Three-axis truss robot

Abstract

The invention discloses a three-axis truss robot, and relates to the technical field of truss robots, and the three-axis truss robot comprises a stand column. In the process that the three-axis truss robot is used for assisting the tubular workpiece machining operation, through mutual cooperation of the transverse driving assembly, the longitudinal driving assembly, the vertical driving assembly and the clamping assembly, the tubular workpiece is taken, moved and placed, and in the workpiece clamping process, the tubular workpiece is clamped through the rotating assembly; the purpose that two sets of tubular workpieces are clamped at a time is achieved, the machining efficiency is improved, in addition, in the rotation adjusting process, the tubular workpieces clamped on the triangular frame are shaken through transmission, separation of chippings on the tubular workpieces in the machining process is assisted, follow-up stable clamping and machining of the tubular workpieces are facilitated, and the machining efficiency is improved. And high-quality machining operation of the tubular workpiece is further ensured.

Description

Technical Field

[0001] This invention relates to the field of gantry robot technology, specifically a three-axis gantry robot. Background Technology

[0002] During the processing of tubular workpieces, a three-axis gantry robot is required between different processes to handle the loading and unloading of the workpiece. During the processing of tubular workpieces, cutting oil and some debris will be present on the workpiece. Due to the viscosity of the cutting oil, some debris will adhere to the surface of the tubular workpiece and be difficult to separate. The presence of debris on the tubular workpiece will affect the stable clamping and processing of the subsequent tubular workpiece, and may even cause indentations and scratches on the tubular workpiece, affecting the high-quality processing of the tubular workpiece. To address this, we propose a three-axis gantry robot. Summary of the Invention

[0003] The purpose of this invention is to provide a three-axis gantry robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a three-axis gantry robot, comprising a column, wherein the column is provided with a lateral moving stage for lateral movement, a longitudinal moving stage for longitudinal movement, and a vertical moving stage for vertical movement; the column is provided with an oil receiving tray for oil collection and processing of workpieces; and further comprising: A lateral drive assembly is mounted on a column for driving the lateral movement of the lateral moving stage. The column is provided with a longitudinal drive assembly and a vertical drive assembly for driving the longitudinal moving stage and the vertical moving stage, respectively. A tripod is set below the vertical moving stage. The tripod is equipped with a clamping component for clamping the workpiece, and the clamping component is equipped with a positioning component for positioning during the clamping process. In addition, a rotating assembly for rotating the tripod is disposed between the tripod and the vertical moving platform. The rotating assembly is provided with a shaking component for shaking the tripod during rotation. The vertical moving platform is triangular in shape, and the tripod and the vertical moving platform are arranged in a square shape.

[0005] Preferably, the rotating assembly includes a mounting motor mounted on a vertical moving platform, a splined cylinder mounted on the output end of the mounting motor, a splined shaft slidably connected to the splined cylinder, one end of the splined shaft being fixed to a tripod, and a first spring being sleeved on the outer side of the splined shaft.

[0006] Preferably, the vibration assembly includes a first mounting ring fixed to a vertical moving platform, a splined cylinder rotatably connected to the first mounting ring, a second mounting ring fixed to the outer side of the splined shaft, and the splined cylinder, the first mounting ring, and the second mounting ring being concentrically arranged. A push rod is fixed on the first mounting ring, the front end of the push rod being rounded. A hemispherical protrusion is fixed on the second mounting ring for abutting against the front end of the push rod during rotation. The two ends of the first spring are respectively connected to the ends of the second mounting ring and the splined cylinder, and one end of the push rod abuts against one side of the second mounting ring under the elastic force of the first spring.

[0007] Preferably, the push rod and hemispherical protrusion are arranged in multiple sets in a circular array.

[0008] Preferably, the clamping assembly has two sets on the tripod. The clamping assembly includes a mounting base fixed on the tripod. Multiple sets of sliders are slidably connected on the mounting base in a circular array. The mounting base is provided with a driving component for driving the sliders. The sliders are fixed with claws, and the claws are fixed with a pressing roller for pressing against the inner side of the tubular workpiece.

