Multi-axis dual-claw transfer robot

Abstract

The utility model discloses a kind of multi-shaft double-claw conveying manipulators, comprising: lifting assembly, the multi-shaft rotation adjusting component of setting in the output end of lifting assembly, double-claw suction component being set on multi-shaft rotation adjusting component;The lifting assembly is for driving multi-shaft rotation adjusting component and double-claw suction component along vertical direction to lift;Multi-shaft rotation adjusting component includes sequentially transmission connection's X1 axis rotation component, X2 axis rotation component, Q axis rotation component;The X1 axis rotation component is set on the output end of lifting assembly;Double-claw suction component is set on the output end of Q axis rotation component.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a multi-axis dual-claw conveying robotic arm. Background Technology

[0002] With the continuous improvement of industrial automation, material handling robots have been widely used on production lines, especially in product loading, unloading, packing, and stacking, demonstrating significant efficiency and precision advantages. Particularly in high-intensity, harsh, or high-risk working environments, robots can effectively replace manual operations, freeing up labor, reducing production costs, and improving operational safety. Existing material handling robots mostly employ single-axis or simple multi-axis structures, using gripping or suction methods to move objects. For example, some dual-claw handling devices use suction cups to grasp and move objects, suitable for workpieces with smooth surfaces (such as glass and metal plates).

[0003] However, existing technologies have the following shortcomings: Insufficient positioning accuracy: The multi-axis structure of traditional handling robots is mostly parallel or simple series design, which lacks high-precision angle and position adjustment capabilities and is difficult to meet the precise positioning requirements under complex working conditions.

[0004] Insufficient flexibility: Existing devices have low degrees of freedom of movement, making it difficult to achieve flexible positioning in three-dimensional space. Especially in handling tasks that require multi-angle adjustments, their efficiency and adaptability are poor.

[0005] Limited load capacity: Handling devices using a single suction cup are limited by the suction force of the suction cup, making it difficult to handle heavier or irregularly shaped workpieces, thus limiting the handling range.

[0006] To address the aforementioned issues, there is an urgent need for a handling robot capable of high precision, multi-degree-of-freedom motion, and adaptability to various workpieces, in order to improve production efficiency, reduce labor costs, and expand application scenarios. Utility Model Content

[0007] To address the problems existing in the prior art, this utility model provides a multi-axis dual-claw conveying robot.

[0008] To achieve the above objectives, the technical solution of this utility model is as follows: This utility model provides a multi-axis dual-claw conveying robot, including: a lifting component, a multi-axis rotation adjustment component disposed at the output end of the lifting component, and a dual-claw suction component disposed on the multi-axis rotation adjustment component; The lifting assembly is used to drive the multi-axis rotary adjustment assembly and the double-claw suction assembly to move up and down in the vertical direction; The multi-axis rotation adjustment assembly includes an X1-axis rotation assembly, an X2-axis rotation assembly, and a Q-axis rotation assembly connected in sequence; the X1-axis rotation assembly is located on the output end of the lifting assembly; and the dual-claw suction assembly is located on the output end of the Q-axis rotation assembly.

[0009] Preferably, the lifting assembly includes a lifting servo fixing plate, a lifting servo motor mounted on the lifting servo fixing plate, a ball screw disposed at the output end of the lifting servo motor, a screw nut fixing plate disposed on the ball screw, a support plate disposed on the lifting servo fixing plate, a sensor disposed on one side of the support plate, support columns disposed at the four corners of the support plate, a support fixing plate disposed on the top of the support column and connected to the ball screw, a lifting guide shaft with one end fixed to the screw nut fixing plate and the other end passing through the support fixing plate, and a guide linear bearing sleeved on the lifting guide shaft.

[0010] Preferably, the X1 axis rotation assembly includes a reducer fixing plate disposed on the top of the lifting guide shaft, an X1 axis rotation motor disposed at the bottom of the reducer fixing plate, an X1 axis harmonic reducer disposed on the top of the reducer fixing plate and connected to the output end of the X1 axis rotation motor, and an X1 axis support plate disposed on the output end of the X1 axis harmonic reducer.

