A multi-axis linkage frame

Abstract

The application provides a multi-axis linkage rack, which belongs to the technical field of driving equipment and has a first rotating part at the free end of the horizontal section of the support, the first rotating part being used for being mounted on an external driving equipment, the inner side wall of the top of the vertical section of the support being rotationally connected with a rotating arm through a second rotating part, so that the rotating arm rotates around a horizontal axis; the rotating arm comprises a main arm and a sliding arm, one end of the main arm is rotationally connected with the support through the second rotating part, the other end of the main arm is used for slidingly mounting the sliding arm, and the sliding arm slides in the main arm to make a circular arc around the center of the sliding arm; a third rotating part rotating around a vertical axis is connected with the top end of the sliding arm through a vertical telescopic mechanism, and the bottom end of the third rotating part is fixed with a pressing plate; the bottom end of the sliding arm is fixed with a bearing platform, and the pressing plate is arranged oppositely above and below the bearing platform. The application can realize flexible positioning of a target workpiece and quickly and accurately move the target workpiece to a predetermined position.

Description

Technical Field

[0001] This invention belongs to the field of drive equipment technology, and more specifically, it is a multi-axis linkage frame. Background Technology

[0002] Multi-axis linkage frames are indispensable key components in modern industrial automation, precision machining, and robotics. Through the coordinated work of multiple axes, they achieve precise control of complex motion trajectories and are widely used in CNC machine tools, 3D printing, laser cutting, precision assembly, medical equipment, aerospace, and many other industries. Specifically, in practice, because the target workpiece's position requires spatial point positioning, the equipment needs to coordinate several motion axes in corresponding motion patterns to move to the desired position in the shortest possible time.

[0003] Commonly used multi-axis linkage is usually N-axis linkage, which means the synchronous linear movement in N directions. For example, three-axis linkage on the X, Y, and Z axes means that three linear kinematic pairs move synchronously, synthesize the motion, and then reach the set spatial position. Although this structural design is simple, to achieve rapid movement over a large range, relying solely on one kinematic pair, i.e., relying only on linear kinematic pairs, requires more complex and versatile precision collaborative feed mechanisms and more professional CNC program design. Otherwise, if the coordinates in one direction deviate during the linkage process, the entire motion will be completely changed. Moreover, to achieve the positioning of the target workpiece, additional positioning and clamping tools are required. Therefore, at present, there is no linkage frame with richer motion forms and simpler structure to quickly and accurately achieve the motion positioning of the target workpiece. Summary of the Invention

[0004] In view of the technical status quo mentioned in the background, and to overcome the corresponding defects in the prior art, this invention specifically discloses a multi-axis linkage frame, which solves the problem that the existing multi-axis linkage mechanisms use a single type of kinematic pair, and that any movement on any trajectory or at any position must be completed by linear motion. Its structure is simple and reliable, with multiple types of kinematic pairs working together, and each kinematic axis or kinematic pair is separated from each other by an initial distance. Therefore, during movement, it can achieve a wider range of movements at a faster speed, providing a new reliable option for existing multi-axis linkage frames.

[0005] To overcome the deficiencies of the prior art, those skilled in the art provide the following technical solution: a multi-axis linkage frame, including a support and a rotating arm mounted on the support, the support being L-shaped, having a first rotating part at the free end of the horizontal section of the support, the first rotating part being used to be mounted on an external drive device so that the first rotating part causes the support to rotate about a vertical axis; the top inner sidewall of the vertical section of the support is rotatably connected to the rotating arm through a second rotating part so that the rotating arm rotates about a horizontal axis;

[0006] The rotating arm includes a main arm and a sliding arm. One end of the main arm is rotatably connected to a support via a second rotating part, and the other end of the main arm is slidably mounted on the sliding arm. The sliding arm has a C-shaped structure and slides in an arc around the center of the main arm. A third rotating part that rotates around a vertical axis is connected to the top of the sliding arm via a vertical telescopic mechanism. A pressure plate is fixed to the bottom end of the third rotating part. A support platform is fixed to the bottom end of the sliding arm, and the pressure plate and the support platform are arranged vertically opposite each other.

