CN113070874A

CN113070874A - Automatic navigation multifunctional operation robot based on three-dimensional reconstruction

Info

Publication number: CN113070874A
Application number: CN202110368175.8A
Authority: CN
Inventors: 姜晓勇; 彭孟乐; 黄朗月; 李忠义
Original assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Current assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-07-06

Abstract

The invention discloses an automatic navigation multifunctional operation robot based on three-dimensional reconstruction. The invention comprises a navigation driving mechanism, a multifunctional operation mechanism, an image acquisition mechanism, an image processing module and a control module; the navigation driving mechanism is provided with a multifunctional operation mechanism and an image acquisition mechanism, the image acquisition mechanism is connected with the image processing module, and the navigation driving mechanism, the multifunctional operation mechanism, the image acquisition mechanism and the image processing module are all connected with the control module. The invention effectively expands the working range of the robot, expands the working mode of the robot and improves the working efficiency of the robot.

Description

Automatic navigation multifunctional operation robot based on three-dimensional reconstruction

Technical Field

The invention relates to an automatic navigation multifunctional working robot in the technical field of industrial robots, in particular to an automatic navigation multifunctional working robot based on three-dimensional reconstruction.

Background

At present, China has become a large country in the casting industry, and cleaning, cutting and the like of large-sized workpieces are indispensable key processes in casting production. However, because the size of the workpiece is large, the existing industrial robot is difficult to realize automatic operation such as cutting, polishing and punching. This reduces the production efficiency to a certain extent and increases the production cost.

Disclosure of Invention

In order to solve the problems and requirements in the background art, the invention provides an automatic navigation multifunctional operation robot based on three-dimensional reconstruction, which can finish multifunctional operations such as polishing, punching, cutting and the like on a large workpiece.

The technical scheme adopted by the invention is as follows:

an automatic navigation multifunctional operation robot based on three-dimensional reconstruction comprises a navigation driving mechanism, a multifunctional operation mechanism, an image acquisition mechanism, an image processing module and a control module; the navigation driving mechanism is provided with a multifunctional operation mechanism and an image acquisition mechanism, the image acquisition mechanism is connected with the image processing module, and the navigation driving mechanism, the multifunctional operation mechanism, the image acquisition mechanism and the image processing module are all connected with the control module.

The multifunctional operation mechanism comprises a fixed chassis, a first rotary table, a stand column, a cross arm, a rotary middle shaft, a second rotary table, an acetylene cylinder, an oxygen cylinder, a six-shaft mechanical arm and an operation module; the fixed chassis, the acetylene cylinder and the oxygen cylinder are all fixed on the upper surface of the navigation driving mechanism, the fixed chassis is fixedly connected with the lower end of the upright post through a first rotary table, the upper end of the upright post is hinged with the middle part of the cross arm through a rotary middle shaft, the front end of the cross arm is connected with a six-shaft mechanical arm through a second rotary table, and the six-shaft mechanical arm is connected with the operation module; the acetylene cylinder and the oxygen cylinder are both connected with the operation module.

