A high-speed heavy-load double-gantry multi-axis composite truss robot

Abstract

This invention provides a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot, belonging to the field of gantry robot technology. The robot includes a three-axis gantry, a sleeve fixed to the bottom of a lifting module, and a sleeve that can be raised and lowered at the lower end of the sleeve. The sleeve is connected to a vacuum pump, and the bottom end of the sleeve is connected to a first annular tube, a second annular tube, and a third annular tube arranged coaxially. Multiple first, second, and third suction cups are evenly mounted circumferentially at the bottom ends of each of the three tubes. Initially, only the first annular tube is connected to the vacuum pump. After adsorbing a glass plate, the sleeve moves downward relative to the sleeve under gravity; the heavier the glass plate, the greater the displacement. The second and third annular tubes connect to the vacuum pump sequentially as the displacement increases. This invention automatically adjusts the number of suction cups based on the weight of the glass plate; for thin glass, only a few suction cups work to prevent deformation, while for thick glass, all suction cups work together to ensure stability, thus balancing deformation prevention and heavy-duty transport requirements.

Description

Technical Field

[0001] This invention relates to the field of gantry robot technology, and more particularly to a high-speed, heavy-duty, dual-gantry multi-axis composite gantry robot. Background Technology

[0002] Gantry robots are widely used in the field of automated glass plate handling. Under high-speed and heavy-load conditions, multiple suction cups are usually required to ensure suction stability and safe transport.

[0003] However, there is a contradiction between the number of suction cups and the thickness of the glass plate: thick glass requires more suction cups to provide sufficient adhesion, while thin glass, due to its poor bending stiffness, is prone to local deformation or even breakage due to excessive suction cups creating multiple points of support. Existing fixed suction cup layouts cannot simultaneously ensure both the prevention of deformation in thin plates and the safety under heavy loads in thick plates. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and propose a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A high-speed, heavy-duty dual-gantry multi-axis composite gantry robot includes a three-axis gantry. A sleeve is fixedly mounted at the bottom of the lifting module of the three-axis gantry. A sleeve is movably mounted at the lower end of the sleeve, and the sleeve is connected to an external vacuum pump. A first annular tube, a second annular tube, and a third annular tube are coaxially connected to the bottom of the sleeve. The first annular tube is located on the outer layer and has multiple first suction cups evenly mounted circumferentially at its bottom end. The second annular tube is located in the middle and has multiple second suction cups evenly mounted circumferentially at its bottom end. The third annular tube is located on the inner layer and has multiple third suction cups evenly mounted circumferentially at its bottom end. Initially, only the first annular tube is connected to the vacuum pump. After the first suction cups adsorb a glass plate, the sleeve displaces downwards relative to the sleeve under the gravity of the glass plate. The heavier the glass plate, the greater the displacement. As the displacement increases, the second and third annular tubes sequentially connect to the vacuum pump.

[0006] Preferably, a first piston plate is slidably connected to the inner surface of the sleeve. The upper space of the first piston plate is a second space, and the lower space of the first piston plate is a first space. A first spring is provided in the second space. The first spring is fastened between the inner top surface of the sleeve and the upper surface of the first piston plate. A telescopic tube is fixedly provided at the middle of the bottom end of the first piston plate. The bottom end of the telescopic tube is fixedly connected to the upper end of the sleeve. The telescopic tube is slidably connected to the middle of the bottom end of the sleeve. Hydraulic oil is stored in the first space. The greater the downward displacement of the sleeve relative to the sleeve, the greater the amount of hydraulic oil discharged from the first space. The second annular tube and the third annular tube are connected to the vacuum pump in sequence as the amount of hydraulic oil discharged from the first space increases.

[0007] Preferably, a fixed pipe is fixedly connected to the upper side wall of the second space, and a solenoid valve is fixedly installed on the fixed pipe. The second space is connected to the external environment through the fixed pipe.

[0008] Preferably, a fixing plate is coaxially fixed to the middle of the inner side of the sleeve. A second piston plate and a third piston plate are respectively provided on both sides of the fixing plate. The second piston plate divides the space into a third space and a fourth space, and the third piston plate divides the space into a fifth space and a sixth space. The third space is connected to an external vacuum pump. A second hose is fixedly connected to the side wall of the fourth space and is connected to the vacuum pump. The fifth space is connected to the inside of the telescopic tube and is filled with hydraulic oil. A second spring is provided in the sixth space. The second spring is fastened between the side of the third piston plate and the inner wall of the sixth space. The sixth space is connected to the external environment through a hole at its end. A connecting shaft is fastened between the second piston plate and the third piston plate. The connecting shaft is slidably connected to the middle of the fixing plate. As the internal space of the third space gradually increases, the second annular tube and the third annular tube are sequentially connected to the third space. Multiple evenly distributed oil holes are opened on the upper side wall of the telescopic tube.