[0007] Furthermore, the first rotating part, the second rotating part, and the third rotating part each include a gear ring and several transmission gears, as well as a central wheel. The central wheel is connected to the main shaft of the motor for transmission, and the transmission gears are located inside the gear ring and mesh with the gear ring and the central wheel simultaneously.

[0008] Furthermore, the main arm also has an L-shaped structure, with an arc-shaped sliding cavity at the end opposite to the support, which is used for sliding and fitting the sliding arm.

[0009] Furthermore, a sealing block is provided at each end of the sliding cavity. The sealing block is embedded and fixed on the inner wall of the sliding arm, and the sealing block slides and seals against the surface of the sliding arm.

[0010] Furthermore, an installation sleeve is fixed on the inner wall of the main arm, the installation sleeve being used to fix one end of the sealing block into the installation.

[0011] Furthermore, the main boom also has an integrally formed arc-shaped oil baffle, which forms a hydraulic oil chamber connected to an external high-pressure oil pump between the arc-shaped oil baffle and the sliding arm located in the sliding cavity; the back of the sliding arm has a mounting nozzle in the center, and a valve cylinder is rotatably mounted in the mounting nozzle. The valve cylinder is closed at both ends and can rotate around its own axis. The cylinder wall has two valve holes; the side surface of the valve cylinder exposed from the mounting nozzle also has an oil inlet, which is directly opposite the area between the two valve holes; the sliding arm has a hydraulic jacking chamber, and the hydraulic oil flowing out through the valve holes is injected into the hydraulic jacking chamber to push the sliding arm to slide within the main boom.

[0012] Furthermore, the hydraulic jacking chamber is arc-shaped and located in the middle section of the sliding arm. A partition mound is raised in the center of the inner wall of one side of the hydraulic jacking chamber. The top surface of the partition mound is in sliding sealing contact with the cylinder wall of the valve cylinder. The size of the top surface of the partition mound must be able to completely cover a valve hole so that after the valve cylinder rotates to the point where one valve hole communicates with the hydraulic jacking chamber on its corresponding side, the other valve hole is covered and sealed by the top surface of the partition mound.

[0013] Furthermore, on the back of the main arm directly opposite the hydraulic jacking chamber and the hydraulic oil chamber, there is an arc-shaped slot. An adjusting rod passes through the slot and is fixed to the end face of the valve cylinder. The adjusting rod also slides in the slot so that after the valve cylinder is rotated to the desired position by the adjusting rod, the adjusting rod can move in an arc along with the valve cylinder and the sliding arm within the main arm.

[0014] Furthermore, the strip holes are arranged parallel to each other in a guide groove, which is located on the back of the sliding arm. A slider is slidably installed in the guide groove, and the slider has a stepped hole in the center. The stepped hole is always aligned with the strip holes, and the top of the adjusting rod is vertically and elastically installed in a locking cover in the stepped hole through a tension spring and a sliding key. The bottom end of the adjusting rod is fixedly connected to the end face of the valve cylinder.

[0015] Under normal conditions, the tension spring causes the locking cover to be tightly pressed against the slider, and the end face of the valve cylinder is tightly pressed against the inner wall of the main arm. When the adjusting rod is pulled outward behind the main arm, the tension spring is stretched and the locking cover is separated from the slider. After rotating a set angle and releasing, the locking screw cover and the slider return to the contact state.

[0016] Furthermore, the top of the slider has two adjacent notches, and the bottom surface of the locking cover has a protruding wedge-shaped part. When the wedge-shaped part is sequentially engaged with the two notches, the two valve holes are sequentially connected to their corresponding hydraulic push chambers.