[0009] Preferably, multiple sets of the positioning components are arranged in a circular array on the mounting base. Each positioning component includes a T-shaped mounting rod fixed to the mounting base. A positioning plate for pressing against the end of the tubular workpiece is slidably connected to the T-shaped mounting rod. A second spring is sleeved on the outer side of the T-shaped mounting rod, and the two ends of the second spring are respectively abutted against the mounting base and the positioning plate.

[0010] Preferably, the lateral drive assembly includes a first slide rail fixed to the column, a first slide block fixed to the bottom of the lateral moving platform, the first slide block being slidably connected to the first slide rail, a first rack fixed to the column, a first gear rotatably connected to the lateral moving platform, the first gear being meshed with the first rack, and a first motor for driving the first gear being mounted on the lateral moving platform.

[0011] Preferably, the longitudinal drive assembly includes a second slide rail fixed to a transverse moving platform, a second slide block fixed to the longitudinal moving platform, the second slide block being slidably connected to the second slide rail, a second rack fixed to one side of the longitudinal moving platform, a second gear provided on the transverse moving platform, the second gear meshing with the second rack, and a second motor for driving the second gear mounted on the transverse moving platform.

[0012] Preferably, the vertical drive assembly includes a mounting frame fixed to a longitudinal moving platform, a third slide rail fixed on the mounting frame, a lifting platform slidably connected to the third slide rail, the vertical moving platform fixed to the lower end of the lifting platform, a third rack fixed on the lifting platform, a third gear provided on the mounting frame, the third gear meshing with the third rack, and a third motor for driving the third gear mounted on the mounting frame.

[0013] Compared with the prior art, the beneficial effects of the present invention are: In this invention, a three-axis gantry robot is used to assist in the processing of tubular workpieces. Through the cooperation of the horizontal drive component, the vertical drive component, the vertical drive component, and the clamping component, the workpieces are picked up, moved, and unloaded. During the workpiece clamping process, the rotating component enables the clamping of two sets of tubular workpieces at once, improving processing efficiency. In addition, during the rotation adjustment process, the transmission achieves a shaking effect on the tubular workpieces clamped on the tripod, which helps to separate the chips present on the tubular workpieces during processing, facilitating the stable clamping and processing of the tubular workpieces in the future, and further ensuring high-quality processing of the tubular workpieces. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall external structure of the present invention; Figure 2 This is a schematic diagram of the lateral drive component structure of the present invention; Figure 3 This is a schematic diagram of the longitudinal drive component structure of the present invention; Figure 4 This is a schematic diagram of the vertical drive component structure of the present invention; Figure 5 This is a schematic diagram showing the positional relationship between the tripod and the vertical moving platform of the present invention; Figure 6 This is a schematic diagram of the clamping and positioning components of the present invention; Figure 7 This is a schematic diagram of the rotating component structure of the present invention; Figure 8 This is a schematic diagram of the jitter component structure of the present invention.

[0015] In the diagram: 101, column; 102, horizontal moving platform; 103, vertical moving platform; 104, vertical moving platform; 105, oil receiving tray; 201, first slide rail; 202, first slide block; 203, first rack; 204, first gear; 205, first motor; 301, second slide rail; 302, second slide block; 303, second rack; 304, second gear; 305, second motor; 401, mounting bracket; 402, third slide rail; 403, lifting platform ; 404, Third rack; 405, Third gear; 406, Third motor; 5, Triangular frame; 601, Mounting base; 602, Slider; 603, Claw; 604, Extrusion roller; 701, T-shaped mounting rod; 702, Positioning plate; 703, Second spring; 801, Mounting motor; 802, Splined cylinder; 803, Splined shaft; 804, First spring; 901, First mounting ring; 902, Second mounting ring; 903, Push rod; 904, Hemispherical protrusion. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1 Please see Figures 1-8 The diagram shows a three-axis gantry robot, including a column 101, on which are mounted a lateral moving stage 102 for lateral movement, a longitudinal moving stage 103 for longitudinal movement, and a vertical moving stage 104 for vertical movement. The column 101 also includes an oil receiving tray 105 for receiving oil on workpieces. The robot further includes: A lateral drive assembly is mounted on the column 101 for driving the lateral movement of the lateral moving stage 102. The column 101 is also provided with a longitudinal drive assembly and a vertical drive assembly for driving the longitudinal moving stage 103 and the vertical moving stage 104, respectively. Tripod 5 is located below vertical moving table 104. Tripod 5 is equipped with a clamping assembly for clamping the workpiece, and the clamping assembly is equipped with a positioning assembly for positioning during the clamping process. In addition, a rotating component is provided between the tripod 5 and the vertical moving stage 104 for rotating the tripod 5. The rotating component is provided with a shaking component for shaking the tripod 5 during rotation. The vertical moving stage 104 is triangular in shape, and the tripod 5 and the vertical moving stage 104 are arranged in a square shape. It should be noted that during the process of using a three-axis gantry robot to assist in the processing of tubular workpieces, the cooperation of the horizontal drive component, the vertical drive component, the vertical drive component, and the clamping component completes the picking, moving, and unloading of the tubular workpieces. During the workpiece clamping process, the rotation component enables the clamping of two sets of tubular workpieces at once, improving processing efficiency. In addition, during the rotation adjustment process, the transmission achieves a shaking effect on the tubular workpieces clamped on the tripod 5, which helps to separate the chips present on the tubular workpieces during processing, facilitating the stable clamping and processing of the tubular workpieces in the future, and further ensuring high-quality processing of the tubular workpieces.

