 is threadedly engaged with the horizontal lead screw 207 and is driven by the horizontal lead screw 207 to move and change its horizontal position. The longitudinal lead screw module is equipped with a longitudinal lead screw module motor 201, which drives the longitudinal lead screw 208 to rotate. The longitudinal connecting block 203 is threadedly engaged with the longitudinal lead screw 208 and is driven by the longitudinal lead screw 208 to move and change its longitudinal position. The lower surface of the rectangular channel is provided with an air jet plate 226, and air jet holes are evenly distributed on the surface of the air jet plate 226. The front jet nozzle 227 and the rear jet nozzle 228 are opposite each other, arranged in pairs, and arrayed in the middle of the left and right sides of the rectangular channel.

[0043] Each of the flexible grippers is provided with an elastic planar gripping part and an arc-shaped back, and an elastic grid is disposed between the elastic planar gripping part and the arc-shaped back.

[0044] The above configuration allows the flexible grippers to maximize the space and capacity for elastic deformation at the center of the elastic plane clamping part after the elastic grid is filled between the elastic plane clamping part and the curved back. This creates a wrapping clamping effect and improves the stability of the clamping.

[0045] The working process of this utility model is as follows: 1. Place the workpiece for which the image needs to be acquired on the recognition plate 212, and start the horizontal lead screw module motor 202, the vertical lead screw module motor 201, the left vertical lead screw module motor 216, and the right vertical lead screw module motor 214 of the multi-functional scanning recognition stage 2 to drive the laser detector 224 to move along the horizontal lead screw 207, the vertical lead screw 208, the right vertical lead screw 213, and the left vertical lead screw 215 to the initial scanning position. Alternatively, place the drawing file for which the image needs to be acquired into the rectangular channel, and start the air jet plate 226 to spray air upwards, so that the paper of the image carrier being scanned is pushed upwards. At the same time, air is sprayed through the front air jet hole 227 or the rear air jet hole 228, so that the airflow flows horizontally in the inlet or outlet direction and drives the paper to move. Fine adjust the paper position to the center of the scanning area.

[0046] 2. Simultaneously start four wire-lifting motors 220 to control the winding reel 219 to wind up and unwind the fiber thread 223. The fiber thread 223 is flexibly guided by the carrier plate 221 and the rotating ball 222, which drives the laser detector 224 and the beam lamp 225 to deflect at multiple angles, adaptively scanning the curved surface of the workpiece to obtain three-dimensional shape data and transmit it to the engraving table 1; or use the scanning plate 229 to scan the paper of the image carrier to collect image information.

[0047] 3. Determine the clamping height according to the size of the workpiece to be engraved, and adjust the clamping height of the flexible jaws to meet the clamping requirements; loosen the nuts 104 on the high fixed slide rail 108 and the low fixed slide rail 109, move the boss 107 laterally to make the flexible jaws press against the workpiece to be engraved, and then lock the nuts 104. Adjust the four flexible jaws in sequence to clamp the workpiece.

[0048] 4. To improve the stability of workpiece clamping during clamping, a robotic arm can be activated to complete the clamping operation. The base rotation axis 111, shoulder pitch axis 112, elbow extension axis 113, wrist rotation axis 114, wrist pitch axis 115, wrist deflection axis 116, and end rotation axis 117 of the robotic arm are activated, so that the end rotating part abuts against the workpiece surface to support the workpiece, and the flexible gripper can be adjusted to complete the clamping.

[0049] 5. Perform engraving operation: The robotic arm moves in a coordinated manner along seven axes, controlling the engraving mechanism to perform engraving along a preset path.

[0050] 6. Inspection and Repair: After processing, the multi-functional scanning and recognition stage 2 is restarted, and the laser detector 224 re-inspects the engraved workpiece, while the beam lamp 225 assists in inspecting surface details. If a deviation is found, the data is fed back to the engraving stage 1 for secondary calibration. The workpiece is then repaired and engraved again by fine-tuning the position of the boss 107 or correcting the robot arm axis parameters.