[0017] Compared with existing technologies, the advantages of this invention are as follows: The multi-axis linkage frame of this invention achieves rapid positioning of the target workpiece through three rotary joints, one circular sliding joint, and one vertical sliding joint. It features a wide range of motion and diverse motion forms, thus better adapting to the different positioning requirements of different workpieces. It moves the target workpiece to a predetermined spatial position quickly and accurately in an economical and practical manner. Furthermore, its vertical telescopic mechanism not only serves as the actuator for vertical movement but also as one of the clamping fixtures for the workpiece. It can grasp the target workpiece and move it to a predetermined position, or clamp and fix the workpiece when it reaches the predetermined position, without the need for additional robotic arms or clamps. In use, this invention allows for individual rotation of the rotary joints, setting the rotation angle, setting the sliding stroke of the circular sliding joint, and setting the vertical telescopic displacement. These can all be controlled and modified individually. The kinematic joints can be rationally selected according to the specific position or trajectory the workpiece needs to reach, rather than rigidly combining linear kinematic joints. This results in more flexible and varied motion, with faster speed and more accurate movement.

[0018] Other functions and features of the present invention will be described in detail in the following embodiments to provide a full understanding of the concept of the present invention and to enable its practical application in production. Attached Figure Description

[0019] Figure 1-3 This is a three-dimensional structural diagram of the multi-axis linkage frame from three different perspectives;

[0020] Figure 4 for Figure 3 A partially enlarged view of the mating structure between the main arm and the sliding arm;

[0021] Figure 5 for Figure 4 A simplified rear view of the main arm in the structure shown;

[0022] Figure 6 This is a structural diagram illustrating one embodiment of the valve cylinder rotating via an adjusting rod.

[0023] Figure 7 A top-view structural diagram of a slider;

[0024] Figure 8 This is a simplified structural diagram of a rotating part.

[0025] The components include: support 1, first rotating part 2, second rotating part 3, main arm 4, rotating arm 5, vertical telescopic mechanism 6, third rotating part 7, pressure plate 8, bearing platform 9, gear ring 10, transmission gear 11, main shaft 12, center wheel 13, sealing block 14, mounting sleeve 15, arc-shaped oil baffle 16, hydraulic oil chamber 17, mounting nozzle 18, valve cylinder 19, oil inlet nozzle 20, valve hole 21, hydraulic jacking chamber 22, strip hole 23, guide groove 24, slider 25, locking cover 26, adjusting rod 27, tension spring 28, sliding key 29, locking cover cap 30, stepped hole 31, and notch 32. Detailed Implementation

[0026] Based on the accompanying drawings and the following description, the technical solutions in the embodiments of the present invention can be clearly and completely described. However, it should be understood that the embodiments mentioned herein are merely one or several specific methods of the present invention, and not all implementation structures or method steps.

[0027] like Figure 1-3As shown, this embodiment proposes a multi-axis linkage frame, including a support 1 and a rotating arm 5 mounted on the support 1. Specifically, the support 1 is L-shaped, with a first rotating part 2 at the free end of the horizontal section. This first rotating part 2 is used to mount on an external drive device, such as a motor, allowing the support 1 to rotate around a vertical axis. Furthermore, the rotating arm 5 is rotatably connected to the top inner wall of the vertical section of the support 1 via a second rotating part 3, allowing the rotating arm 5 to rotate around a horizontal axis. Meanwhile, the rotating arm 5 in this embodiment includes a main arm 4 and a sliding arm. One end of the main arm 4 is rotatably connected to the support 1 via the aforementioned second rotating part 3, and the other end of the main arm 4 is for sliding installation of the sliding arm. This sliding arm has a C-shaped structure, and slides in an arc around the center of the main arm 4, or in other words, performs circular motion. (Continue reading...) Figure 1-3 At the top of the sliding arm, a vertical telescopic mechanism 6 is connected to a third rotating part 7 that rotates around a vertical axis. The vertical telescopic mechanism 6 can be a telescopic device driven by a cylinder or hydraulic cylinder. A pressure plate 8 is fixed at the bottom of the third rotating part 7. The pressure plate 8 is preferably horizontal. Correspondingly, a support platform 9 is fixed at the bottom of the sliding arm. The pressure plate 8 and the support platform 9 are arranged vertically opposite each other, so that when the sliding arm is moved to a predetermined position, the vertical movement of the telescopic mechanism and the rotation of the pressure plate 8 cooperate with the support platform 9 to form a function such as clamping a workpiece between the pressure plate 8 and the support platform 9. With multiple degrees of freedom, the structure is stable and reliable, flexible and mobile, and the workpiece can be installed in a predetermined spatial position.

