Multistage telescopic shaft truss robot

Abstract

The utility model discloses a multi-stage telescopic shaft truss robot which comprises a first X-axis beam, a first stand column, an X-axis linear rail, an X-axis sliding seat, a Y-axis beam, a multi-stage telescopic Z shaft, a Y-axis driving mechanism, a gripper assembly, a second X-axis beam, a second stand column, a connecting seat and an X-axis driving mechanism. The X-axis motor is started to drive the transmission shaft to rotate, the transmission shaft rotates to enable the whole Y-axis beam to move along the X-axis linear rail through the X-axis gear, and therefore the requirement for movement of the gripper assembly in the X direction is met; the Y-axis motor is started to drive the Y-axis gear to rotate, and the rotation of the Y-axis gear enables the whole connecting seat to move along the Y-axis linear rail, so that the requirement for movement of the gripper assembly in the Y direction is met; the four longitudinal motors and the four transverse motors are arranged in the gripper assembly, so that the requirement that the four fixing frames can be adjusted in the longitudinal direction and the transverse direction is met, the using requirements of different products are met, and the using convenience is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-stage telescopic axis truss robot. Background Art

[0002] Truss robots are suitable for various industries and fields, such as automobile manufacturing, electronic manufacturing, food and pharmaceutical industries, and home bathroom industries. With the continuous development of industrial automation technology, the performance requirements for truss robots are becoming higher and higher, especially the need for a larger working range. A multi-stage telescopic axis truss robot has been born to meet the needs of different application scenarios, especially for work scenarios with limited height, the advantages of multi-stage telescopic axes can be reflected. Utility Model Content

[0003] The purpose of the present utility model is to provide a multi-stage telescopic axis truss robot in order to solve the above-mentioned problem, which solves the problem that with the continuous development of industrial automation technology, the performance requirements of truss robots are getting higher and higher, especially the need for a larger working range.

[0004] In order to solve the above problems, the utility model provides a technical solution: a multi-stage telescopic axis truss robot, comprising an X-axis beam one, a column one, an X-axis line rail, an X-axis slide, a Y-axis beam, a multi-stage telescopic Z-axis, a Y-axis driving mechanism, a gripper assembly, an X-axis beam two, a column two, a connecting seat and an X-axis driving mechanism; the bottom of the X-axis beam one is fixedly connected with several columns one; the bottom of the X-axis beam two is fixedly connected with several columns two, the tops of the X-axis beam two and the X-axis beam one are fixedly connected with the X-axis line rail, and the tops of the X-axis line rails are movably connected with the X-axis slide, and the X-axis slides are fixedly connected with the Y-axis beam; an X-axis driving mechanism is provided on one side of the Y-axis beam, and the two sides of the X-axis driving mechanism are respectively connected to the inner sides of the X-axis beam two and the X-axis beam one, a Y-axis driving mechanism is provided on the other side of the Y-axis beam, and a connecting seat is fixedly connected to the moving part of the Y-axis driving mechanism, and a multi-stage telescopic Z-axis is provided on the connecting seat; the bottom of the multi-stage telescopic Z-axis is fixedly connected with a gripper assembly.

[0005] Preferably, the specific structure of the X-axis drive mechanism includes an X-axis motor, a transmission shaft and an X-axis rack; there are two X-axis racks, and the two X-axis racks are respectively fixedly connected to the inner sides of X-axis beam 2 and X-axis beam 1; the X-axis motor is fixedly connected to the center of one side of the Y-axis beam, and the output shafts on both sides of the X-axis motor are fixedly connected with transmission shafts, and the outer ends of the transmission shafts are fixedly connected with X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks.

[0006] Preferably, the X-axis motor is a servo motor.

[0007] Preferably, the specific structure of the Y-axis driving mechanism includes a Y-axis line rail, a Y-axis slide, a Y-axis rack and a Y-axis motor; the Y-axis line rail is fixedly connected to the Y-axis beam, the Y-axis slide is movably connected to the Y-axis line rail, and the Y-axis slide is fixedly connected to a connecting seat; the Y-axis rack is fixedly connected to the other side of the Y-axis beam; the Y-axis motor is fixedly connected to the outer side of the connecting seat, the output shaft of the Y-axis motor is fixedly connected to a Y-axis gear, and the Y-axis gear is connected to the Y-axis rack.