[0011] Preferably, the X2 axis rotation assembly includes an X2 axis rotation motor and an X2 axis harmonic reducer fixed on the X1 axis support plate, and an X2 axis support plate disposed on the output end of the X2 axis harmonic reducer.

[0012] Preferably, the X2-axis rotary motor and the X2-axis harmonic reducer are arranged side by side, and a synchronous belt is provided on the output end of the X2-axis rotary motor. The X2-axis rotary motor is connected to the X2-axis harmonic reducer through the synchronous belt.

[0013] Preferably, the Q-axis rotation assembly includes a Q-axis rotary motor disposed on the end of the X2-axis support plate, a Q-axis harmonic reducer disposed below the end of the X2-axis support plate and connected to the output end of the Q-axis rotary motor, and a rotation support plate disposed on the output end of the Q-axis harmonic reducer.

[0014] Preferably, the dual-claw suction assembly includes suction rotary motors disposed at both ends of the rotary support plate and suction nozzle assemblies disposed at the output end of each suction rotary motor.

[0015] Preferably, the nozzle assembly includes two cross-arranged connecting plates and nozzles disposed at both ends of each connecting plate.

[0016] The technical solution of this utility model has the following beneficial effects: High-precision positioning and handling: This invention employs a combination of a lifting assembly and a multi-axis rotary adjustment assembly (including X1-axis, X2-axis, and Q-axis rotary assemblies connected in sequence). Through precise drive by a motor and harmonic reducer, it achieves high-precision angle adjustment and position movement in three-dimensional space. The dual-claw suction assembly precisely adjusts the suction nozzle angle via an independently controlled suction rotary motor, ensuring perfect alignment with the target object. This high-precision characteristic significantly improves the success rate of suction, making it particularly suitable for handling smooth, slippery workpieces (such as glass and metal plates).

[0017] Multi-degree-of-freedom flexibility: Through the vertical movement of the lifting assembly and the sequential transmission of the X1-axis, X2-axis, and Q-axis rotary assemblies, this invention achieves flexible positioning across multiple axes. The X1-axis and X2-axis rotary assemblies provide coarse and fine adjustments in the horizontal direction, while the Q-axis rotary assembly further optimizes the position of the dual-jaw gripper assembly. Combined with the angle fine-tuning of the gripper rotary motor, this achieves omnidirectional positioning capability in three-dimensional space. This multi-degree-of-freedom design significantly improves the robot's adaptability to complex working conditions and is suitable for various handling tasks, such as product loading and unloading, packing, and stacking.

[0018] High-efficiency material handling and improved production efficiency: This invention shortens the positioning and handling cycle time through the high response speed of the servo motor, the high-precision transmission of the harmonic reducer, and the smooth power transmission of the synchronous belt. The cooperative suction design of the dual-claw suction assembly further improves handling efficiency, especially in high-frequency, continuous production scenarios, significantly improving the overall efficiency of the production line and reducing downtime.

[0019] Harsh Environment Adaptability: This invention employs highly reliable components (such as servo motors, harmonic reducers, and linear bearings) and a robust structural design (such as a frame composed of supporting plates and columns), enabling stable operation under high-intensity and harsh environments (such as high-temperature, high-humidity, or dusty environments). The real-time position feedback provided by the inductive proximity switch further enhances the system's reliability and accuracy, supporting long-term trouble-free operation and extending equipment lifespan.

[0020] Labor Replacement and Cost Savings: This invention can completely replace manual operation in high-intensity, harsh, or high-risk environments, significantly reducing labor costs and labor intensity. Its high-precision and efficient handling capabilities reduce workpiece damage or production delays caused by operational errors, lower the scrap rate in the production process, and further save operating costs.

[0021] Enhanced load capacity and stability: The dual-claw suction assembly employs cross-shaped connecting plates, with a suction nozzle at each end of each plate, forming a multi-point suction structure. Compared to traditional single-claw or single-suction-cup designs, this provides a larger contact area and stronger suction force, significantly enhancing load capacity and stability during handling. This allows the invention to handle heavier or irregularly shaped workpieces, broadening its application range.