[0028] In practice, due to the use of revolute joints, circular sliding joints, and vertical linear kinematic joints, a variety of kinematic joints are available for motion design. For some spatial positions, it is not necessary to deliberately use multiple linear kinematic joints to synthesize them. This is because for certain positions or motion trajectories, the synthesis of linear kinematic joints cannot avoid certain interference points in space, which inevitably leads to multiple reversing linear motions before finally reaching the target position. However, if rotation and circular sliding or vertical sliding are used, a more direct motion effect can be achieved, thus the positioning speed will be faster and more accurate.

[0029] In the specific production process, such as Figure 8As shown, the first rotating part 2, the second rotating part 3, and the third rotating part 7 mentioned above can all be designed and manufactured according to similar principles and structures. For example, they all include a gear ring 10, several transmission gears 11, and a central wheel 13. The central wheel 13 is connected to the main shaft 12 of the motor. When the central wheel 13 rotates, the gear ring 10 rotates after the transmission gears 11 change speed. The gear ring 10 is fixed on the corresponding component, for example, fixed at the bottom of the free end of the horizontal section of the support 1. When the gear ring 10 is rotated, the support 1 can rotate. That is, the transmission gear 11 is located inside the gear ring 10 and meshes with the gear ring 10 and the central wheel 13 at the same time, which can change speed and ensure stable and reliable transmission.

[0030] As one of the specific implementation structures, such as Figure 1-2 As shown, the main arm 4 in this embodiment is also roughly L-shaped. The end of the main arm 4 away from the support 1 can be set as an arc-shaped shell structure. There is a special arc-shaped sliding cavity in this shell. This sliding cavity is used for sliding and fitting the sliding arm, so that the sliding arm can slide in the circumferential direction in the sliding cavity.

[0031] See also Figure 3-4 In this embodiment, a sealing block 14 is provided at each end of the sliding cavity. The sealing block 14 is embedded and fixed on the inner wall of the sliding arm, and the sealing block 14 slides and seals against the surface of the sliding arm to achieve the sealing of both ends of the sliding cavity. Furthermore, during specific manufacturing, a mounting sleeve 15 is fixed on the inner side wall of the main arm 4. This mounting sleeve 15 has an adaptive design, for example… Figure 4 The structure shown is fabricated so that the mounting sleeve 15 can be fixedly embedded in one end of the sealing block 14.