The transverse arm comprises a transverse arm body, a driving balance block, a worm fixing seat, a worm wheel, a worm, a gear shaft, a first clutch, a first bearing, a second bearing, a first transmission shaft, a first servo motor, a first speed reducer, a second transmission shaft, a second clutch, a transverse moving screw rod, a transverse moving guide rail, a transverse moving nut, a transverse moving planker and a transverse moving screw rod fixing seat; the cross arm body is hinged with the upper end of the upright column through a rotating middle shaft, one end of a worm is installed inside the rear end of the cross arm body through a worm fixing seat, a gear shaft is hinged and installed inside the rear end of the cross arm body, a worm wheel is coaxially and fixedly sleeved on the gear shaft, the worm wheel is meshed with the worm to form a worm-gear worm pair, the driving balance block is C-shaped, and two branch ends of the driving balance block are respectively connected to two ends of the gear shaft after penetrating out of the cross arm body; the other end of the worm is coaxially and fixedly connected with the output end of a first clutch, the input end of the first clutch is coaxially and fixedly connected with a first bevel gear through a first transmission shaft, and the middle part of the first transmission shaft is rotatably supported and installed in the cross arm body through a first bearing and a second bearing respectively; the first servo motor is fixedly arranged on the middle part of the cross arm body, an output shaft of the first servo motor extends into the cross arm body and then is coaxially and fixedly connected with an input end of a first speed reducer, and an output end of the first speed reducer is coaxially and fixedly connected with a second bevel gear; the first servo motor is connected with the control module; a transverse moving screw rod and a transverse moving guide rail which are arranged in parallel are arranged in the front end of the transverse arm body, the transverse moving screw rod is arranged on the transverse moving guide rail, one end of the transverse moving screw rod is installed on the transverse arm body through a transverse moving screw rod fixing seat, the other end of the transverse moving screw rod is coaxially and fixedly connected with the output end of a second clutch, a transverse moving carriage is coaxially sleeved in the transverse moving screw rod through a transverse moving nut and is in sliding connection with the transverse moving guide rail, the input end of the second clutch is coaxially and fixedly connected with one end of a second transmission shaft, and the other end of the second; and a bevel gear pair is formed between the second bevel gear and the meshing of the first bevel gear and the third bevel gear respectively.

The six mechanical arms comprise mechanical arm bases, first mechanical arms, second mechanical arms, third mechanical arms and fourth mechanical arms; the lower end face of the second rotary table is fixedly arranged on the cross arm, the mechanical arm base is fixedly arranged on the second rotary table, one end of the first mechanical arm is fixedly arranged on the mechanical arm base, the other end of the first mechanical arm is connected with one end of the second mechanical arm through a first motor, the other end of the second mechanical arm is connected with one end of a third mechanical arm through a second motor, and the other end of the third mechanical arm is connected with one end of a fourth mechanical arm through a third motor; the other end of the fourth mechanical arm is connected with the operation module; the first motor, the second motor and the third motor are all connected with the control module.

The operation module comprises an operation module mounting seat, a wrist motor, a second speed reducer, a force feedback module and a tool changing module; the operation module mounting seat is fixedly mounted on the six-axis mechanical arm, the wrist motor and the encoder are fixedly mounted in the operation module mounting seat, the tool changing module is mounted on the front end face of the operation module mounting seat, an output shaft of the wrist motor is coaxially and fixedly connected with an input end of a second speed reducer, an output end of the second speed reducer is connected with the force feedback module, and the force feedback module is connected with the tool changing module; a cutting gun on the tool changing module is respectively connected with an acetylene cylinder and an oxygen cylinder; the force feedback module comprises a torsion spring, a third bearing, an output disc and an encoder; the output disc is in a gear shape, an output disc shaft which penetrates through the output disc from top to bottom is arranged in the middle of the output disc, the output disc shaft is installed on a rotating shaft of the output disc through a third bearing, one end of the output disc shaft is fixedly connected with one end of a torsion spring, and the other end of the output disc shaft is connected with the tool changing module; the other end of the torsion spring is connected with the output end of the second speed reducer; the encoder gear is meshed with the output disc to form an output disc gear pair, and the encoder gear is coaxially connected with an output shaft of the encoder in a sleeved mode; the wrist motor, the encoder and the tool changing module are connected with the control module.

The tool changing module is provided with a plurality of tool mounting ports, each tool mounting port is used for mounting a tool, the plurality of tool mounting ports are arranged at intervals along the circumference, and tool changing of the tools is realized by rotating the tool changing module.

The image acquisition mechanism comprises a first cloud platform and a first camera, the first cloud platform is fixed on the upper surface of the navigation driving mechanism, the first camera is fixed on the first cloud platform, and the first camera is respectively connected with the image processing module and the control module.