[0009] Preferably, a first pipe and a first connecting rod are symmetrically arranged between the first annular pipe and the sleeve. The two ends of the first connecting rod are fixedly connected to the bottom end of the sleeve and the top end of the first annular pipe, respectively. The two ends of the first pipe are connected to the bottom end of the sleeve and the top end of the first annular pipe, respectively. A second pipe and a second connecting rod are symmetrically arranged between the second annular pipe and the sleeve, and the connection method is the same as that of the first annular pipe. A third pipe and a third connecting rod are symmetrically arranged between the third annular pipe and the sleeve, and the connection method is the same as that of the first annular pipe.

[0010] Preferably, a support plate is fixedly installed on the lower outer side of the sleeve, the vacuum pump is fixedly installed on the upper side of the support plate, and the air inlet end of the vacuum pump is fixedly connected to a first hose, the air inlet end of the first hose being fixedly connected to the end of the sleeve.

[0011] Preferably, the bottom ends of the first suction cup, the second suction cup, and the third suction cup are covered with rubber pads.

[0012] Preferably, the bottom end of the lifting module of the three-axis truss is further fixed with an adhesive injection assembly, which includes an adhesive injection gun, an adhesive supply pipeline, and an adhesive injection machine. The adhesive injection gun is installed at the bottom end of the lifting module of the three-axis truss, and the adhesive injection gun is connected to the adhesive injection machine through the adhesive supply pipeline. The adhesive injection machine is used to store adhesive and supply adhesive to the adhesive injection gun.

[0013] Preferably, a sealing ring is embedded in the middle of the bottom end of the sleeve, and the outer wall of the telescopic tube slides and seals with the inner wall of the sealing ring.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. By utilizing the displacement of the sleeve relative to the sleeve under the gravity of the glass plate, the second and third annular tubes are sequentially connected to the vacuum pump, and the number of suction cups put into operation can be automatically increased or decreased according to the weight of the glass plate without the need for an electrical control system. 2. For thin glass, only a small number of the outer first suction cups work to avoid local deformation caused by multiple support points; for thick glass, all the inner and outer suction cups work together to increase the adsorption area and adsorption force, ensuring the stability of heavy-duty high-speed transportation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the external structure of the sleeve in a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the sleeve and tube in a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention. Figure 4 This is a schematic diagram showing the connection between the first pipe and the third space in a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention. Figure 5 This is a schematic diagram showing the connection between the second pipe and the third space in a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention. Figure 6 This is a schematic diagram showing the connection between the third pipe and the third space in a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to an embodiment of the present invention. Figure 7 for Figure 3 Enlarged view of the structure at point A in the image; Figure 8 for Figure 4 Enlarged view of the structure at point B in the image.

[0016] In the diagram: 100, Three-axis truss; 200, Glue injection assembly; 300, Sleeve; 301, First piston plate; 302, First space; 303, Second space; 304, Telescopic tube; 305, Oil hole; 306, First spring; 307, Fixed tube; 308, Solenoid valve; 400, Sleeve; 401, Fixed plate; 402, Third space; 403, Fourth space; 404, Fifth space; 405, Sixth space; 406, Second piston plate; 407. Connecting shaft; 408, third piston plate; 409, second spring; 500, vacuum pump; 501, first hose; 502, support plate; 600, first pipe; 601, first connecting rod; 602, first annular tube; 603, first suction cup; 700, second pipe; 701, second connecting rod; 702, second annular tube; 703, second suction cup; 800, third pipe; 801, third connecting rod; 802, third annular tube; 803, third suction cup. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] The terms used in this invention, such as "upper," "lower," "left," "right," "middle," and "one," are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0019] like Figures 1-8 As shown, this embodiment of the invention provides a high-speed, heavy-duty dual-gantry multi-axis composite gantry robot, including a three-axis gantry 100. A sleeve 300 is fixedly installed at the bottom end of the lifting module of the three-axis gantry 100. A sleeve 400 is movably mounted at the lower end of the sleeve 300. The sleeve 400 is connected to an external vacuum pump 500. A first annular tube 602, a second annular tube 702, and a third annular tube 802 are coaxially connected to the bottom end of the sleeve 400. The first annular tube 602 is located on the outer layer, and multiple first suction cups 603 are evenly installed circumferentially at its bottom end. The second annular tube 702 is located in the middle and has multiple second suction cups 703 evenly installed around its bottom end. The third annular tube 802 is located in the inner layer and has multiple third suction cups 803 evenly installed around its bottom end. In the initial state, only the first annular tube 602 is connected to the vacuum pump 500. After the first suction cup 603 adsorbs the glass plate, the sleeve 400 is displaced downward relative to the sleeve 300 under the gravity of the glass plate. The heavier the glass plate, the greater the displacement. The second annular tube 702 and the third annular tube 802 are connected to the vacuum pump 500 in sequence as the displacement increases.