[0018] Preferably, the rotating assembly includes a mounting motor 801 mounted on a vertical moving stage 104, a splined cylinder 802 mounted on the output end of the mounting motor 801, a splined shaft 803 slidably connected to the splined cylinder 802, one end of the splined shaft 803 being fixed to the tripod 5, and a first spring 804 being sleeved on the outer side of the splined shaft 803. It should be noted that after machining the tubular workpiece, the splined cylinder 802 is driven to rotate by the motor 801. During the rotation of the splined cylinder 802, the tripod 5 is driven to rotate through the transmission action of the splined cylinder 802 and the splined shaft 803. By rotating the tripod 5, the positions of the two sets of clamped workpieces are switched, and the other set of clamping components that do not clamp workpieces is used to clamp other tubular workpieces, so as to achieve the purpose of clamping two sets of tubular workpieces at one time and improve the processing efficiency.

[0019] Preferably, the shaking assembly includes a first mounting ring 901 fixed on the vertical moving stage 104, a splined cylinder 802 rotatably connected to the first mounting ring 901, a second mounting ring 902 fixed on the outer side of the splined shaft 803, and the splined cylinder 802, the first mounting ring 901 and the second mounting ring 902 are concentrically arranged. A push rod 903 is fixed on the first mounting ring 901, and the front end of the push rod 903 is rounded. A hemispherical protrusion 904 is fixed on the second mounting ring 902 for abutting against the front end of the push rod 903 during rotation. The two ends of the first spring 804 are respectively connected to the ends of the second mounting ring 902 and the splined cylinder 802, and one end of the push rod 903 abuts against one side of the second mounting ring 902 under the elastic force of the first spring 804. It should be noted that during the rotation of the tripod 5, the rotation of the spline shaft 803 drives the second mounting ring 902 and the sets of hemispherical protrusions 904 on the second mounting ring 902 to move. During the movement, the hemispherical protrusions 904 successively abut against one end of the push rod 903. During the abutment, the second mounting ring 902, spline shaft 803 and tripod 5 are pushed away from the vertical moving table 104. When the hemispherical protrusions 904 are not abutting against one end of the push rod 903, the elastic force of the first spring 804 causes the second mounting ring 902, spline shaft 803 and tripod 5 to return to their original positions. Therefore, during the steering adjustment of the tripod 5, the transmission causes the tripod 5 to move towards or away from the vertical moving table 104. Through the reciprocating motion, the tubular workpiece clamped on the tripod 5 achieves a shaking effect.

[0020] Preferably, multiple sets of push rods 903 and hemispherical protrusions 904 are arranged in a circular array; It should be noted here that the efficiency of the vibration is ensured by using multiple sets of push rods 903 and hemispherical protrusions 904.