[0032] More specifically, such as Figure 4 In the structure shown, the main boom 4 also has an integrally formed arc-shaped oil baffle 16. This large arc-shaped oil baffle 16 can be integrally formed with the inner wall of the main boom 4. Between the arc-shaped oil baffle 16 and the slide arm located in the sliding cavity, a hydraulic oil chamber 17 is formed for connection with an external high-pressure oil pump. This hydraulic oil chamber 17 can be an arc-shaped strip cavity for injecting hydraulic oil. In addition, there is a mounting nozzle 18 in the center of the back of the slide arm. A valve cylinder 19 is rotatably mounted in this mounting nozzle 18. The valve cylinder 19 is mounted axially perpendicular to the side of the free end of the main boom 4, and both ends of the valve cylinder 19 are closed. The valve cylinder 19 can rotate around its own axis. Based on the above structure, two valve holes 21 need to be machined on the cylinder wall of the valve cylinder 19. During machining, the side surface of the valve cylinder 19 exposed from the mounting nozzle 18 also has an oil inlet 20. The oil inlet 20 is directly opposite the area between the two valve holes 21, and the oil inlet 20 is always in communication with the aforementioned hydraulic oil chamber 17, thereby ensuring that oil can enter the valve cylinder 19. As one of the structures in the drive design, such as Figure 4The sliding arm has a hydraulic jacking chamber 22. Hydraulic oil flowing out through the valve hole 21 can be concentrated and injected into a section of the hydraulic jacking chamber 22, thereby pushing the sliding arm to slide in the corresponding direction within the main arm 4; for example, when the hydraulic oil passes through Figure 4 When the valve hole 21 shown flows into the upper half of the hydraulic jacking chamber 22, it creates an upward thrust on the sliding arm, causing the sliding arm to rotate upwards and move a certain distance, while the pressure plate 8 swings downwards. To better accommodate the arc-shaped sliding of the sliding arm, the hydraulic jacking chamber 22 can be machined into an arc shape and positioned in the middle of the sliding arm; furthermore, during manufacturing, a partition mound is raised in the center of one side of the inner wall of the hydraulic jacking chamber 22, such as... Figure 4 The top surface of this partition mound must slide and seal against the wall of the valve cylinder 19, and the size of the top surface of the partition mound must be sufficient to completely cover one valve hole 21 to close one of the valve holes 21. This allows the valve cylinder 19 to rotate until one valve hole 21 connects to the hydraulic jacking chamber 22 on its corresponding side, at which point the other valve hole 21 is sealed by the top surface of the partition mound, meaning no hydraulic oil is pumped into the other section of the hydraulic jacking chamber 22. After hydraulic oil is pumped in, the high-pressure oil pump can reverse to extract the corresponding oil or stop pumping to remove or stop the output of the hydraulic jacking force on the sliding arm.

[0033] To allow the valve cylinder 19 to rotate, making it easier to perform this operation manually, such as... Figure 4-6 As shown, on the back of the main arm 4 directly opposite the hydraulic jacking chamber 22 and the hydraulic oil chamber 17, there is an arc-shaped slot 23. An adjusting rod 27 passes through this slot 23 and is fixed to the end face of the valve cylinder 19. Specifically, it can be coaxially fixed to the end face of the valve cylinder 19. The adjusting rod 27 also slides along the extension path of the slot 23. This allows the adjusting rod 27 to rotate the valve cylinder 19 to its position. Once hydraulic oil is injected into a section of the hydraulic jacking chamber 22, pushing the sliding arm in the corresponding direction, the adjusting rod 27 can move in an arc within the main arm 4 along with the valve cylinder 19 and the sliding arm. This avoids interference with or obstruction of the valve cylinder 19's movement, ensuring that the valve cylinder 19 slides along the arc path while maintaining communication with the aforementioned hydraulic oil chamber 17. In practice, as... Figure 4-5The slot 23 is parallel to a guide groove 24, which can be a T-shaped groove. This guide groove 24 is located on the back of the sliding arm, and a slider 25 is slidably installed within it. The slider 25 can also be a T-shaped slider. Furthermore, a stepped hole 31 needs to be machined in the center of the slider 25. This stepped hole 31 is always aligned with the slot 23 so that the adjusting rod 27 can pass through simultaneously. That is, when the top of the adjusting rod 27 is vertically and elastically installed in a locking cover 26 within the stepped hole 31 via a tension spring 28 and a sliding key 29, the bottom end of the adjusting rod 27 is fixed to the end face of the valve cylinder 19, thus fixing the valve cylinder 19. Under normal conditions, such as Figure 6 When the locking cover 26 is not manually pulled, the tension spring 28 keeps the locking cover 26 tightly against the slider 25, and the end face of the valve cylinder 19 tightly against the inner wall of the main arm 4. That is, the valve cylinder 19, adjusting rod 27, locking cover 26, and slider 25 are fixed as a whole. During use, if the adjusting rod 27 is manually pulled towards the back and outwards of the main arm 4, as... Figure 6 In the structure shown, when the locking cover 26 is pulled up, the tension spring 28 is stretched, thereby separating the locking cover 26 from the slider 25. When the locking cover 26 can be rotated at an angle and then released, the locking screw cover and the slider 25 return to the contact state. At this time, the locking cover 26 rotates at an angle and then is tightly fixed to the slider 25, which is equivalent to the valve hole 21 having changed position and the position being fixed after the change. The hydraulic push direction of the corresponding sliding arm is then set.

