CN115464626A - Seven-axis robot for multi-station processing of optical components and use method - Google Patents

Abstract

A seven-axis robot for multi-station processing of optical components comprises a ground rail mechanism, a seven-axis fixing mechanism, a mechanical arm mechanism and a clamping mechanism, wherein one end of the mechanical arm mechanism is connected with a sliding block on the ground rail mechanism, and the other end of the mechanical arm mechanism is connected with the clamping mechanism; the seven-axis fixing mechanism is connected with the sliding block on the ground rail mechanism so as to drive the sliding block to move along the ground rail mechanism. The invention also provides a using method of the seven-axis robot for multi-station processing of the optical components. The invention realizes the multi-station and cross-station processing of the optical components, and the ground rails adopt sectional splicing, and the length can be set according to the requirements of a production line; and the seventh shaft can be stably installed and detached through an adjustable gap and can move on the ground.

Description

Seven-axis robot for multi-station processing of optical components and use method

Technical Field

The invention relates to the field of ultra-precision machining flexible machining, in particular to a seven-axis robot for multi-station machining of optical components and a using method thereof.

Background

The multi-axis robot is high in precision and suitable for flexible manufacturing complex systems. Because of the multi-joint free flexibility, the multi-joint flexible joint is widely applied to the fields of ultra-precision machining, industrial assembly and the like. The aspheric surface of the optical element is difficult to process, and the motion track is complex, so that the mechanical arm joint is required to have high flexibility. In the prior art, a mechanical arm is commonly used and comprises 3-6 shafts, the machining of a complex track in a certain space can be realized, but the machining of a multi-station integrated system cannot be realized. Therefore, a concept of a seven-axis robot is proposed, but the gap between the mechanical arm mechanism and the gear rack meshing of the ground rail mechanism is difficult to adjust, so that the seven-axis robot has instability in operation.

Disclosure of Invention

In order to overcome the problems, the invention provides a seven-axis robot for multi-station processing of optical components, which realizes cross-station flexible processing of complex optical components.

The invention provides a seven-axis robot for multi-station processing of optical components, which comprises a ground rail mechanism, a seven-axis fixing mechanism, a mechanical arm mechanism and a clamping mechanism, wherein one end of the mechanical arm mechanism is connected with a sliding block on the ground rail mechanism, and the other end of the mechanical arm mechanism is connected with the clamping mechanism; the seven-axis fixing mechanism is connected with the sliding block on the ground rail mechanism so as to drive the sliding block to move along the ground rail mechanism;

the ground rail mechanism comprises a plurality of ground rails, and adjacent ground rails are fixedly connected through ground rail butt plates; the ground rail is provided with a plate rib, and a ground rail baffle is arranged above the plate rib; a linear rail arranged along the length direction of the ground rail is arranged on one side of the plate rib, a rack parallel to the linear rail is arranged below the outer side of the linear rail, a sliding block is connected on the linear rail in a sliding manner, and the outer side of the sliding block is fixedly connected with a mechanical arm fixing plate of the seven-shaft fixing mechanism;

the seven-shaft fixing mechanism comprises a sliding block fixing plate, the sliding block fixing plate is fixedly connected with the mounting table, and a second through hole which is communicated with the first through hole is formed in the sliding block fixing plate; two ends of the sliding block fixing plate are respectively provided with a sliding block fixing plate pressing block, and the sliding block fixing plate is elastically connected with the sliding block limiting plate; the outer sides of the mounting table and the slide block fixing plate are provided with slide block limiting plates; a servo motor is installed on the sliding block fixing plate, an output shaft of the servo motor is connected with an input shaft of a speed reducer, the output shaft of the speed reducer downwards penetrates through the second through hole and the first through hole to be connected with a gear, and the gear is meshed with the rack; the motor drives the gear to rotate, so that the sliding block is driven to move along the linear rail;

the mechanical arm mechanism comprises a mechanical arm base, and the mechanical arm base is fixedly connected with a mechanical arm fixing plate; the mechanical arm base is rotatably connected with a first mechanical arm base, a first joint motor is mounted on the first mechanical arm base, and the first joint motor drives the first mechanical arm base to rotate along the axis direction of the first joint motor;

a second mechanical arm is rotatably connected to the first mechanical arm base, a second joint motor is mounted on the second mechanical arm, and the second joint motor drives the second mechanical arm to rotate along the axis of the second joint motor;