[0021] Preferably, two sets of clamping assemblies are provided on the tripod 5. The clamping assembly includes a mounting base 601 fixed on the tripod 5. Multiple sets of sliders 602 are slidably connected to the mounting base 601 in a circular array. A driving component for driving the sliders 602 is provided on the mounting base 601. A claw 603 is fixed on the slider 602. A pressing roller 604 for pressing against the inner side of the tubular workpiece is fixed on the claw 603. Multiple sets of positioning assemblies are provided on the mounting base 601 in a circular array. The positioning assembly includes a T-shaped mounting rod 701 fixed on the mounting base 601. A positioning plate 702 for pressing against the end of the tubular workpiece is slidably connected to the T-shaped mounting rod 701. A second spring 703 is sleeved on the outer side of the T-shaped mounting rod 701. The two ends of the second spring 703 are respectively abutted against the mounting base 601 and the positioning plate 702. It should be noted that: the drive tripod 5 moves toward the tubular workpiece. During the movement, each set of jaws 603 is positioned inside the tubular workpiece, and each set of positioning plates 702 abuts against the end of the tubular workpiece. The abutting and squeezing action between the positioning plates 702 and the end of the tubular workpiece assists in the positioning of the tubular workpiece during the clamping process. After driving the tripod 5, the drive of each set of jaws 603 moves away from each other, and the squeezing roller 604 abuts against the inner wall of the tubular workpiece. Through the abutting and squeezing action, the clamping of the tubular workpiece is completed.

[0022] Preferably, the lateral drive assembly includes a first slide rail 201 fixed on the column 101, a first slide block 202 fixed at the bottom of the lateral moving stage 102, the first slide block 202 being slidably connected to the first slide rail 201, a first rack 203 fixed on the column 101, a first gear 204 rotatably connected on the lateral moving stage 102, the first gear 204 and the first rack 203 being meshed with each other, and a first motor 205 for driving the first gear 204 mounted on the lateral moving stage 102; It should be noted here that: the first motor 205 drives the first gear 204 to rotate. During the rotation of the first gear 204, the first gear 204 and the first rack 203 mesh with each other and the first slide block 202 and the first slide rail 201 slide laterally, causing the transverse moving table 102 to move laterally on the column 101. During the transverse moving table 102, the tripod 5 is driven to move laterally through the connection of the longitudinal driving component and the vertical driving component.

[0023] Preferably, the longitudinal drive assembly includes a second slide rail 301 fixed on the transverse moving stage 102, a second slide block 302 fixed on the longitudinal moving stage 103, the second slide block 302 being slidably connected to the second slide rail 301, a second rack 303 fixed on one side of the longitudinal moving stage 103, a second gear 304 provided on the transverse moving stage 102, the second gear 304 being meshed with the second rack 303, and a second motor 305 for driving the second gear 304 mounted on the transverse moving stage 102. It should be noted that: the second motor 305 drives the second gear 304 to rotate. During the rotation of the second gear 304, the meshing transmission between the second gear 304 and the second rack 303 and the sliding guidance between the second slide block 302 and the second slide rail 301 cause the longitudinal moving table 103 to move longitudinally on the column 101. During the longitudinal movement of the longitudinal moving table 103, the tripod 5 is driven to move longitudinally through the connection of the vertical drive assembly.

[0024] Preferably, the vertical drive assembly includes a mounting frame 401 fixed on the longitudinal moving stage 103, a third slide rail 402 fixed on the mounting frame 401, a lifting stage 403 slidably connected on the third slide rail 402, a vertical moving stage 104 fixed to the lower end of the lifting stage 403, a third rack 404 fixed on the lifting stage 403, a third gear 405 provided on the mounting frame 401, the third gear 405 and the third rack 404 meshing with each other, and a third motor 406 for driving the third gear 405 mounted on the mounting frame 401. It should be noted here that: the third motor 406 drives the third gear 405 to rotate. During the rotation of the third gear 405, the vertical moving platform 104 moves vertically on the column 101 and drives the tripod 5 to move synchronously through the meshing transmission between the third gear 405 and the third rack 404 and the sliding guidance between the lifting platform 403 and the third slide rail 402. It is worth noting here that the first motor 205, the second motor 305, the third motor 406, the mounting motor 801, and the drive components are conventional drive components in this application, and their working principles and control methods are well-known technologies, so they will not be described in detail here.