[0008] Preferably, the Y-axis motor is a servo motor.

[0009] Preferably, the specific structure of the multi-stage telescopic Z-axis includes a telescopic sleeve body 1, a Z-axis axis rail 1, a Z-axis slider 1, a sprocket 1, a chain, a nitrogen balance cylinder, a telescopic sleeve body 2, a Z-axis axis rail 2, a Z-axis slider 2, a sprocket 2, a mounting seat, a Z-axis motor and a Z-axis rack; the telescopic sleeve body 1 is movably connected to the inside of the connecting seat, both sides of the telescopic sleeve body 1 are fixedly connected with a vertical Z-axis axis rail 1, and the Z-axis axis rail 1 is movably connected with a Z-axis slider 1, and the Z-axis slider 1 is fixedly connected to the inner wall of the connecting seat, the telescopic sleeve body 1 is provided with sprockets 1 on both sides of the upper side, the telescopic sleeve body 1 is provided with sprockets 2 on both sides of the bottom, and the sprockets 2 are connected to the corresponding sprockets 1 through chains, and the outer sides of the chains are fixedly connected to the inner wall of the connecting seat; there are two nitrogen balance cylinders, and the two are fixedly connected to the inner wall of the connecting seat. The nitrogen balance cylinder is fixedly connected to the two sides of the outer side of the connecting seat; the outside of the telescopic sleeve body 2 is movably connected to the inside of the telescopic sleeve body 1, and the two sides of the telescopic sleeve body 2 are fixedly connected with the vertical Z-axis line rail 2, and the Z-axis line rail 2 is movably connected with the Z-axis slider 2, and the Z-axis slider 2 is fixedly connected to the inner wall of the telescopic sleeve body 1, and the two sides of the upper side of the telescopic sleeve body 2 are fixedly connected to the inner side of the corresponding chain, and the bottom of the telescopic sleeve body 2 is fixedly connected with a mounting seat, and the two sides of the mounting seat are respectively fixedly connected to the lower side piston rod end of the corresponding nitrogen balance cylinder; the Z-axis rack is fixedly connected to the back of the telescopic sleeve body 1; the Z-axis motor is fixedly connected to the back of the connecting seat, and the output shaft of the Z-axis motor is fixedly connected with a Z-axis gear, and the Z-axis gear is connected to the Z-axis rack.

[0010] Preferably, the Z-axis motor is a servo motor.

[0011] Preferably, the specific structure of the gripper assembly includes a mounting frame, a transverse guide rail, a transverse slider, a connecting block, a longitudinal motor, a fixed arm, a longitudinal nut block, a fixing frame, a longitudinal screw, a longitudinal guide rail, a transverse nut block, a transverse screw and a transverse motor; the center of the upper side of the mounting frame is fixedly connected to the bottom of the multi-stage telescopic Z-axis, the left and right sides and front and rear positions of the mounting frame are fixedly connected with transverse guide rails, and the center of the bottom surface of the mounting frame is fixedly connected with transverse motors at left and right front and rear positions; there are four transverse screws, and the four transverse screws are movably connected to the left and right front and rear positions of the bottom surface of the mounting frame, and the centers of one side of the four transverse screws are fixedly connected to the corresponding transverse motor output shafts; there are four transverse sliders, and the four transverse sliders are movably connected to the corresponding transverse guide rails, and the outsides of the four transverse sliders are fixed It is connected with a connecting block, and the bottom of the connecting block is fixedly connected with a fixed arm, and the bottom of the fixed arm is fixedly connected with a longitudinal guide rail; there are four transverse nut blocks, and the four transverse nut blocks are respectively fixedly connected to the inner sides of the corresponding connecting blocks, and the four transverse nut blocks are respectively connected to the corresponding transverse screws; there are four longitudinal motors, and the four longitudinal motors are respectively fixedly connected to the sides of the fixed arms; there are four longitudinal screws, and the four longitudinal screws are respectively movably connected to the sides of the corresponding fixed arms, and the centers of one side of the four longitudinal screws are fixedly connected to the corresponding longitudinal motor output shafts; there are four fixing frames, and the upper sides of the four fixing frames are respectively movably connected to the upper sides of the corresponding longitudinal guide rails, and the centers of the upper sides of the four fixing frames are fixedly connected with longitudinal nut blocks, and the longitudinal nut blocks are respectively connected to the corresponding longitudinal screws.