[0020] In this embodiment, during operation, the three-axis truss 100 drives the lifting module to descend, causing the first suction cup 603 to contact the glass plate. The vacuum pump 500 starts, evacuating only the first annular tube 602 and the first suction cup 603, causing the glass plate to be adsorbed by the first suction cup 603; the lifting module rises, and the glass plate is lifted off the support surface. At this time, the sleeve 400 bears the entire weight of the glass plate. The weight of the glass plate forces the sleeve 400 to displace downward relative to the sleeve 300. The heavier the glass plate, the greater the displacement; for thinner, lighter glass plates, the weight is smaller, and the displacement of the sleeve 400 is insufficient to trigger the next stage of the process. At this time, only the first annular tube 602 maintains a vacuum, and the lifting is completed by a smaller number of first suction cups 603. Because thin glass has low bending stiffness, a small number of suction cups can avoid local deformation caused by multiple points of support; for thicker, heavier glass plates, the weight is larger, and the downward displacement of the sleeve 400 increases. When the displacement reaches the first preset threshold, the second annular tube 702 is connected to the vacuum pump 500, and the second suction cup 703 is activated. At this time, the first suction cup 603 and the second suction cup 703 jointly adsorb the glass plate, increasing the adsorption area and adsorption force. When the weight of the glass plate further increases, and the displacement of the sleeve 400 continues to increase to the second preset threshold, the third annular tube 802 is connected to the vacuum pump 500, and the third suction cup 803 is activated. At this time, all the first suction cups 603, second suction cups 703, and third suction cups 803 jointly adsorb the glass plate, ensuring transport stability with maximum adsorption force. The heavy glass plate is thick and has high bending stiffness, enabling it to withstand the multi-point support force from more suction cups without significant deformation. This invention achieves adaptive adjustment of the number of adsorption points according to the weight of the glass plate, striking a balance between preventing deformation of thin plates and ensuring stability under heavy loads.

[0021] like Figures 3-7 As shown, optionally, a first piston plate 301 is slidably connected to the inner surface of the sleeve 300. The upper space of the first piston plate 301 is a second space 303, and the lower space of the first piston plate 301 is a first space 302. A first spring 306 is provided in the second space 303. The first spring 306 is fastened between the inner top surface of the sleeve 300 and the upper surface of the first piston plate 301. A telescopic tube 304 is fixedly provided in the middle of the bottom end of the first piston plate 301. The bottom end of the telescopic tube 304 is fixedly connected to the upper end of the sleeve 400. The telescopic tube 304 is slidably connected to the middle of the bottom end of the sleeve 300. Hydraulic oil is stored in the first space 302. The greater the downward displacement of the sleeve 400 relative to the sleeve 300, the greater the amount of hydraulic oil discharged from the first space 302. The second annular tube 702 and the third annular tube 802 are connected to the vacuum pump 500 in sequence as the amount of hydraulic oil discharged from the first space 302 increases.

[0022] In this embodiment, after the first suction cup 603 adsorbs and lifts the glass plate, the sleeve 400 bears the weight of the glass plate and moves downward relative to the sleeve 300. As the sleeve 400 moves downward, it drives the telescopic tube 304 downward, which in turn pulls the first piston plate 301 downward, compressing the hydraulic oil in the first space 302. The heavier the glass plate, the greater the downward displacement of the sleeve 400, the greater the downward distance of the first piston plate 301, and the greater the amount of hydraulic oil discharged from the first space 302. The second annular tube 702 and the third annular tube 802 are sequentially connected to the vacuum pump 500 as the amount of hydraulic oil discharged from the first space 302 increases. For lighter glass plates, the displacement of the sleeve 400 is small, and the amount of hydraulic oil discharged from the first space 302 is small, insufficient to trigger the second annular tube 702 to conduct; only the first suction cup 603 works, preventing deformation of the thin plate. For heavier glass plates, the displacement of the sleeve 400 increases, and the amount of hydraulic oil discharged increases. First, the second annular pipe 702 is opened, then the third annular pipe 802 is opened, and the first suction cup 603, the second suction cup 703 and the third suction cup 803 are put into operation in stages to ensure stability under heavy load.