The image receiving module is connected with the image acquisition mechanism, the three-dimensional reconstruction module is connected with the image receiving module, the data sending module is connected with the three-dimensional reconstruction module, and the image receiving module, the three-dimensional reconstruction module and the data sending module are all connected with the control module.

The navigation driving mechanism is a four-wheel square mechanism provided with a navigation system, the upper surface of the four-wheel square mechanism is used as the upper surface of the navigation driving mechanism, the navigation system comprises a second cloud deck, a second camera, a first illuminating lamp and a second illuminating lamp, the second cloud deck is arranged on the upper surface of the four-wheel square mechanism, the second camera is fixed on the second cloud deck, the first illuminating lamp and the second illuminating lamp are respectively arranged on two sides of the right side face of the four-wheel square mechanism, and the second camera, the first illuminating lamp and the second illuminating lamp are all connected with the control module.

The invention has the beneficial effects that:

the invention provides an automatic navigation multifunctional operation robot based on three-dimensional reconstruction, which utilizes a cross arm, an active balance block and a control module to realize the active balance adjustment of the robot and enlarge the working range of the robot;

the invention uses the encoder to record the rotation angle deviation of the torsion spring, and realizes that the force feedback device adjusts the output torque of the wrist motor;

the tool changing module is rotated to realize tool changing of the tool, so that the free switching of functions of cutting, polishing, punching and the like of the robot is realized, and the operation mode of the robot is expanded; the working efficiency of the robot is improved.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the cross arm of the invention.

FIG. 3 is a schematic structural diagram of a multifunctional task module according to the present invention.

Fig. 4 is a schematic view of the tool changing module according to the present invention.

In the figure: a fixed chassis 1, a first rotating platform 2, a vertical column 3, a cross arm 4, a driving balance block 401, a worm fixing seat 402, a worm wheel 403, a worm 404, a gear shaft 405, a first clutch 406, a first bearing 407, a second bearing 408, a first transmission shaft 409, a first servo motor 410, a first speed reducer 411, a second transmission shaft 412, a second clutch 413, a traverse screw 414, a traverse guide 415, a traverse nut 416, a traverse carriage 417, a traverse screw fixing seat 418, a rotary central shaft 5, a second rotating platform 6, an acetylene cylinder 7, an oxygen cylinder 8, a mechanical arm base 9, a first mechanical arm 10, a second mechanical arm 11, a third mechanical arm 12, a fourth mechanical arm 13, an operation module 14, a wrist motor 1401, a second speed reducer 1402, a force feedback module, a tool changing module 1403, a torsion spring 1404, a third bearing 1405, an output disc 1406, an encoder 1407, a first pan head 15, a first camera 16 and a second pan head 17, a second camera 18, a first illumination lamp 19, and a second illumination lamp 20.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

As shown in fig. 1, the present invention comprises a navigation driving mechanism, a multifunctional operation mechanism, an image acquisition mechanism, an image processing module and a control module; the navigation driving mechanism is provided with a multifunctional operation mechanism and an image acquisition mechanism, the image acquisition mechanism is connected with the image processing module, and the navigation driving mechanism, the multifunctional operation mechanism, the image acquisition mechanism and the image processing module are all connected with the control module. The control module comprises an ARM processor and a GPU chip.

The multifunctional operation mechanism comprises a fixed chassis 1, a first rotary table 2, a stand column 3, a cross arm 4, a rotary middle shaft 5, a second rotary table 6, an acetylene cylinder 7, an oxygen cylinder 8, a six-shaft mechanical arm and an operation module 14;