[0051] The above description is only a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent structural changes made based on the content of the present utility model specification and drawings are included within the scope of the present utility model.

Claims

1. A multi-axis flexible scanning and engraving mechanism, comprising a flexible multi-directional gripping engraving stage (1) and a multi-functional scanning and recognition stage (2), characterized in that: The control systems of the flexible multi-directional clamping engraving table (1) and the multi-functional scanning and recognition table (2) are electrically connected to the control host. The flexible multi-directional clamping carving table (1) includes a carving table (110), a clamping component and a carving component disposed on the carving table (110); The clamping assembly is provided with flexible grippers, which include a pair of flexible grippers one (102), flexible grippers two (103), and four flexible grippers connected by perpendicular lines; the flexible grippers one (102) and flexible grippers two (103) have the same structure, and their opposite inner surfaces are both elastic clamping parts; the flexible grippers are driven to move up and down vertically in the vertical direction, and the flexible grippers are driven to move closer or further apart in the horizontal direction. The engraving assembly is equipped with a robotic arm, which is connected to an engraving mechanism located at the drive end of the robotic arm. The multi-functional scanning and recognition station (2) includes a vertical lead screw module, a horizontal lead screw module, and a longitudinal lead screw module. The vertical lead screw module is provided with a left vertical lead screw module and a right vertical lead screw module distributed on both sides of the top surface of the multi-functional scanning and recognition station (2). The left vertical lead screw module and the right vertical lead screw module are connected to support the horizontal lead screw module. The setting direction of the horizontal lead screw module is perpendicular to the setting direction of the left vertical lead screw module and the right vertical lead screw module. The horizontal lead screw module is connected to support the longitudinal lead screw module. The connection setting direction of the horizontal lead screw module is perpendicular to the connection setting direction of the longitudinal lead screw module. The longitudinal lead screw module is connected to a crank arm support (204), which is fixed on the longitudinal connecting block (203). The crank arm is mounted on the lower side of the crank arm support (204). Four wire-lifting motors (220) are fixed on the top of the crank arm, and each wire-lifting motor (220) drives a reel (219). The crank arm is composed of multiple bearing plates (221) arranged at intervals. A rotating ball (222) is provided between two adjacent bearing plates (221). The top of the rotating ball (222) is connected to the groove on the bottom surface of the upper bearing plate (221), and the bottom of the rotating ball (222) abuts against the lower bearing plate (221). At the center position; a laser detector (224) and a beam lamp (225) are fixed on the lower side of the support plate (221); four wire holes are equally spaced on the edge of the support plate (221), and the four fiber wires are connected in the same way, that is, the bottom end of the fiber wire (223) is fixedly connected to the wire hole of the support plate (221) at the bottom, and the upper end of the fiber wire (223) passes through the wire holes on each support plate (221) in sequence and is fixedly connected to the reel (219); the four reels (219) release or retract the wire as needed, thereby adjusting the curved arm to achieve bending, and helping the laser detector (224) to complete multi-directional detection; The multi-functional scanning and recognition station (2) has a support plate (221) at the center of its top surface, which is used to place the workpiece with the drawing. The multi-functional scanning and recognition station (2) is equipped with a scanning plate (229), and a rectangular channel is provided below the scanning plate. The rectangular channel is used to place the planar sampling workpiece.

2. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: The carving table (110) is equipped with a slide rail assembly. There are four slide rail assemblies, which are vertically connected to each other on the carving table (110). Each slide rail assembly includes two pairs of spaced high fixed slide rails (108) and low fixed slide rails (109). The slide rail assembly is used to connect and set the bosses (107). There are 4 bosses (107), and the 4 bosses (107) are respectively set on the 4 slide rail assemblies. The two ends of the bosses (107) are connected to the high fixed slide rail (108) and the low fixed slide rail (109) respectively by nuts (104) and screws (105). Loosen the nuts (104) to move the positions of the four bosses (107) along the slide rail assembly for position adjustment. After adjustment, tighten the nuts (104). Each of the four bosses (107) is provided with a flexible gripper.