[0022] This invention, through its multi-point adsorption design of the dual-claw suction component and the flexible positioning of the multi-axis rotation adjustment component, is suitable for various workpiece types and handling scenarios, and is particularly suitable for the handling needs of smooth-surface products (such as glass and metal plates). Its modular design and precision control system support the customized needs of different production lines, providing a universal technical solution for industrial automation.

[0023] In summary, this utility model's multi-axis dual-jaw handling robot, through high-precision, multi-degree-of-freedom motion control, dual-jaw cooperative suction design, and stable and reliable structure, significantly improves handling efficiency and accuracy, enhances load capacity and environmental adaptability, and reduces labor and operating costs. Its wide applicability and superior technical performance provide an advanced and reliable handling solution for industrial automation production, and it is particularly suitable for automated handling tasks in high-intensity, harsh environments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present utility model. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present utility model. Figure 2 ; In the diagram: 1-Lifting servo motor, 2-Lifting servo fixing plate, 3-Supporting upright plate, 5-Supporting column, 6-Sensor, 7-Ball screw, 8-Screw nut fixing plate, 9-Lifting guide shaft, 10-Guide linear bearing, 12-X1 axis rotary motor, 13-Reducer fixing plate, 14-X1 axis harmonic reducer, 15-X1 axis support plate, 16-X2 axis rotary motor, 17-X2 axis harmonic reducer, 18-X2 axis support plate, 19-Q axis rotary motor, 20-Q axis harmonic reducer, 21-Rotation support plate, 22-Suction rotary motor, 24-Suction nozzle assembly, 25-Support fixing plate. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] Reference Figures 1 to 2 This utility model provides a multi-axis dual-claw conveying robot, including: a lifting component, a multi-axis rotation adjustment component disposed at the output end of the lifting component, and a dual-claw suction component disposed on the multi-axis rotation adjustment component; The lifting assembly is used to drive the multi-axis rotary adjustment assembly and the double-claw suction assembly to move up and down in the vertical direction; The multi-axis rotation adjustment assembly includes an X1-axis rotation assembly, an X2-axis rotation assembly, and a Q-axis rotation assembly connected in sequence; the X1-axis rotation assembly is located on the output end of the lifting assembly; and the dual-claw suction assembly is located on the output end of the Q-axis rotation assembly.

[0031] Furthermore, the lifting assembly includes a lifting servo mounting plate 2, a lifting servo motor 1 mounted on the lifting servo mounting plate 2, a ball screw 7 located at the output end of the lifting servo motor 1, a screw nut mounting plate located on the ball screw 7, a support plate 3 located on the lifting servo mounting plate 2, a sensor located on one side of the support plate 3, support columns 5 located at the four corners of the support plate 3, a support mounting plate 25 located on the top of the support columns 5 and connected to the ball screw 7, a lifting guide shaft 9 with one end fixed to the screw nut mounting plate 8 and the other end passing through the support mounting plate 25, and a guide linear bearing 10 sleeved on the lifting guide shaft 9. The lifting assembly uses the lifting servo motor 1 as the driving force source, and through the precise cooperation between the ball screw 7 and the screw nut mounting plate 8, the rotational motion is converted into smooth linear motion. The ball screw 7 has the characteristics of high transmission efficiency and low friction, ensuring the accuracy and stability of the lifting action. The lifting guide shaft 9 and the guide linear bearing 10 further provide smooth guiding support, reducing deviations and vibrations during movement. This allows the X1 axis rotating assembly and its upper multi-axis rotating adjustment assembly and double-jaw suction assembly to accurately reach the target height, meeting high-precision handling requirements. The sensor is an inductive proximity switch used to detect the position of the lead screw nut fixing plate 8. By feeding back the signal from the sensor 6 to an external controller (such as a PLC or servo driver), closed-loop control is achieved, ensuring the motion accuracy and repeatability of the lifting assembly.

[0032] In this embodiment, the working principle of the lifting assembly is as follows: the lifting servo motor 1 drives the ball screw 7 to rotate, thereby driving the nut fixing plate 8 to move along the ball screw 7, which in turn drives the lifting guide shaft 9 to lift, thereby driving the X1 axis rotating assembly installed on the lifting guide shaft 9 to lift.