the fixed chassis 1, the acetylene cylinder 7 and the oxygen cylinder 8 are all fixed on the upper surface of the navigation driving mechanism, the fixed chassis 1 is fixedly connected with the lower end of the upright post 3 through the first rotary table 2, the upper end surface of the fixed chassis 1 is fixedly connected with the lower end surface of the first rotary table 2, a hole groove is formed in the upper end surface of the first rotary table 2, and the lower end of the upright post 3 is inserted into the hole groove, so that the upright post 3 is fixedly installed in the first rotary table 2; the upper end of the upright post 3 is hinged with the middle part of the cross arm 4 through a rotating middle shaft 5, the upper end of the upright post 3 is hinged with the rotating middle shaft 5, and the rotating middle shaft 5 is hinged with the middle part of the cross arm 4; the front end of the cross arm 4 is connected with a six-shaft mechanical arm through a second rotary table 6, and the six-shaft mechanical arm is connected with an operation module 14; acetylene cylinder 7 and oxygen cylinder 8 are connected with the cutting torch on tool changing module 1403 of operation module 14 for providing acetylene and oxygen for the cutting torch.

As shown in fig. 2, the cross arm 4 includes a cross arm body, a driving balance block 401, a worm holder 402, a worm wheel 403, a worm 404, a gear shaft 405, a first clutch 406, a first bearing 407, a second bearing 408, a first transmission shaft 409, a first servo motor 410, a first speed reducer 411, a second transmission shaft 412, a second clutch 413, a traverse screw 414, a traverse guide 415, a traverse nut 416, a traverse carriage 417 and a traverse screw holder 418;

the middle part of the cross arm body is hinged with the upper end of the upright post 3 through a rotating middle shaft 5, one end of a worm 404 is installed inside the rear end of the cross arm body through a worm fixing seat 402, the side surface of one end of the cross arm body is fixedly provided with the worm fixing seat 402, one end of the worm 404 is movably installed in the worm fixing seat 402, a gear shaft 405 is installed inside the rear end of the cross arm body in a hinged mode, a worm wheel 403 is coaxially and fixedly sleeved on the gear shaft 405, the worm wheel 403 is meshed with the worm 404 to form a worm wheel and worm pair, a driving balance block 401 is C-shaped, two branch ends of the driving balance block 401 are respectively connected to two ends of the gear shaft 405 penetrating out of the cross arm body; the other end of the worm 404 is coaxially and fixedly connected with the output end of the first clutch 406, the input end of the first clutch 406 is coaxially and fixedly connected with the first bevel gear through a first transmission shaft 409, the input end of the first clutch 406 is coaxially and fixedly connected with one end of the first transmission shaft 409, the other end of the first transmission shaft 409 is coaxially and fixedly connected with the first bevel gear, the first bearing 407 and the second bearing 408 are fixedly installed on the side surface of the cross arm body, the first transmission shaft 409 sequentially penetrates through the first bearing 407 and the second bearing 408 to be coaxially and movably connected with the first bearing 407 and the second bearing 408, and the middle part of the first transmission shaft 409 is rotatably supported and installed inside the cross arm body through the first bearing 407 and the second bearing 408 respectively;

the first servo motor 410 is fixedly installed on the middle part of the cross arm body, an output shaft of the first servo motor 410 extends into the cross arm body and then is coaxially and fixedly connected with an input end of a first speed reducer 411, and an output end of the first speed reducer 411 is coaxially and fixedly connected with a second bevel gear; the first servo motor 410 is connected with the control module;

a transverse moving screw rod 414 and a transverse moving guide rail 415 which are arranged in parallel along the length direction of the cross arm body are arranged in the front end of the cross arm body, the transverse moving screw rod 414 is arranged on the transverse moving guide rail 415, one end of the transverse moving screw rod 414 is arranged on the cross arm body through a transverse moving screw rod fixing seat 418, the transverse moving screw rod fixing seat 418 is fixedly arranged on the side surface of the other end of the cross arm body, one end of the transverse moving screw rod 414 is movably arranged in the transverse moving screw rod fixing seat 418, the other end of the transverse moving screw rod 414 is coaxially and fixedly connected with the output end of a second clutch 413, a transverse moving planker 417 is coaxially sleeved in the transverse moving screw rod 414 through a transverse moving nut 416 and is in sliding connection with the transverse moving guide rail 415, the input end of; and a bevel gear pair of bevel gears is formed between the second bevel gear and the meshing of the first bevel gear and the third bevel gear.