3. The multi-axis flexible scanning and engraving mechanism according to claim 2, characterized in that: The boss (107) is provided with a threaded hole, which is threadedly engaged with the lead screw (101); the flexible grippers are all connected to the top of the lead screw (101) through bearings, and the lead screw (101) moves up and down along the threaded hole to drive the flexible grippers to adjust their height; the position of the flexible grippers is adjusted by moving the boss (107).

4. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: The robotic arm is provided with, from bottom to top, a base, a base rotation axis (111), a shoulder, a shoulder pitch axis (112), an elbow, an elbow extension axis (113), a wrist, a wrist rotation axis (114), a wrist pitch section, a wrist pitch axis (115), a wrist deflection section, a wrist deflection axis (116), an end effector rotation section, and an end effector rotation axis (117), all of which are hinged together and fixed to the upper left corner of the carving table (110). The base is connected to the shoulder via the base rotation axis (111). The shoulder is hinged to the elbow via the shoulder pitch axis (112), the elbow is hinged to the wrist via the elbow extension axis (113), the wrist is hinged to the wrist pitch axis via the wrist rotation axis (114), the wrist pitch axis is hinged to the wrist deflection axis via the wrist pitch axis (115), the wrist deflection axis is hinged to the end rotation axis via the wrist deflection axis (116), and the end rotation axis is connected to the engraving head (118) via the end rotation axis (117).

5. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: The left vertical screw module is provided with a left vertical screw (215). The two ends of the left vertical screw (215) are connected to the multi-functional scanning and recognition stage (2) through the bearing seats. One end of the left vertical screw (215) is driven by the left vertical screw module motor (216). The left vertical screw (215) is threaded to connect to the left vertical connecting block (217). The other end of the vertical screw (215) is provided with a left blocking block (218), which is vertically placed on one side of the stage body (211). The right vertical lead screw module is provided with a right vertical lead screw (213), and the right vertical lead screw (213), the right vertical lead screw module motor (214), the right vertical connecting block (210), and the right blocking block (209) are also connected and vertically placed on the opposite side of the platform (211).

6. The multi-axis flexible scanning and engraving mechanism according to claim 5, characterized in that: The left vertical connecting block (217) and the right vertical connecting block (210) are respectively connected to the bottom end of the movable support plate (205). The top end of the movable support plate (205) is connected to a horizontal screw module. The horizontal screw module adjusts its position with the synchronous movement of the left vertical connecting block (217) and the right vertical connecting block (210). The horizontal screw module motor (202) of the horizontal screw module drives the horizontal screw (207) to rotate. The horizontal connecting block (206) and the horizontal screw (207) are threaded together and driven by the horizontal screw (207) to move and change the horizontal position.

7. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: The longitudinal lead screw module is equipped with a longitudinal lead screw module motor (201). The longitudinal lead screw module motor (201) drives the longitudinal lead screw (208) to rotate. The longitudinal connecting block (203) is threadedly engaged with the longitudinal lead screw (208) and is driven by the longitudinal lead screw (208) to move and change its longitudinal position.

8. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: The lower surface of the rectangular channel is provided with an air jet plate (226), and air jet holes are uniformly arranged on the surface of the air jet plate (226); The front jet nozzle (227) and the rear jet nozzle (228) are opposite each other, arranged in pairs, and arrayed in the middle of the left and right sides of the rectangular channel.

9. The multi-axis flexible scanning and engraving mechanism according to claim 1, characterized in that: Each of the flexible grippers is provided with an elastic planar gripping part and an arc-shaped back, and an elastic grid is disposed between the elastic planar gripping part and the arc-shaped back.

Images