[0034] To allow for precise control of the rotation angle when the locking cover 26 rotates, it is possible to achieve the following: Figure 7 As shown, there are two adjacent notches 32 at the top of the slider 25. The notches 32 can be fan-shaped grooves. The bottom end face of the locking cover 26, that is, the bottom end face of the cap of the locking cover 26, has a downward protruding wedge-shaped part. The wedge-shaped part can be inserted into the fan-shaped groove. Then, when the wedge-shaped part is successively engaged with the two notches 32, the two valve holes 21 are successively in sealing contact with the above-mentioned partition mound. That is, the two valve holes 21 are successively connected to their corresponding hydraulic push chambers 22, so as to realize the purpose of sliding the slider arm towards its corresponding end.

[0035] This invention is not limited to the field covered by this embodiment. Some well-known structures or principles have not been further described. However, those skilled in the art can theoretically know all the well-known technologies in this field before the application date or priority date, and can fully master all the existing technologies in this field. They also have the means and ability to apply these existing technologies in actual design. Under the technical guidance provided in this application, those skilled in the art can improve and implement this invention more comprehensively by combining their own abilities.

[0036] Furthermore, it should be noted that although the text and graphics of the above embodiments have shown specific implementation scenarios of the present invention, those skilled in the art can make various obvious extensions and expansions to these embodiments without departing from the design concept of the present invention, thus forming different embodiments. However, this does not affect the fact that the scope of protection of the present invention is covered and embodied by the technical features of the claims and equivalent technical features.

Claims

1. A multi-axis linkage frame, characterized in that, The device includes a support (1) and a rotating arm (5) mounted on the support (1). The support (1) is L-shaped and has a first rotating part (2) at the free end of the horizontal section of the support (1). The first rotating part (2) is used to be mounted on an external drive device so that the first rotating part (2) causes the support (1) to rotate about a vertical axis. The top inner wall of the vertical section of the support (1) is rotatably connected to the rotating arm (5) through a second rotating part (3) so that the rotating arm (5) rotates about a horizontal axis. The rotating arm (5) includes a main arm (4) and a sliding arm. One end of the main arm (4) is rotatably connected to the support (1) through the second rotating part (3). The other end of the main arm (4) is slidably installed on the sliding arm, which has a C-shaped structure. The sliding arm slides in an arc around the center of the sliding arm within the main arm (4). A third rotating part (7) that rotates around a vertical axis is connected to the top of the sliding arm through a vertical telescopic mechanism (6). A pressure plate (8) is fixed at the bottom of the third rotating part (7). A support platform (9) is fixed at the bottom of the sliding arm. The pressure plate (8) and the support platform (9) are arranged vertically opposite each other. The main arm (4) also has an L-shaped structure, and its end away from the support (1) has an arc-shaped sliding cavity, which is used for the sliding arm to slide and fit together. A sealing block (14) is provided at each end of the sliding cavity. The sealing block (14) is embedded and fixed on the inner wall of the sliding arm. The sealing block (14) is in sliding and sealing contact with the surface of the sliding arm. The main arm (4) also has an integrally formed arc-shaped oil baffle (16), and the arc-shaped oil baffle (16) and the sliding arm located in the sliding cavity form a hydraulic oil chamber (17) connected to an external high-pressure oil pump. The sliding arm has a mounting nozzle (18) at the center of its back. A valve cylinder (19) is rotatably mounted inside the mounting nozzle (18). The valve cylinder (19) is closed at both ends and can rotate around its own axis. The cylinder wall of the valve cylinder (19) has two valve holes (21). The side surface of the valve cylinder (19) that protrudes from the mounting nozzle (18) also has an oil inlet (20). The oil inlet (20) is directly opposite the area between the two valve holes (21). The sliding arm has a hydraulic push chamber (22). The hydraulic oil flowing out through the valve holes (21) is injected into the hydraulic push chamber (22) to push the sliding arm to slide within the main arm (4).