the second mechanical arm is connected with the third mechanical arm through a first connecting plate, the first connecting plate is provided with a first mounting surface and a second mounting surface which are perpendicular to each other, the first mounting surface is rotatably connected with the second mechanical arm, and the second mounting surface is rotatably connected with the third mechanical arm; the first mounting surface is connected with a third joint motor, and the third joint motor drives a third mechanical arm to rotate along the axis of the third joint motor; the second mounting surface is connected with a fourth joint motor, and the fourth joint motor drives the third mechanical arm to rotate along the axis of the fourth joint motor;

the tail end of the third mechanical arm is connected with a fifth joint motor, and an output shaft of the fifth joint motor is connected with the wrist joint and drives the wrist joint to rotate along the axis of the fifth joint motor; the wrist joint is rotatably connected with a wrist unit, a sixth joint motor is installed on the wrist joint, and the sixth joint motor drives the wrist unit to rotate along the axis of the sixth joint motor;

the clamping mechanism comprises a pneumatic control box and a scanning head fixing plate, the scanning head fixing plate is connected with the wrist joint, and the lower end of the scanning head fixing plate is fixedly connected with a pneumatic clamp seat; the back of the pneumatic clamp seat is connected with a pneumatic clamp fixing plate, and the pneumatic clamp fixing plate is connected with a corrugated pipe fixing plate; the pneumatic control box is arranged above the third mechanical arm, and is electrically connected with the pneumatic clamp seat and the external control equipment;

the axis of the first joint motor is perpendicular to the axis of the second joint motor, the axis of the third joint motor is perpendicular to the axis of the fourth joint motor, and the axis of the fifth joint motor is perpendicular to the sixth joint motor; the servo motor, the first joint motor, the second joint motor, the third joint motor, the fourth joint motor, the fifth joint motor and the sixth joint motor are respectively electrically connected with external control equipment, and the external control equipment controls the operation of the servo motor, the first joint motor, the second joint motor, the third joint motor, the fourth joint motor, the fifth joint motor and the sixth joint motor.

Preferably, two ends of the linear rail are respectively provided with a hard limiting block, and a rack scrap baffle plate is arranged between the linear rail and the rack; one side of the ground rail is provided with a wire slot, one end of the ground rail is provided with a zero point checker and a zero point switch, and the zero point checker is electrically connected with the zero point switch.

Preferably, the slide block fixing plate is connected with the slide block fixing plate pressing block through a spring, and the spring gap is controlled through screwing of a bolt.

The invention provides a use method of a seven-axis robot for multi-station processing of optical components, which comprises the following steps:

a: electrically connecting a first joint motor, a second joint motor, a third joint motor, a fourth joint motor, a fifth joint motor and a sixth joint motor with an external control terminal;

b: operating an external control terminal, and driving the mechanical arm base to rotate through the forward rotation and the reverse rotation of the first joint motor to complete the first axial rotation;

c: operating an external control terminal, and driving the second mechanical arm to rotate through the forward rotation and the reverse rotation of the second joint motor to complete second axial rotation;

d: operating an external control terminal, and driving the third mechanical arm to move through the forward rotation and the reverse rotation of the third joint motor to complete third axial rotation;

e: operating an external control terminal, and driving a third mechanical arm to rotate along a self-axis through the forward rotation and the reverse rotation of a fourth joint motor to complete fourth axial rotation;

f: operating an external control terminal, and driving the wrist unit to move through the forward rotation and the reverse rotation of the fifth joint motor to complete fifth axial rotation;

g: operating an external control terminal, and driving the wrist unit to rotate along the self-axis through the forward rotation and the reverse rotation of the sixth joint motor to complete the sixth axial rotation;

h: operating an external control terminal, transmitting the rotation to a gear through a speed reducer by the positive rotation and the negative rotation of a servo motor, and engaging the gear with a rack to realize the movement of the mechanical arm mechanism and realize the seventh axial rotation;

i: adjusting the screwing of the adjusting bolt, and adjusting the tightness degree of a pressing block spring of the adjusting slide block fixing plate and the slide block fixing plate, so that the meshing condition of the gear and the rack is adjusted, and the seventh shaft gear clearance adjustment is completed;

j: and operating the zero switch and the zero checker of the ground rail to perform ground rail zero check and level check.