[0025] This solution describes a three-axis gantry robot, comprising the following steps: In the process of using a three-axis gantry robot to assist in the processing of tubular workpieces, the first motor 205 drives the first gear 204 to rotate. During the rotation of the first gear 204, the meshing transmission between the first gear 204 and the first rack 203, and the sliding guidance between the first slide block 202 and the first slide rail 201, cause the transverse moving table 102 to move laterally on the column 101. During the lateral movement of the transverse moving table 102, the connection between the longitudinal drive component and the vertical drive component drives the tripod 5 to move laterally. Then, the second motor 305 drives the second gear 304 to rotate. During the rotation of the second gear 304, the meshing transmission between the second gear 304 and the second rack 303, and the sliding guidance between the first slide block 202 and the first slide rail 201, cause the transverse moving table 102 to move laterally on the column 101. The sliding guide function of the slide block 302 and the second slide rail 301 causes the longitudinal moving table 103 to move longitudinally on the column 101. During the longitudinal movement of the longitudinal moving table 103, the vertical drive assembly connects and drives the tripod 5 to move longitudinally. In addition, the third motor 406 drives the third gear 405 to rotate. During the rotation of the third gear 405, the meshing transmission between the third gear 405 and the third rack 404 and the sliding guide function of the lifting table 403 and the third slide rail 402 cause the vertical moving table 104 to move vertically on the column 101 and drive the tripod 5 to move synchronously. Through the horizontal, longitudinal and vertical movement of the tripod 5 and the clamping assembly, the picking, moving and unloading operations of the tubular workpiece are completed. During the clamping process of the clamping assembly, the tripod 5 is driven to move toward the tubular workpiece. During the movement, each set of jaws 603 is positioned inside the tubular workpiece and each set of positioning plates 702 abuts against the end of the tubular workpiece. The abutting and squeezing action between the positioning plates 702 and the end of the tubular workpiece assists in the positioning of the tubular workpiece during the clamping process. After driving the tripod 5, the jaws 603 are driven to move away from each other and the squeezing roller 604 abuts against the inner wall of the tubular workpiece. The clamping of the tubular workpiece is completed through the abutting and squeezing action. In addition, after machining the tubular workpiece, the splined cylinder 802 is driven to rotate by the motor 801. During the rotation of the splined cylinder 802, the connection between the splined cylinder 802 and the splined shaft 803 drives the tripod 5 to rotate. The rotation of the tripod 5 switches the positions of the two sets of clamped workpieces, and uses another set of clamping components that do not clamp workpieces to clamp other tubular workpieces, achieving the purpose of clamping two sets of tubular workpieces at once, thus improving processing efficiency. During the rotation of the tripod 5, the rotation of the splined shaft 803 drives the second mounting ring 902 and the sets of hemispherical protrusions 904 on the second mounting ring 902 to move. During the movement, the hemispherical protrusions 904 sequentially engage with the push rod 903. When one end of the push rod 903 is in contact with the other end, the second mounting ring 902, spline shaft 803, and tripod 5 are pushed away from the vertical moving table 104. When the hemispherical protrusion 904 is not in contact with one end of the push rod 903, the second mounting ring 902, spline shaft 803, and tripod 5 are reset by the elastic force of the first spring 804. Therefore, during the adjustment of the direction of the tripod 5, the tripod 5 is pushed towards or away from the vertical moving table 104 by the transmission. Through the reciprocating motion, the tubular workpiece clamped on the tripod 5 is shaken, which helps to separate the chips on the tubular workpiece during the processing, facilitates the stable clamping and processing of the tubular workpiece, and further ensures the high-quality processing of the tubular workpiece.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-axis truss robot, comprising: a column (101) provided with a lateral moving table (102) for lateral movement, a longitudinal moving table (103) for longitudinal movement, and a vertical moving table (104) for vertical movement, and an oil receiving disc (105) for oil receiving treatment of a workpiece; characterized in that it further comprises: a lateral drive assembly provided on the column (101) for driving the lateral movement of the lateral moving table (102), and a longitudinal drive assembly and a vertical drive assembly provided on the column (101) for driving the longitudinal moving table (103) and the vertical moving table (104), respectively; a tripod (5) provided below the vertical moving table (104), the tripod (5) being provided with a clamping assembly for clamping the workpiece, and the clamping assembly being provided with a positioning assembly for positioning during clamping; and a rotating assembly provided between the tripod (5) and the vertical moving table (104) for rotating the tripod (5), the rotating assembly being provided with a shaking assembly for shaking the tripod (5) during rotation, the vertical moving table (104) being arranged in a triangular shape, and the tripod (5) and the vertical moving table (104) being arranged in a square shape.