The six-axis mechanical arm comprises a mechanical arm base 9, a first mechanical arm 10, a second mechanical arm 11, a third mechanical arm 12 and a fourth mechanical arm 13;

the lower end face of the second rotary table 6 is fixedly mounted on the transverse carriage 417 of the cross arm 4, the mechanical arm base 9 is fixedly mounted on the second rotary table 6, one end of the first mechanical arm 10 is fixedly mounted on the mechanical arm base 9, the other end of the first mechanical arm 10 is connected with one end of the second mechanical arm 11 through a first motor, the first motor is used for driving the second mechanical arm 11 to move, the other end of the second mechanical arm 11 is connected with one end of a third mechanical arm 12 through a second motor, the second motor is used for driving the third mechanical arm 12 to move, the other end of the third mechanical arm 12 is connected with one end of a fourth mechanical arm 13 through a third motor, and the third motor is used for driving the fourth mechanical arm 13; the other end of the fourth mechanical arm 13 is connected with the operation module 14; the first motor, the second motor and the third motor are all connected with the control module. The control module can control the six-axis robot arm to slide on the cross arm 4 and balance the cross arm 4 through the first clutch 406, the second clutch 413, and the first servo motor 410. The method specifically comprises the following steps: the control module controls the state of the second clutch 413, realizes that the first servo motor 410 drives the lead screw 414 to control the six-shaft mechanical arm to slide on the cross arm 4, and controls the state of the first clutch 406, and realizes that the first servo motor 410 drives the worm wheel 403 and the worm 404 adjusts the active balance block 401 to control the balance of the cross arm 4.

As shown in fig. 3, the work module 14 includes a work module mount, a wrist motor 1401, a second reducer 1402, a force feedback module, and a tool changer 1403;

the operation module mounting seat is fixedly mounted at the other end of a fourth mechanical arm 13 of the six-axis mechanical arm, a wrist motor 1401 and an encoder 1407 are fixedly mounted in the operation module mounting seat, a tool changing module 1403 is mounted on the front end face of the operation module mounting seat, an output shaft of the wrist motor 1401 is coaxially and fixedly connected with an input end of a second speed reducer 1402, an output end of the second speed reducer 1402 is connected with a force feedback module, and the force feedback module is connected with the tool changing module 1403; a cutting gun on the tool changing module 1403 is respectively connected with the acetylene cylinder 7 and the oxygen cylinder 8; the operation module 14 can switch the operation mode through the tool changing module 1403, and complete multifunctional operations such as polishing, punching, cutting and the like on the workpiece.

The force feedback module includes a torsion spring 1404, a third bearing 1405, an output disc 1406, and an encoder 1407;

the output disc 1406 is in a gear shape, an output disc shaft penetrating up and down is arranged in the middle of the output disc 1406, the output disc shaft is installed on a rotating shaft of the output disc 1406 through a third bearing 1405, one end of the output disc shaft is fixedly connected with one end of a torsion spring 1404, and the other end of the output disc shaft is connected with a tool changing module 1403 in a meshing manner; the other end of the torsion spring 1404 is connected with the output end of the second reducer 1402;

the encoder gear is meshed with the output disc 1406 to form an output disc gear pair, the encoder gear is coaxially sleeved and connected with an output shaft of the encoder 1407, and the encoder 1407 records the rotating angle of the output disc 1406; the wrist motor 1401, encoder 1407 and tool changing module 1403 are connected to the control module. The control module can record the deflection angle of the torsion spring 1404 through the encoder 1407 of the force feedback module and adjust the output torque of the wrist motor 1401.