The invention has the beneficial effects that: the multi-station and cross-station processing of the optical components is realized, and the ground rails are spliced in a sectional mode, so that the length can be set according to the requirements of a production line; and the seventh shaft can be stably installed and detached through an adjustable gap and can move on the ground.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of the robot arm mechanism of the present invention.

FIG. 3 is a schematic view of the holding mechanism of the present invention.

Fig. 4 is a schematic structural view of a seven-axis fixing mechanism in the present invention.

Fig. 5 is a schematic structural diagram of the ground rail mechanism in the invention.

Description of the reference numerals: 1 mechanical arm mechanism, 101 mechanical arm base, 102 first mechanical arm base, 103 first joint motor, 104 second mechanical arm, 105 second joint motor, 106 third mechanical arm, 107 third joint motor, 108 fourth joint motor, 109 fifth joint motor, 110 wrist unit, 111 sixth joint motor, 2 clamping mechanism, 201 pneumatic control box, 202 corrugated pipe fixing plate, 203 pneumatic clamp fixing plate, 204 pneumatic clamp seat, 205 scanning head fixing plate, 3 seven shaft fixing mechanism, 301 slide block fixing plate, 302 slide block fixing plate pressing block, 303 slide block limiting plate, 304 mechanical arm fixing plate, 305 speed reducer, 306 gear, 4 ground rail mechanism, 401 ground rail, 402 plate rib, 403 ground rail baffle plate, 404 ground rail butt joint plate, 405 hard limiting block, 406 line rail, 407 rack, 408 rack scrap baffle plate, zero point slide block, 410 line groove, 411 checker, 412 switch.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to the accompanying drawings, a first embodiment of the invention provides a seven-axis robot for multi-station processing of optical components, which comprises a ground rail mechanism 4, a seven-axis fixing mechanism 3, a mechanical arm mechanism 1 and a clamping mechanism 2, wherein one end of the mechanical arm mechanism 1 is connected with a sliding block 409 on the ground rail mechanism 4, and the other end of the mechanical arm mechanism 1 is connected with the clamping mechanism 2; the seven-axis fixing mechanism 3 is connected with a sliding block 409 on the ground rail mechanism 4 so as to drive the sliding block 409 to move along the ground rail mechanism 4; the mechanical arm mechanism is electrically connected with external control equipment.

The ground rail mechanism 4 comprises a plurality of ground rails 401, and adjacent ground rails 401 are fixedly connected through a ground rail butt plate 404; a plate rib 402 is arranged on the ground rail 401, and a ground rail baffle 403 is arranged above the plate rib 402; a linear rail 406 arranged along the length direction of the ground rail 401 is arranged on one side of the plate rib 402, a rack parallel to the linear rail 406 is arranged below the outer side of the linear rail 406, a sliding block 409 is connected on the linear rail 406 in a sliding manner, and the outer side of the sliding block 409 is fixedly connected with a mechanical arm fixing plate 304 of the seven-axis fixing mechanism 3;

the seven-shaft fixing mechanism 3 comprises a sliding block fixing plate 301, the sliding block fixing plate 301 is fixedly connected with the mounting table, and a second through hole which is communicated with the first through hole is formed in the sliding block fixing plate 301; two ends of the slider fixing plate 301 are respectively provided with a slider fixing plate pressing block 302, and the slider fixing plate 302 is elastically connected with the slider limiting plate 303; the outer sides of the mounting table and the slide block fixing plate 301 are provided with slide block limiting plates 303; a servo motor is arranged on the slide block fixing plate 301, an output shaft of the servo motor is connected with an input shaft of a speed reducer 305, the output shaft of the speed reducer 305 downwards penetrates through a second through hole and a first through hole to be connected with a gear 306, and the gear is meshed with the rack; the motor drives the gear 306 to rotate, so that the sliding block 409 is driven to move along the line rail 406;

the mechanical arm mechanism 1 comprises a mechanical arm base 101, and the mechanical arm base 101 is fixedly connected with a mechanical arm fixing plate 304; the mechanical arm base 101 is rotatably connected with a first mechanical arm base 102, a first joint motor 103 is mounted on the first mechanical arm base 102, and the first joint motor 103 drives the first mechanical arm base 102 to rotate along the axial direction of the first joint motor 103;