2. The tri-axial truss robot of claim 1, wherein: The rotating assembly comprises a mounting motor (801) mounted on the vertical moving table (104), a spline barrel (802) mounted on the output end of the mounting motor (801), a spline shaft (803) slidably connected to the spline barrel (802), one end of the spline shaft (803) being fixed to the tripod (5), and a first spring (804) being sleeved outside the spline shaft (803).

3. The tri-axial truss robot of claim 2, wherein: The shaking assembly comprises a first mounting ring (901) fixed to the vertical moving table (104), the spline barrel (802) being rotatably connected to the first mounting ring (901), a second mounting ring (902) being fixed to the outside of the spline shaft (803), the spline barrel (802), the first mounting ring (901), and the second mounting ring (902) being concentrically arranged, a push rod (903) being fixed to the first mounting ring (901), the front end of the push rod (903) being rounded, a hemispherical protrusion (904) being fixed to the second mounting ring (902) for transmission against the front end of the push rod (903) during rotation, and the two ends of the first spring (804) being connected to the ends of the second mounting ring (902) and the spline barrel (802), respectively, and one end of the push rod (903) being arranged against one side of the second mounting ring (902) under the elastic force of the first spring (804).

4. The tri-axial truss robot of claim 3, wherein: The push rod (903) and the hemispherical protrusion (904) are arranged in multiple groups in a ring array.

5. The tri-axial truss robot of claim 1, wherein: The clamping assembly is provided with two groups on the tripod (5), the clamping assembly includes the mounting seat (601) fixed on the tripod (5), a plurality of groups of sliding blocks (602) are slidably connected in annular array on the mounting seat (601), the mounting seat (601) is provided with a driving component for driving the sliding block (602), the sliding block (602) is fixed with a claw (603), the claw (603) is fixed with an extrusion roller (604) for extruding the inner side of the tubular workpiece.

6. The tri-axial truss robot of claim 5, wherein: The positioning assembly is provided with a plurality of groups in annular array on the mounting seat (601), the positioning assembly includes the T-shaped mounting rod (701) fixed on the mounting seat (601), the T-shaped mounting rod (701) is slidably connected with a positioning plate (702) for extruding the end of the tubular workpiece, the outer side of the T-shaped mounting rod (701) is sleeved with the second spring (703), and the two ends of the second spring (703) are respectively arranged in abutment with the mounting seat (601) and the positioning plate (702).

7. The tri-axial truss robot of claim 1, wherein: The transverse driving assembly includes the first sliding rail (201) fixed on the stand column (101), the bottom of the transverse moving table (102) is fixed with the first sliding seat (202), the first sliding seat (202) is slidably connected on the first sliding rail (201), the stand column (101) is fixed with the first rack (203), the transverse moving table (102) is rotatably connected with the first gear (204), the first gear (204) and the first rack (203) are arranged in meshing relationship, and the transverse moving table (102) is provided with the first motor (205) for driving the first gear (204).

8. The tri-axial truss robot of claim 7, wherein: The longitudinal driving assembly includes the second sliding rail (301) fixed on the transverse moving table (102), the longitudinal moving table (103) is fixed with the second sliding seat (302), the second sliding seat (302) is slidably connected on the second sliding rail (301), one side of the longitudinal moving table (103) is fixed with the second rack (303), the transverse moving table (102) is provided with the second gear (304), the second gear (304) and the second rack (303) are arranged in meshing relationship, and the transverse moving table (102) is provided with the second motor (305) for driving the second gear (304).

9. The tri-axial truss robot of claim 8, wherein: The vertical driving assembly includes the mounting frame (401) fixed on the longitudinal moving table (103), the mounting frame (401) is fixed with the third sliding rail (402), the third sliding rail (402) is slidably connected with the lifting table (403), the vertical moving table (104) is fixed to the lower end of the lifting table (403), the lifting table (403) is fixed with the third rack (404), the mounting frame (401) is provided with the third gear (405), the third gear (405) and the third rack (404) are arranged in meshing relationship, and the mounting frame (401) is provided with the third motor (406) for driving the third gear (405).

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