[0023] like Figure 7 As shown, optionally, a fixed pipe 307 is fixedly connected to the upper side wall of the second space 303, and a solenoid valve 308 is fixedly installed on the fixed pipe 307. The second space 303 is connected to the external environment through the fixed pipe 307.

[0024] In this embodiment, when the first suction cup 603 contacts the glass plate and vacuum adsorbs it, the solenoid valve 308 remains open. The three-axis truss 100 drives the lifting module to rise, and the glass plate is lifted off the support surface. After the glass plate is removed from the support surface, the solenoid valve 308 closes, and the second space 303 becomes a sealed space to ensure the stability of the third space 402.

[0025] like Figures 2-8As shown, optionally, a fixing plate 401 is coaxially fixed to the middle of the inner side of the sleeve 400. A second piston plate 406 and a third piston plate 408 are respectively provided on both sides of the fixing plate 401. The second piston plate 406 divides the space into a third space 402 and a fourth space 403. The third piston plate 408 divides the space into a fifth space 404 and a sixth space 405. The third space 402 is connected to an external vacuum pump 500. A second flexible hose is fixedly connected to the side wall of the fourth space 403 and is connected to the vacuum pump 500. The fifth space 404 is connected to the interior of the telescopic tube 304 and both are filled with liquid. The oil is pressurized. A second spring 409 is installed in the sixth space 405. The second spring 409 is fastened between the side of the third piston plate 408 and the inner wall of the sixth space 405. The sixth space 405 is connected to the external environment through the hole at the end. A connecting shaft 407 is fastened between the second piston plate 406 and the third piston plate 408. The connecting shaft 407 is slidably connected to the middle of the fixed plate 401. As the internal space of the third space 402 gradually increases, the second annular tube 702 and the third annular tube 802 are connected to the third space 402 in sequence. The upper side wall of the telescopic tube 304 is provided with multiple evenly distributed oil holes 305.

[0026] In this embodiment, initially, the vacuum pump 500 is started, and the third space 402 is evacuated, as is the fourth space 403. At this time, both sides of the second piston plate 406 are under vacuum, and the pressure is balanced. When the glass plate is lifted, the sleeve 400 moves downward relative to the sleeve 300, and the first piston plate 301 compresses the hydraulic oil in the first space 302. The hydraulic oil enters the fifth space 404 through the telescopic tube 304 and the oil hole 305. The hydraulic oil entering the fifth space 404 pushes the third piston plate 408 to move towards the sixth space 405, overcoming the elastic force of the second spring 409. The third piston plate 408 drives the second piston plate 406 to move synchronously through the connecting shaft 407, causing the internal space of the third space 402 to gradually increase. The heavier the glass plate, the more hydraulic oil enters the fifth space 404, the greater the displacement of the third piston plate 408 and the second piston plate 406, and the greater the increase in volume of the third space 402. As the volume of the third space 402 increases, the ports of the second annular tube 702 and the third annular tube 802 are exposed in the third space 402 in sequence, and thus are connected to the vacuum pump 500 in sequence.

[0027] like Figures 2-6As shown, optionally, a first pipe 600 and a first connecting rod 601 are symmetrically arranged between the first annular pipe 602 and the sleeve 400. The two ends of the first connecting rod 601 are fixedly connected to the bottom end of the sleeve 400 and the upper end of the first annular pipe 602, respectively. The two ends of the first pipe 600 are connected to the bottom end of the sleeve 400 and the upper end of the first annular pipe 602, respectively. A second pipe 700 and a second connecting rod 701 are symmetrically arranged between the second annular pipe 702 and the sleeve 400, and the connection method is the same as that of the first annular pipe 602. A third pipe 800 and a third connecting rod 801 are symmetrically arranged between the third annular pipe 802 and the sleeve 400, and the connection method is the same as that of the first annular pipe 602.