the first mechanical arm base 102 is rotatably connected with a second mechanical arm 105, the second mechanical arm 105 is provided with a second joint motor 105, and the second joint motor 105 drives the second mechanical arm 105 to rotate along the axis of the second joint motor 105;

the second mechanical arm 105 is connected with the third mechanical arm 106 through a first connecting plate, the first connecting plate is provided with a first mounting surface and a second mounting surface which are perpendicular to each other, the first mounting surface is rotatably connected with the second mechanical arm 105, and the second mounting surface is rotatably connected with the third mechanical arm 106; the first mounting surface is connected with a third joint motor 107, and the third joint motor 107 drives the third mechanical arm 106 to rotate along the axis of the third joint motor 107; the second mounting surface is connected with a fourth joint motor 108, and the fourth joint motor 108 drives the third mechanical arm 106 to rotate along the axis of the fourth joint motor 108;

the tail end of the third mechanical arm 106 is connected with a fifth joint motor 109, and an output shaft of the fifth joint motor 109 is connected with the wrist joint and drives the wrist joint to rotate along the axis of the fifth joint motor 109; the wrist joint is rotatably connected with a wrist unit 110, a sixth joint motor 110 is installed on the wrist joint, and the sixth joint motor 110 drives the wrist unit 110 to rotate along the axis of the sixth joint motor 110;

the clamping mechanism 2 comprises a pneumatic control box 201 and a scanning head fixing plate 205, the scanning head fixing plate 205 is connected with a wrist joint, and the lower end of the scanning head fixing plate 205 is fixedly connected with a pneumatic clamp seat 204; the back of the pneumatic clamp seat 204 is connected with a pneumatic clamp fixing plate 203, and the pneumatic clamp fixing plate 203 is connected with the corrugated pipe fixing plate 202; the pneumatic control box 201 is arranged above the third mechanical arm 107, and the pneumatic control box 20 is electrically connected with the pneumatic clamp seat 204 and is electrically connected with external control equipment;

the axis of the first joint motor 103 is perpendicular to the axis of the second joint motor 105, the axis of the third joint motor 107 is perpendicular to the axis of the fourth joint motor 108, and the axis of the fifth joint motor 109 is perpendicular to the sixth joint motor 110; the servo motor, the first joint motor 103, the second joint motor 105, the third joint motor 107, the fourth joint motor 108, the fifth joint motor 109 and the sixth joint motor 110 are respectively electrically connected with external control equipment, and the external control equipment controls the operation of the servo motor, the first joint motor 103, the second joint motor 105, the third joint motor 107, the fourth joint motor 108, the fifth joint motor 109 and the sixth joint motor 110.

Preferably, two ends of the linear rail 406 are respectively provided with a hard limiting block 405, and a rack scrap baffle 408 is arranged between the linear rail 406 and the rack; one side of the ground rail 401 is provided with a wire slot 410, one end of the ground rail 401 is provided with a zero point checker 411 and a zero point switch 412, and the zero point checker 411 is electrically connected with the zero point switch 412.

Preferably, the slide block fixing plate 301 is in spring connection with the slide block fixing plate pressing block 302, and the spring clearance is controlled by screwing a bolt.

The second embodiment of the invention provides a using method of a seven-axis robot for multi-station processing of optical components, which comprises the following steps:

a: electrically connecting a first joint motor, a second joint motor, a third joint motor, a fourth joint motor, a fifth joint motor and a sixth joint motor with an external control terminal;

b: operating an external control terminal, and driving the mechanical arm base to rotate through forward rotation and reverse rotation of the first joint motor to complete first axial rotation;

c: operating an external control terminal, and driving the second mechanical arm to rotate through the forward rotation and the reverse rotation of the second joint motor to complete second axial rotation;

d: operating an external control terminal, and driving the third mechanical arm to move through the forward rotation and the reverse rotation of the third joint motor to complete third axial rotation;

e: operating an external control terminal, and driving a third mechanical arm to rotate along a self-axis through the forward rotation and the reverse rotation of a fourth joint motor to complete fourth axial rotation;

f: operating an external control terminal, and driving the wrist unit to move through the forward rotation and the reverse rotation of the fifth joint motor to complete fifth axial rotation;

g: operating an external control terminal, and driving the wrist unit to rotate along the self-axis through the forward rotation and the reverse rotation of the sixth joint motor to complete sixth axial rotation;

h: operating an external control terminal, transmitting the rotation to a gear through a speed reducer by the positive rotation and the negative rotation of a servo motor, and engaging the gear with a rack to realize the movement of the mechanical arm mechanism and realize the seventh axial rotation;

i: adjusting the screwing of the adjusting bolt, and adjusting the tightness degree of a pressing block spring of the adjusting slide block fixing plate and the slide block fixing plate, so that the meshing condition of the gear and the rack is adjusted, and the seventh shaft gear clearance adjustment is completed;

j: and operating the zero switch and the zero checker of the ground rail to perform ground rail zero check and level check.