[0012] Preferably, the longitudinal motor and the transverse motor are both servo motors.

[0013] The beneficial effects of the utility model are as follows: (1) The utility model has a reasonable and simple structure, low production cost and easy installation. Here, the X-axis motor is started to drive the transmission shaft to rotate, and the rotation of the transmission shaft causes the Y-axis beam to move along the X-axis axis track as a whole through the X-axis gear, thereby meeting the need for the gripper assembly to move in the X direction.

[0014] (2) In the present invention, starting the Y-axis motor can drive the Y-axis gear to rotate, and the rotation of the Y-axis gear causes the connecting seat to move along the Y-axis axis track as a whole, thereby meeting the need for the gripper assembly to move in the Y direction.

[0015] (3) In the present invention, starting the Z-axis motor can drive the Z-axis gear to rotate, and the rotation of the Z-axis gear causes the telescopic sleeve body 1 to move vertically as a whole. The vertical movement of the telescopic sleeve body 1 drives the telescopic sleeve body 2 to move vertically together through the chain, thereby increasing the Z-axis movement range of the gripper assembly, thereby meeting the needs of different application scenarios, especially for work scenarios with height restrictions.

[0016] (4) The nitrogen balance cylinder provided in the multi-stage telescopic Z axis of the utility model can ensure the stability and reliability during the Z-direction movement, thus ensuring the accuracy of the multi-stage telescopic movement.

[0017] (5) The four longitudinal motors and transverse motors provided in the gripper assembly of the utility model meet the needs of the four fixing frames being able to be adjusted longitudinally and transversely respectively, thus meeting the needs of using different products and thus improving the convenience during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Figure 2 It is a structural schematic diagram of the X-axis drive mechanism.

[0020] Figure 3 It is a structural schematic diagram of the Y-axis drive mechanism.

[0021] Figure 4 It is a structural schematic diagram of the multi-stage telescopic Z axis.

[0022] Figure 5 for Figure 4 Schematic diagram from another perspective.

[0023] Figure 6 for Figure 4 Top view of the .

[0024] Figure 7 This is a schematic diagram of the structure of the gripper assembly.

[0025] 1-X-axis beam 1; 2-column 1; 4-X-axis rail; 5-X-axis slide; 6-Y-axis beam; 7-multi-stage telescopic Z-axis; 8-Y-axis drive mechanism; 9-gripper assembly; 10-X-axis beam 2; 11-column 2; 12-connecting seat; 13-X-axis drive mechanism; 131-X-axis motor; 132-transmission shaft; 133-X-axis rack; 81-Y-axis rail; 82-Y-axis slide; 83-Y-axis rack; 84-Y-axis motor; 71-telescopic sleeve 1; 72-Z-axis rail 1; 73-Z-axis slide block 1; 74-sprocket 1; 75-chain; 76-nitrogen balance cylinder; 77-telescopic sleeve 2; 78-Z-axis rail 2; 79-Z-axis slide block 2 ;710-sprocket two;711-mounting seat;712-Z-axis motor;713-Z-axis rack;91-mounting frame;92-transverse guide rail;93-transverse slider;94-connecting block;95-longitudinal motor;96-fixed arm;97-longitudinal nut block;98-fixing frame;99-longitudinal screw;910-longitudinal guide rail;911-transverse nut block;912-transverse screw;913-transverse motor. DETAILED DESCRIPTION