As shown in fig. 4, a plurality of tool mounting ports are provided on the tool changing module, each tool mounting port mounts a tool, the plurality of tool mounting ports are circumferentially arranged at intervals, and tool changing is achieved by rotating the tool changing module.

The image acquisition mechanism comprises a first cloud platform 15 and a first camera 16, the first cloud platform 15 is fixed on the upper surface of the navigation driving mechanism, the first camera 16 is fixed on the first cloud platform 15, the first camera 16 is respectively connected with the image processing module and the control module, and the control module controls the first camera 16 to acquire workpiece images needing to be cut, polished and drilled and sends the workpiece images to the image receiving module of the image processing module.

The image processing module comprises an image receiving module, a three-dimensional reconstruction module and a data sending module, the image receiving module is connected with the image acquisition mechanism, the three-dimensional reconstruction module is connected with the image receiving module, the data sending module is connected with the three-dimensional reconstruction module, and the image receiving module, the three-dimensional reconstruction module and the data sending module are all connected with the control module. The image receiving module comprises an image acquisition card, an image filtering device and a storage device.

The image receiving module receives a workpiece image of the image acquisition mechanism, the image processing module carries out three-dimensional reconstruction on the workpiece image of the image receiving module to generate a three-dimensional surface model, and the path control instruction is sent to the control module according to the three-dimensional surface model data sending module. And the control module receives the path control instruction sent by the data sending module and controls the operation module to operate along the operation path.

The navigation driving mechanism is a four-wheel square mechanism provided with a navigation system, the navigation system controls the robot to move along the workpiece, the image acquisition mechanism is matched to acquire an image of the workpiece, and the acquired image is sent to the image processing module. The upper surface of the square mechanism with four wheels is used as the upper surface of the navigation driving mechanism, the navigation system comprises a second cloud deck 17, a second camera 18, a first illuminating lamp 19 and a second illuminating lamp 20, the second cloud deck 17 is arranged on the upper surface of the square mechanism with four wheels, the second camera 18 is fixed on the second cloud deck 17, the first illuminating lamp 19 and the second illuminating lamp 20 are respectively arranged on two sides of the positive side surface of the square mechanism with four wheels, the second camera 18, the first illuminating lamp 19 and the second illuminating lamp 20 are connected with a control module, the second camera 18 shoots a working scene, a scene image is sent to the control module, and the control module realizes planning of a path and avoidance of obstacles according to the scene image.

The working process of the invention is as follows:

in the working process, the second camera 18 of the navigation driving mechanism shoots a working scene in real time, the scene image is continuously sent to the control module, and the control module plans the path of the robot and avoids obstacles according to the scene image. The control module controls a first camera 16 of the image acquisition mechanism to acquire workpiece images needing cutting, grinding and drilling and sends the workpiece images to an image receiving module of the image processing module, the image receiving module receives the workpiece images of the image acquisition mechanism, the image processing module carries out three-dimensional reconstruction on the workpiece images of the image receiving module to generate a three-dimensional surface model, and a path control instruction is sent to the control module according to the three-dimensional surface model data sending module. The control module receives the path control instruction sent by the data sending module, and respectively controls the cross arm 4, the six-axis mechanical arm and the operation module 14 to operate along the operation path, so that the cutting, the grinding and the drilling of the workpiece are realized.

Claims

1. The utility model provides an automatic navigation multifunctional operation robot based on three-dimensional is rebuild which characterized in that: the system comprises a navigation driving mechanism, a multifunctional operation mechanism, an image acquisition mechanism, an image processing module and a control module; the navigation driving mechanism is provided with a multifunctional operation mechanism and an image acquisition mechanism, the image acquisition mechanism is connected with the image processing module, and the navigation driving mechanism, the multifunctional operation mechanism, the image acquisition mechanism and the image processing module are all connected with the control module.