[0033] Furthermore, the X1 axis rotation assembly includes a reducer fixing plate 13 disposed on the top of the lifting guide shaft 9, an X1 axis rotation motor 12 disposed on the bottom of the reducer fixing plate 13, an X1 axis harmonic reducer 14 disposed on the top of the reducer fixing plate 13 and connected to the output end of the X1 axis rotation motor 12, and an X1 axis support plate 15 disposed on the output end of the X1 axis harmonic reducer 14. In this embodiment, the working principle of the X1 axis rotation assembly is as follows: the X1 axis rotation motor 12 rotates, which drives the X1 axis harmonic reducer 14 to rotate. The rotation of the X1 axis harmonic reducer 14 drives the X1 axis support plate 15 to rotate, which in turn drives the X2 axis rotation assembly installed on the X1 axis support plate 15 to rotate, thereby realizing the rotation of the X1 axis and angle adjustment.

[0034] The X1 axis rotary assembly in this embodiment provides a high-precision horizontal angle adjustment function for the multi-axis dual-jaw conveying robot through precise drive and transmission design. As the starting point of the multi-axis rotary adjustment assembly, it provides key support for the positioning of the subsequent X2 axis rotary assembly, Q axis rotary assembly and dual-jaw suction assembly.

[0035] The X1-axis rotary assembly uses an X1-axis rotary motor 12 as the driving force source, and achieves high-precision rotation control through an X1-axis harmonic reducer 14. The harmonic reducer, with its high reduction ratio, low backlash, and high transmission accuracy, ensures that the rotation angle of the X1-axis support plate 15 can be precisely adjusted, meeting the stringent requirements for horizontal positioning in complex handling tasks. The high-precision rotation control of the X1-axis rotary assembly, combined with the vertical movement of the lifting assembly, enables the dual-claw suction assembly to quickly and accurately align with the target object. The rapid response of the X1-axis rotary motor 12 and the smooth transmission of the harmonic reducer 14 shorten positioning time and improve handling efficiency, making it particularly suitable for high-frequency, continuous automated production scenarios.

[0036] Furthermore, the X2-axis rotation assembly includes an X2-axis rotary motor 16 and an X2-axis harmonic reducer 17 fixed on the X1-axis support plate 15, and an X2-axis support plate 18 disposed on the output end of the X2-axis harmonic reducer 17. The X2-axis rotary motor 16 and the X2-axis harmonic reducer 17 are arranged side by side, and a synchronous belt is provided on the output end of the X2-axis rotary motor 16. The X2-axis rotary motor 16 is connected to the X2-axis harmonic reducer 17 through the synchronous belt.

[0037] The working principle of the X2 axis rotation assembly in this embodiment is as follows: The X2 axis rotary motor 16 drives the X2 axis harmonic reducer 17, which in turn drives the X2 axis support plate 18 to rotate. This, in turn, drives the Q axis rotary assembly mounted on the X2 axis support plate 18 to rotate, thereby achieving X2 axis rotation and angle adjustment.

[0038] In this embodiment, the X2-axis rotary assembly, through its precise drive and transmission design, provides high-precision horizontal angle adjustment for the multi-axis dual-jaw handling robot. As an intermediate link in the multi-axis rotary adjustment assembly, it connects the X1-axis rotary assembly and the Q-axis rotary assembly, providing crucial support for the precise positioning of the dual-jaw suction assembly. The X2-axis rotary assembly uses an X2-axis rotary motor 16 as the driving force source, which drives the X2-axis harmonic reducer 17 via a synchronous belt to achieve high-precision rotation control. The X2-axis harmonic reducer 17 features a high reduction ratio, low backlash, and high transmission accuracy, ensuring that the X2-axis support plate 18 can rotate at precise angles, further refining the robot's horizontal positioning capability.