The invention provides a seven-axis robot for multi-station processing of optical components, which is suitable for flexible processing of complex aspheric optical components, and a seventh-axis fixing mechanism is adopted to flexibly adjust the seventh-axis gear clearance of the robot and improve the running smoothness of the seven-axis robot.

The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.

Claims (4)

1. The utility model provides a seven robots for optical components multistation processing which characterized in that: the device comprises a ground rail mechanism (4), a seven-shaft fixing mechanism (3), a mechanical arm mechanism (1) and a clamping mechanism (2), wherein one end of the mechanical arm mechanism (1) is connected with a sliding block (409) on the ground rail mechanism (4), and the other end of the mechanical arm mechanism (1) is connected with the clamping mechanism (2); the seven-axis fixing mechanism (3) is connected with a sliding block (409) on the ground rail mechanism (4) so as to drive the sliding block (409) to move along the ground rail mechanism (4);

the ground rail mechanism (4) comprises a plurality of ground rails (401), and adjacent ground rails (401) are fixedly connected through ground rail butt plates (404); the ground rail (401) is provided with a plate rib (402), and a ground rail baffle (403) is arranged above the plate rib (402); a linear rail (406) arranged along the length direction of the ground rail (401) is arranged on one side of the plate rib (402), a rack parallel to the linear rail (406) is arranged below the outer side of the linear rail (406), a sliding block (409) is connected onto the linear rail (406) in a sliding manner, and the outer side of the sliding block (409) is fixedly connected with a mechanical arm fixing plate (304) of the seven-shaft fixing mechanism (3);

the seven-shaft fixing mechanism (3) comprises a sliding block fixing plate (301), the sliding block fixing plate (301) is fixedly connected with the mounting table, and a second through hole which is communicated with the first through hole is formed in the sliding block fixing plate (301); two ends of the sliding block fixing plate (301) are respectively provided with a sliding block fixing plate pressing block (302), and the sliding block fixing plate (302) is elastically connected with the sliding block limiting plate (303); the outer sides of the mounting table and the slide block fixing plate (301) are provided with slide block limiting plates (303); a servo motor is installed on the slide block fixing plate (301), an output shaft of the servo motor is connected with an input shaft of a speed reducer (305), an output shaft of the speed reducer (305) downwards penetrates through the second through hole and the first through hole to be connected with a gear (306), and the gear is meshed with the rack; the motor drives the gear (306) to rotate, so that the sliding block (409) is driven to move along the linear rail (406);

the mechanical arm mechanism (1) comprises a mechanical arm base (101), and the mechanical arm base (101) is fixedly connected with a mechanical arm fixing plate (304); the mechanical arm base (101) is connected with a first mechanical arm base (102) in a rotating mode, a first joint motor (103) is installed on the first mechanical arm base (102), and the first joint motor (103) drives the first mechanical arm base (102) to rotate along the axis direction of the first joint motor (103);

the first mechanical arm base (102) is connected with a second mechanical arm (105) in a rotating mode, a second joint motor (105) is installed on the second mechanical arm (105), and the second joint motor (105) drives the second mechanical arm (105) to rotate along the axis of the second joint motor (105);

the second mechanical arm (105) is connected with the third mechanical arm (106) through a first connecting plate, the first connecting plate is provided with a first mounting surface and a second mounting surface which are perpendicular to each other, the first mounting surface is rotatably connected with the second mechanical arm (105), and the second mounting surface is rotatably connected with the third mechanical arm (106); the first mounting surface is connected with a third joint motor (107), and the third joint motor (107) drives a third mechanical arm (106) to rotate along the axis of the third joint motor (107); the second mounting surface is connected with a fourth joint motor (108), and the fourth joint motor (108) drives the third mechanical arm (106) to rotate along the axis of the fourth joint motor (108);