2. The robot of claim 1, wherein the robot comprises: the multifunctional operation mechanism comprises a fixed chassis (1), a first rotary table (2), an upright post (3), a cross arm (4), a rotary middle shaft (5), a second rotary table (6), an acetylene cylinder (7), an oxygen cylinder (8), a six-shaft mechanical arm and an operation module (14);

the fixed chassis (1), the acetylene cylinder (7) and the oxygen cylinder (8) are all fixed on the upper surface of the navigation driving mechanism, the fixed chassis (1) is fixedly connected with the lower end of the upright post (3) through the first rotary table (2), the upper end of the upright post (3) is hinged with the middle part of the cross arm (4) through the rotary middle shaft (5), the front end of the cross arm (4) is connected with a six-shaft mechanical arm through the second rotary table (6), and the six-shaft mechanical arm is connected with the operation module (14); the acetylene cylinder (7) and the oxygen cylinder (8) are both connected with the operation module (14).

3. The robot of claim 2, wherein the robot comprises: the cross arm (4) comprises a cross arm body, a driving balance block (401), a worm fixing seat (402), a worm wheel (403), a worm (404), a gear shaft (405), a first clutch (406), a first bearing (407), a second bearing (408), a first transmission shaft (409), a first servo motor (410), a first speed reducer (411), a second transmission shaft (412), a second clutch (413), a transverse moving screw rod (414), a transverse moving guide rail (415), a transverse moving nut (416), a transverse moving carriage (417) and a transverse moving screw rod fixing seat (418);

the cross arm body is hinged with the upper end of the upright post (3) through a rotary middle shaft (5), one end of a worm (404) is installed inside the rear end of the cross arm body through a worm fixing seat (402), a gear shaft (405) is hinged and installed inside the rear end of the cross arm body, a worm wheel (403) is coaxially and fixedly sleeved on the gear shaft (405), the worm wheel (403) is meshed with the worm (404) to form a worm-gear pair, the driving balance block (401) is C-shaped, and two branch ends of the driving balance block (401) are respectively connected to two ends of the gear shaft (405) after penetrating out of the cross arm body; the other end of the worm (404) is coaxially and fixedly connected with the output end of a first clutch (406), the input end of the first clutch (406) is coaxially and fixedly connected with a first bevel gear through a first transmission shaft (409), and the middle part of the first transmission shaft (409) is rotatably supported and installed in the cross arm body through a first bearing (407) and a second bearing (408);

the first servo motor (410) is fixedly arranged on the middle part of the cross arm body, an output shaft of the first servo motor (410) extends into the cross arm body and then is coaxially and fixedly connected with an input end of a first speed reducer (411), and an output end of the first speed reducer (411) is coaxially and fixedly connected with a second bevel gear; the first servo motor (410) is connected with the control module;

a transverse moving screw rod (414) and a transverse moving guide rail (415) which are arranged in parallel are arranged in the front end of the cross arm body, the transverse moving screw rod (414) is arranged on the transverse moving guide rail (415), one end of the transverse moving screw rod (414) is installed on the cross arm body through a transverse moving screw rod fixing seat (418), the other end of the transverse moving screw rod (414) is coaxially and fixedly connected with the output end of a second clutch (413), a transverse moving planker (417) is coaxially sleeved in the transverse moving screw rod (414) through a transverse moving nut (416) and is in sliding connection with the transverse moving guide rail (415), the input end of the second clutch (413) is coaxially and fixedly connected with one end of a second transmission shaft (412), and the other end of the second transmission shaft (412) is; and a bevel gear pair is formed between the second bevel gear and the meshing of the first bevel gear and the third bevel gear respectively.