2. The multi-axis linkage frame according to claim 1, characterized in that, The first rotating part (2), the second rotating part (3) and the third rotating part (7) each include a gear ring (10) and a plurality of transmission gears (11), as well as a central wheel (13). The central wheel (13) is connected to the main shaft (12) of the motor. The transmission gears (11) are located inside the gear ring (10) and mesh with the gear ring (10) and the central wheel (13) at the same time.

3. A multi-axis linkage frame according to claim 1, characterized in that, An installation sleeve (15) is fixed on the inner wall of the main arm (4), and the installation sleeve (15) is used to fix one end of the sealing block (14) for installation.

4. A multi-axis linkage frame according to claim 1, characterized in that, The hydraulic jacking cavity (22) is arc-shaped and located in the middle section of the sliding arm. A partition mound is raised in the center of the inner wall of one side of the hydraulic jacking cavity (22). The top surface of the partition mound is in sliding sealing contact with the cylinder wall of the valve cylinder (19). The size of the top surface of the partition mound must be able to completely cover one valve hole (21) so that after the valve cylinder (19) rotates to one valve hole (21) and its corresponding side hydraulic jacking cavity (22) are connected, the other valve hole (21) is covered and sealed by the top surface of the partition mound.

5. A multi-axis linkage frame according to claim 1, characterized in that, On the back of the main arm (4) directly opposite the hydraulic jacking chamber (22) and the hydraulic oil chamber (17), there is an arc-shaped slot (23). An adjusting rod (27) passes through the slot (23) and is fixed to the end face of the valve cylinder (19). The adjusting rod (27) also slides with the slot (23) so that after the valve cylinder (19) is rotated to the position by the adjusting rod (27), the adjusting rod (27) can move in an arc with the valve cylinder (19) and the sliding arm in the main arm (4).

6. A multi-axis linkage frame according to claim 5, characterized in that, The slot (23) is parallel to a guide groove (24), which is located on the back of the sliding arm. A slider (25) is slidably installed in the guide groove (24). The slider (25) has a stepped hole (31) in the center. The stepped hole (31) is always aligned with the slot (23). The top of the adjusting rod (27) is vertically and elastically installed in a locking cover (26) in the stepped hole (31) through a tension spring (28) and a sliding key (29). The bottom end of the adjusting rod (27) is fixedly connected to the end face of the valve cylinder (19). Under normal conditions, the tension spring (28) causes the locking cover (26) to be in close contact with the slider (25), and the end face of the valve cylinder (19) is in close contact with the inner wall of the main arm (4). When the adjusting rod (27) is pulled outward behind the main arm (4), the tension spring (28) is stretched and the locking cover (26) is separated from the slider (25). After rotating at a set angle and then releasing, the locking screw cover and the slider (25) return to the contact state.

7. A multi-axis linkage frame according to claim 6, characterized in that, The top of the slider (25) has two adjacent notches (32), and the bottom surface of the locking cover (26) has a protruding wedge-shaped part. When the wedge-shaped part is inserted into the two notches (32) in sequence, the two valve holes (21) are connected to their corresponding hydraulic push chambers (22) in sequence.

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