the tail end of the third mechanical arm (106) is connected with a fifth joint motor (109), and an output shaft of the fifth joint motor (109) is connected with the wrist joint and drives the wrist joint to rotate along the axis of the fifth joint motor (109); the wrist joint is rotatably connected with a wrist unit (110), a sixth joint motor (110) is installed on the wrist joint, and the sixth joint motor (110) drives the wrist unit (110) to rotate along the axis of the sixth joint motor (110);

the clamping mechanism (2) comprises a pneumatic control box (201) and a scanning head fixing plate (205), the scanning head fixing plate (205) is connected with a wrist joint, and the lower end of the scanning head fixing plate (205) is fixedly connected with a pneumatic clamp seat (204); the back of the pneumatic clamp seat (204) is connected with a pneumatic clamp fixing plate (203), and the pneumatic clamp fixing plate (203) is connected with the corrugated pipe fixing plate (202); the pneumatic control box (201) is arranged above the third mechanical arm (107), and the pneumatic control box (20) is electrically connected with the pneumatic clamp seat (204) and is electrically connected with external control equipment;

the axis of the first joint motor (103) is vertical to the axis of the second joint motor (105), the axis of the third joint motor (107) is vertical to the axis of the fourth joint motor (108), and the axis of the fifth joint motor (109) is vertical to the sixth joint motor (110); the servo motor, the first joint motor (103), the second joint motor (105), the third joint motor (107), the fourth joint motor (108), the fifth joint motor (109) and the sixth joint motor (110) are electrically connected with external control equipment respectively, and the external control equipment controls the operation of the servo motor, the first joint motor (103), the second joint motor (105), the third joint motor (107), the fourth joint motor (108), the fifth joint motor (109) and the sixth joint motor (110).

2. A seven-axis robot for multi-station processing of optical components as claimed in claim 1, wherein: two ends of the linear rail (406) are respectively provided with a hard limiting block (405), and a rack scrap baffle (408) is arranged between the linear rail (406) and the rack; a wiring groove (410) is formed in one side of the ground rail (401), a zero checker (411) and a zero switch (412) are arranged at one end of the ground rail (401), and the zero checker (411) is electrically connected with the zero switch (412).

3. The seven-axis robot for multi-station processing of optical components according to claim 1, wherein: the sliding block fixing plate (301) is connected with the sliding block fixing plate pressing block (302) through a spring, and the spring clearance is controlled through bolt screwing.

4. A method of using a seven-axis robot for multi-station processing of optical components as claimed in any one of claims 1 to 3, comprising the steps of:

a: electrically connecting a first joint motor, a second joint motor, a third joint motor, a fourth joint motor, a fifth joint motor and a sixth joint motor with an external control terminal;

b: operating an external control terminal, and driving the mechanical arm base to rotate through forward rotation and reverse rotation of the first joint motor to complete first axial rotation;

c: operating an external control terminal, and driving the second mechanical arm to rotate through the forward rotation and the reverse rotation of the second joint motor to complete second axial rotation;

d: operating an external control terminal, and driving a third mechanical arm to move through forward rotation and reverse rotation of a third joint motor to complete third axial rotation;

e: operating an external control terminal, and driving a third mechanical arm to rotate along a self-axis through the forward rotation and the reverse rotation of a fourth joint motor to complete fourth axial rotation;

f: operating an external control terminal, and driving the wrist unit to move through the forward rotation and the reverse rotation of the fifth joint motor to complete fifth axial rotation;

g: operating an external control terminal, and driving the wrist unit to rotate along the self-axis through the forward rotation and the reverse rotation of the sixth joint motor to complete the sixth axial rotation;

h: operating an external control terminal, transmitting the rotation to a gear through a speed reducer by the positive rotation and the negative rotation of a servo motor, and engaging the gear with a rack to realize the movement of the mechanical arm mechanism and realize the seventh axial rotation;

i: adjusting the screwing of the adjusting bolt, and adjusting the tightness degree of a pressing block spring of the adjusting slide block fixing plate and the slide block fixing plate, so that the meshing condition of the gear and the rack is adjusted, and the seventh shaft gear clearance adjustment is completed;

j: and operating the zero switch and the zero checker of the ground rail to perform ground rail zero check and level check.

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