4. The robot of claim 2, wherein the robot comprises: the six-axis mechanical arm comprises a mechanical arm base (9), a first mechanical arm (10), a second mechanical arm (11), a third mechanical arm (12) and a fourth mechanical arm (13);

the lower end face of a second rotary table (6) is fixedly arranged on a cross arm (4), a mechanical arm base (9) is fixedly arranged on the second rotary table (6), one end of a first mechanical arm (10) is fixedly arranged on the mechanical arm base (9), the other end of the first mechanical arm (10) is connected with one end of a second mechanical arm (11) through a first motor, the other end of the second mechanical arm (11) is connected with one end of a third mechanical arm (12) through a second motor, and the other end of the third mechanical arm (12) is connected with one end of a fourth mechanical arm (13) through a third motor; the other end of the fourth mechanical arm (13) is connected with the operation module (14); the first motor, the second motor and the third motor are all connected with the control module.

5. The robot of claim 2, wherein the robot comprises: the operation module (14) comprises an operation module mounting seat, a wrist motor (1401), a second speed reducer (1402), a force feedback module and a tool changing module (1403);

the tool changing device comprises an operation module mounting seat, a wrist motor (1401), an encoder (1407), a tool changing module (1403), a force feedback module and a force feedback module, wherein the operation module mounting seat is fixedly mounted on a six-axis mechanical arm, the wrist motor (1401) and the encoder (1407) are fixedly mounted in the operation module mounting seat, the tool changing module (1403) is mounted on the front end surface of the operation module mounting seat, the output shaft of the wrist motor (1401) is coaxially and fixedly connected with the input end of a second speed reducer (1402), the output end of the second speed reducer (1402) is; a cutting gun on the tool changing module 1403 is respectively connected with an acetylene cylinder (7) and an oxygen cylinder (8);

the force feedback module comprises a torsion spring (1404), a third bearing (1405), an output disc (1406), and an encoder (1407);

the output disc (1406) is in a gear shape, an output disc shaft which penetrates through the output disc (1406) up and down is arranged in the middle of the output disc (1406), the output disc shaft is installed on a rotating shaft of the output disc (1406) through a third bearing (1405), one end of the output disc shaft is fixedly connected with one end of a torsion spring (1404), and the other end of the output disc shaft is connected with the tool changing module (1403); the other end of the torsion spring (1404) is connected with the output end of the second speed reducer (1402);

the encoder gear is meshed with the output disc (1406) to form an output disc gear pair, and the encoder gear is coaxially connected with an output shaft of the encoder (1407) in a sleeved mode; the wrist motor (1401), the encoder (1407) and the tool changing module (1403) are connected with the control module.

6. The robot of claim 5, wherein: the tool changing module is provided with a plurality of tool mounting ports, each tool mounting port is used for mounting a tool, the plurality of tool mounting ports are arranged at intervals along the circumference, and tool changing of the tools is realized by rotating the tool changing module.

7. The robot of claim 1, wherein the robot comprises: the image acquisition mechanism comprises a first cloud platform (15) and a first camera (16), the first cloud platform (15) is fixed on the upper surface of the navigation driving mechanism, the first camera (16) is fixed on the first cloud platform (15), and the first camera (16) is connected with the image processing module and the control module respectively.

8. The robot of claim 1, wherein the robot comprises: the image processing module comprises an image receiving module, a three-dimensional reconstruction module and a data sending module, the image receiving module is connected with the image acquisition mechanism, the three-dimensional reconstruction module is connected with the image receiving module, the data sending module is connected with the three-dimensional reconstruction module, and the image receiving module, the three-dimensional reconstruction module and the data sending module are all connected with the control module.

9. The robot of claim 1, wherein the robot comprises: the navigation driving mechanism is the square mechanism of four-wheel for being provided with navigation system, the upper surface of the square mechanism of four-wheel is as navigation driving mechanism's upper surface, navigation system includes second cloud platform (17), second camera (18), first light (19) and second light (20), second cloud platform (17) set up the upper surface at the square mechanism of four-wheel, second camera (18) are fixed in second cloud platform (17), first light (19) and second light (20) set up respectively in the both sides of the square mechanism positive flank of four-wheel, second camera (18), first light (19) and second light (20) all link to each other with control module.