[0039] The X2 axis rotation assembly is powered by the X2 axis rotation motor 16, and through the transmission conversion of the X2 axis harmonic reducer 17, it directly drives the X2 axis support plate 18 to rotate, which in turn drives the Q axis rotation assembly mounted on the X2 axis support plate 18 to rotate synchronously. Ultimately, this provides the robot with the ability to adjust the angle in the X2 axis direction. Together with the X1 axis rotation assembly and the Q axis rotation assembly, it realizes multi-dimensional attitude control, meeting the needs of grasping and placing objects at different spatial angles.

[0040] Furthermore, the Q-axis rotation assembly includes a Q-axis rotation motor 19 disposed on the end of the X2-axis support plate 18, a Q-axis harmonic reducer 20 disposed below the end of the X2-axis support plate 18 and connected to the output end of the Q-axis rotation motor 19, and a rotation support plate 21 disposed on the output end of the Q-axis harmonic reducer 20.

[0041] The working principle of the Q-axis rotation component in this embodiment is as follows: The rotation of the Q-axis rotary motor drives the Q-axis harmonic reducer to rotate 20, which in turn drives the rotary support plate to rotate 21, thereby adjusting the position of the rotary motor 1.

[0042] In this embodiment, the Q-axis rotary assembly uses a Q-axis rotary motor 19 as the driving force source, and achieves high-precision rotation control through a Q-axis harmonic reducer 20. The Q-axis harmonic reducer 20, with its high reduction ratio, low backlash, and high transmission accuracy, ensures that the rotating support plate 21 can rotate precisely, thereby adjusting the spatial position of the suction rotary motor 22. This high-precision characteristic is particularly suitable for handling tasks requiring precise alignment, such as the precise suction of products with smooth surfaces, avoiding suction failures caused by positional deviations.

[0043] The Q-axis rotary assembly receives the motion output from the X1-axis and X2-axis rotary assemblies, and directly drives the position adjustment of the dual-jaw gripper assembly via the rotary support plate 21, forming a complete chain of multi-axis sequential transmission. The rotation of the rotary support plate (21) can flexibly adjust the relative position of the gripper rotary motor 22, thereby providing the final optimization for the precise positioning of the dual-jaw gripper assembly in three-dimensional space. This end-effector design enhances the overall coordination capability of the robot and significantly improves the accuracy and adaptability of handling tasks.

[0044] Furthermore, the dual-claw suction assembly includes suction rotary motors 22 disposed at both ends of the rotary support plate 21, and suction nozzle assemblies 24 disposed at the output end of each suction rotary motor 22. The suction nozzle assembly 24 includes two cross-arranged connecting plates and suction nozzles disposed at both ends of each connecting plate.

[0045] The working principle of the dual-claw suction component in this embodiment is as follows: When the rotary motor 22 is in operation, the suction angle of the nozzle assembly 24 can be adjusted to achieve precise suction.

[0046] The suction nozzle assembly 24 includes two cross-arranged connecting plates, each with a suction nozzle at each end, forming a double-claw structure. Two suction rotary motors 22 control the angle of the corresponding suction nozzle assembly. Through the simultaneous cooperative action of the two claws, a larger contact area and more stable suction force can be provided during suction. This design significantly improves the stability of handling compared to single-claw suction devices, and is especially suitable for thin, slippery, or irregularly shaped workpieces, reducing the risk of suction failure or workpiece slippage.

[0047] The dual-claw suction assembly, through the rapid response and precise angle adjustment of the suction rotary motor 22, can quickly align with the target object and complete the suction action. Combined with a vacuum system (not shown) connected to the suction nozzle, it achieves efficient adsorption. By integrating the lifting assembly and the multi-axis rotation assemblies of X1, X2, and Q axes, the dual-claw suction assembly can flexibly position and transport objects in three-dimensional space, significantly shortening the handling cycle and improving the overall efficiency of the production line. It is particularly suitable for high-frequency, continuous automated production scenarios.