[0028] In this embodiment, the symmetrical arrangement of the first connecting rod 601 and the first pipe 600 provides stable support for the first annular pipe 602, ensuring that the first annular pipe 602 maintains a horizontal posture when bearing the load of the glass plate. Similarly, the second connecting rod 701 and the second pipe 700 provide support for the second annular pipe 702, and the third connecting rod 801 and the third pipe 800 provide support for the third annular pipe 802.

[0029] like Figure 2 and Figure 3 As shown, optionally, a support plate 502 is fixedly installed on the lower outer side of the sleeve 300, and a vacuum pump 500 is fixedly installed on the upper end of the support plate 502. The air inlet end of the vacuum pump 500 is fixedly connected to a first hose 501, and the air inlet end of the first hose 501 is fixedly connected to the end of the sleeve 400.

[0030] In this embodiment, a vacuum pump 500 and a first flexible hose 501 are used to evacuate the third space 402. The first flexible hose 501 is flexible and can bend freely to adapt to the positional changes of the sleeve 400 when the sleeve 400 moves up or down relative to the sleeve 300.

[0031] like Figure 2 As shown, optionally, the bottom ends of the first suction cup 603, the second suction cup 703, and the third suction cup 803 are covered with rubber pads.

[0032] In this embodiment, when the first suction cup 603, the second suction cup 703, and the third suction cup 803 come into contact with the glass plate, the rubber pad increases the coefficient of friction of the contact surface, which helps to prevent the glass plate from slipping due to inertial forces during high-speed transport. At the same time, the elastic deformation of the rubber pad improves the sealing effect and reduces vacuum leakage.

[0033] like Figure 1As shown, optionally, a glue injection assembly 200 is also fixedly installed at the bottom of the lifting module of the three-axis truss 100. The glue injection assembly 200 includes a glue injection gun, a glue supply pipeline, and a glue injection machine. The glue injection gun is installed at the bottom of the lifting module of the three-axis truss 100. The glue injection gun is connected to the glue injection machine through the glue supply pipeline. The glue injection machine is used to store glue and supply glue to the glue injection gun.

[0034] In this embodiment, during operation, the first suction cup 603, the second suction cup 703, and the third suction cup 803 adsorb and transfer the glass plate, and the glue injection assembly 200 can perform the glue injection operation after the glass plate is positioned. Both share the same motion platform of the three-axis truss 100, realizing the integration of the handling and glue injection processes, reducing the number of times the glass plate is transferred between different workstations, shortening the production cycle time, and improving production efficiency.

[0035] like Figure 6 As shown, optionally, a sealing ring is embedded in the middle of the bottom end of the sleeve 300, and the outer wall of the telescopic tube 304 slides and seals with the inner wall of the sealing ring.

[0036] In this embodiment, when the sleeve 400 drives the telescopic tube 304 to move downward relative to the sleeve 300, the telescopic tube 304 slides along the inner wall of the sealing ring, and the sealing ring seals the gap between the telescopic tube 304 and the bottom end of the sleeve 300. This sealing structure prevents the hydraulic oil in the first space 302 from leaking outward along the outer wall of the telescopic tube 304, ensuring that when the first space 302 is pressurized, all the hydraulic oil enters the fifth space 404 through the inner cavity of the telescopic tube 304 and the oil hole 305. The sealing ring is made of wear-resistant and self-lubricating material, which can maintain good sealing performance and service life during long-term reciprocating motion.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A high-speed, heavy-duty dual-gantry multi-axis composite gantry robot, comprising a three-axis gantry (100), characterized in that, The lifting module of the three-axis truss (100) is fixedly provided with a sleeve (300) at its bottom end. A sleeve (400) is provided at the lower end of the sleeve (300) and can be lifted and lowered. The sleeve (400) is connected to an external vacuum pump (500). The bottom end of the sleeve (400) is fixedly connected to a first annular tube (602), a second annular tube (702), and a third annular tube (802) arranged coaxially. The first annular tube (602) is located on the outer layer and a plurality of first suction cups (603) are evenly installed around its bottom end. The second annular tube (702) is located in the middle and a plurality of first suction cups (603) are evenly installed around its bottom end. Multiple second suction cups (703) are provided. The third annular tube (802) is located in the inner layer and multiple third suction cups (803) are evenly installed around its bottom end. In the initial state, only the first annular tube (602) is connected to the vacuum pump (500). After the first suction cup (603) adsorbs the glass plate, the sleeve (400) is displaced downward relative to the sleeve (300) under the gravity of the glass plate. The heavier the glass plate, the greater the displacement. The second annular tube (702) and the third annular tube (802) are connected to the vacuum pump (500) in sequence as the displacement increases.

2. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 1, characterized in that, A first piston plate (301) is slidably connected to the inner surface of the sleeve (300). The upper space of the first piston plate (301) is a second space (303), and the lower space of the first piston plate (301) is a first space (302). A first spring (306) is provided in the second space (303). The first spring (306) is fastened between the inner top surface of the sleeve (300) and the upper surface of the first piston plate (301). A telescopic tube (304) is fixedly provided at the middle of the bottom end of the first piston plate (301). The bottom end of the telescopic tube (304) is fixedly connected to the upper end of the sleeve (400), and the telescopic tube (304) is slidably connected to the middle of the bottom end of the sleeve (300). The first space (302) stores hydraulic oil. The greater the downward displacement of the sleeve (400) relative to the sleeve (300), the greater the amount of hydraulic oil discharged from the first space (302). The second annular tube (702) and the third annular tube (802) are connected to the vacuum pump (500) in sequence as the amount of hydraulic oil discharged from the first space (302) increases.

3. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 2, characterized in that, A fixed pipe (307) is fixedly connected to the upper side wall of the second space (303), and a solenoid valve (308) is fixedly installed on the fixed pipe (307). The second space (303) is connected to the external environment through the fixed pipe (307).

4. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 2, characterized in that, A fixing plate (401) is coaxially fixed to the middle of the inner side of the sleeve (400). A second piston plate (406) and a third piston plate (408) are respectively provided on both sides of the fixing plate (401). The second piston plate (406) divides the space into a third space (402) and a fourth space (403). The third piston plate (408) divides the space into a fifth space (404) and a sixth space (405). The third space (402) is connected to an external vacuum pump (500). A second hose is fixedly connected to the side wall of the fourth space (403). The second hose is connected to the vacuum pump (500). The fifth space (404) is internally connected to the telescopic tube (304) and both are filled with hydraulic oil. A second spring (409) is provided in the sixth space (405). The second spring (409) is fastened between the side of the third piston plate (408) and the inner wall of the sixth space (405). The sixth space (405) is connected to the external environment through the hole at the end. A connecting shaft (407) is fastened between the second piston plate (406) and the third piston plate (408). The connecting shaft (407) is slidably connected to the middle of the fixed plate (401). As the internal space of the third space (402) gradually increases, the second annular tube (702) and the third annular tube (802) are connected to the third space (402) in sequence. The upper side wall of the telescopic tube (304) is provided with a plurality of evenly distributed oil holes (305).

5. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 1, characterized in that, A first pipe (600) and a first connecting rod (601) are symmetrically arranged between the first annular pipe (602) and the sleeve (400). The two ends of the first connecting rod (601) are fixedly connected to the bottom end of the sleeve (400) and the upper end of the first annular pipe (602), respectively. The two ends of the first pipe (600) are connected to the bottom end of the sleeve (400) and the upper end of the first annular pipe (602), respectively. A second pipe (700) and a second connecting rod (701) are symmetrically arranged between the second annular pipe (702) and the sleeve (400), and the connection method is the same as that of the first annular pipe (602). A third pipe (800) and a third connecting rod (801) are symmetrically arranged between the third annular pipe (802) and the sleeve (400), and the connection method is the same as that of the first annular pipe (602).

6. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 1, characterized in that, A support plate (502) is fixedly installed on the lower outer side of the sleeve (300), and the vacuum pump (500) is fixedly installed on the upper end of the support plate (502). The air inlet end of the vacuum pump (500) is fixedly connected to a first hose (501), and the air inlet end of the first hose (501) is fixedly connected to the end of the sleeve (400).

7. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 1, characterized in that, The bottom ends of the first suction cup (603), the second suction cup (703) and the third suction cup (803) are covered with rubber pads.

8. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 1, characterized in that, The bottom end of the lifting module of the three-axis truss (100) is also fixed with a glue injection assembly (200). The glue injection assembly (200) includes a glue injection gun, a glue supply pipeline and a glue injection machine. The glue injection gun is installed at the bottom end of the lifting module of the three-axis truss (100). The glue injection gun is connected to the glue injection machine through the glue supply pipeline. The glue injection machine is used to store glue liquid and supply glue to the glue injection gun.

9. The high-speed, heavy-duty dual-gantry multi-axis composite gantry robot according to claim 2, characterized in that, A sealing ring is embedded in the middle of the bottom end of the sleeve (300), and the outer wall of the telescopic tube (304) slides and seals with the inner wall of the sealing ring.

Images