[0048] The working principle of this utility model: At the start of the handling task, the lifting servo motor 1 operates, driving the ball screw 7 to rotate. This causes the screw nut fixing plate 8, lifting guide shaft 9, and X1 axis rotation assembly to move to the target height. Sensor 6 provides real-time position feedback to ensure accuracy. Subsequently, the X1 axis rotation motor 12 drives the X1 axis harmonic reducer 14 to rotate the X1 axis support plate 15, completing the initial horizontal positioning. The X2 axis rotation motor 16 drives the X2 axis support plate 18 to rotate via the X2 axis harmonic reducer 17, further adjusting the angle. The Q-axis rotation motor 19 drives the rotating support plate 21 to rotate via the Q-axis harmonic reducer 20, precisely adjusting the position of the dual-claw suction assembly. Finally, the suction rotation motor 22 drives the adjustment of the suction nozzle assembly 24, allowing the nozzle to pick up the target object, achieving dual-claw cooperative suction. Through the reverse movement of the lifting assembly and the multi-axis rotation adjustment assembly, the object is moved to the designated position and released, completing the handling task.

[0049] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A multi-axis dual-claw conveying robot, characterized in that, include: Lifting assembly, multi-axis rotary adjustment assembly set at the output end of the lifting assembly, and double-claw suction assembly set on the multi-axis rotary adjustment assembly; The lifting assembly is used to drive the multi-axis rotary adjustment assembly and the double-claw suction assembly to move up and down in the vertical direction; The multi-axis rotation adjustment assembly includes an X1-axis rotation assembly, an X2-axis rotation assembly, and a Q-axis rotation assembly connected in sequence; the X1-axis rotation assembly is located on the output end of the lifting assembly; and the dual-claw suction assembly is located on the output end of the Q-axis rotation assembly.

2. The multi-axis dual-jaw conveying robot according to claim 1, characterized in that, The lifting assembly includes a lifting servo fixing plate, a lifting servo motor mounted on the lifting servo fixing plate, a ball screw located at the output end of the lifting servo motor, a screw nut fixing plate located on the ball screw, a support plate located on the lifting servo fixing plate, a sensor located on one side of the support plate, support columns located at the four corners of the support plate, a support fixing plate located on the top of the support columns and connected to the ball screw, a lifting guide shaft with one end fixed to the screw nut fixing plate and the other end passing through the support fixing plate, and a guide linear bearing sleeved on the lifting guide shaft.

3. The multi-axis dual-jaw conveying robot according to claim 2, characterized in that, The X1 axis rotation assembly includes a reducer fixing plate disposed on the top of the lifting guide shaft, an X1 axis rotation motor disposed at the bottom of the reducer fixing plate, an X1 axis harmonic reducer disposed on the top of the reducer fixing plate and connected to the output end of the X1 axis rotation motor, and an X1 axis support plate disposed on the output end of the X1 axis harmonic reducer.

4. The multi-axis dual-jaw conveying robot according to claim 3, characterized in that, The X2 axis rotation assembly includes an X2 axis rotary motor and an X2 axis harmonic reducer fixed on the X1 axis support plate, and an X2 axis support plate disposed on the output end of the X2 axis harmonic reducer.

5. The multi-axis dual-claw conveying robot according to claim 4, characterized in that, The X2-axis rotary motor and the X2-axis harmonic reducer are arranged side by side. The output end of the X2-axis rotary motor is equipped with a synchronous belt, and the X2-axis rotary motor is connected to the X2-axis harmonic reducer through the synchronous belt.

6. The multi-axis dual-jaw conveying robot according to claim 5, characterized in that, The Q-axis rotation assembly includes a Q-axis rotary motor mounted on the end of the X2-axis support plate, a Q-axis harmonic reducer mounted below the end of the X2-axis support plate and connected to the output end of the Q-axis rotary motor, and a rotation support plate mounted on the output end of the Q-axis harmonic reducer.

7. The multi-axis dual-jaw conveying robot according to claim 6, characterized in that, The dual-claw suction assembly includes suction rotary motors disposed at both ends of a rotary support plate and suction nozzle assemblies disposed at the output end of each suction rotary motor.

8. The multi-axis dual-jaw conveying robot according to claim 7, characterized in that, The nozzle assembly includes two cross-connecting plates and nozzles disposed at both ends of each connecting plate.

Images