[0026] like Figure 1 As shown, this specific embodiment adopts the following technical scheme: a multi-stage telescopic axis truss robot, including an X-axis beam 1, a column 2, an X-axis line rail 4, an X-axis slide 5, a Y-axis beam 6, a multi-stage telescopic Z-axis 7, a Y-axis drive mechanism 8, a gripper assembly 9, an X-axis beam 10, a column 11, a connecting seat 12 and an X-axis drive mechanism 13; the bottom of the X-axis beam 1 is fixedly connected to a plurality of columns 2; the bottom of the X-axis beam 10 is fixedly connected to a plurality of columns 11, and the tops of the X-axis beam 10 and the X-axis beam 1 are fixedly connected to An X-axis line rail 4 is provided, and an X-axis slide 5 is movably connected to the X-axis line rail 4, and a Y-axis beam 6 is fixedly connected between the X-axis slides 5; an X-axis driving mechanism 13 is provided on one side of the Y-axis beam 6, and the two sides of the X-axis driving mechanism 13 are respectively connected to the inner sides of the X-axis beam 2 10 and the X-axis beam 1 1, a Y-axis driving mechanism 8 is provided on the other side of the Y-axis beam 6, and a connecting seat 12 is fixedly connected to the moving part of the Y-axis driving mechanism 8, and a multi-stage telescopic Z-axis 7 is provided on the connecting seat 12; a gripper assembly 9 is fixedly connected to the bottom of the multi-stage telescopic Z-axis 7.

[0027] like Figure 2 As shown, the specific structure of the X-axis driving mechanism 13 includes an X-axis motor 131, a transmission shaft 132 and an X-axis rack 133; there are two X-axis racks 133, and the two X-axis racks 133 are respectively fixedly connected to the inner sides of the X-axis beam 2 10 and the X-axis beam 1 1; the X-axis motor 131 is fixedly connected to the center of one side of the Y-axis beam 6, and the transmission shafts 132 are fixedly connected to the output shafts on both sides of the X-axis motor 131, and the outer ends of the transmission shafts 132 are fixedly connected to X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks 133.

[0028] The X-axis motor 131 is a servo motor, so it is convenient to control the X-axis motor 131 through existing automation technology.

[0029] like Figure 3 As shown, the specific structure of the Y-axis driving mechanism 8 includes a Y-axis line rail 81, a Y-axis slide 82, a Y-axis rack 83 and a Y-axis motor 84; the Y-axis line rail 81 is fixedly connected to the Y-axis beam 6, the Y-axis slide 82 is movably connected to the Y-axis line rail 81, and the Y-axis slide 82 is fixedly connected to the connecting seat 12; the Y-axis rack 83 is fixedly connected to the other side of the Y-axis beam 6; the Y-axis motor 84 is fixedly connected to the outer surface of the connecting seat 12, the output shaft of the Y-axis motor 84 is fixedly connected to a Y-axis gear, and the Y-axis gear is connected to the Y-axis rack 83.

[0030] The Y-axis motor 84 is a servo motor, so it is convenient to control the Y-axis motor 84 through existing automation technology.

[0031] like Figures 4 to 6 As shown, the specific structure of the multi-stage telescopic Z axis 7 includes a telescopic sleeve 71, a Z axis rail 72, a Z axis slider 73, a sprocket 74, a chain 75, a nitrogen balance cylinder 76, a telescopic sleeve 77, a Z axis rail 78, a Z axis slider 79, a sprocket 710, a mounting seat 711, a Z axis motor 712 and a Z axis rack 713; the telescopic sleeve 71 is movably connected to the inside of the connecting seat 12, and both sides of the telescopic sleeve 71 are fixedly connected with vertical The Z axis rail 72 is movably connected to the Z axis rail 72, and the Z axis slider 73 is fixedly connected to the inner wall of the connecting seat 12. The upper sides of the telescopic sleeve 71 are provided with sprockets 74, and the bottom sides of the telescopic sleeve 71 are provided with sprockets 710, and the sprockets 710 are connected to the corresponding sprockets 74 through chains 75, and the outer sides of the chains 75 are fixedly connected to the inner wall of the connecting seat 12; the nitrogen balance cylinder 7 6 are two, and the two nitrogen balance cylinders 76 are fixedly connected to the two sides of the outer side of the connecting seat 12 respectively; the telescopic sleeve body 2 77 is externally movably connected to the inside of the telescopic sleeve body 1 71, and the two sides of the telescopic sleeve body 2 77 are fixedly connected with the vertical Z axis rail 2 78, and the Z axis rail 2 78 is movably connected with the Z axis slider 2 79, and the Z axis slider 2 79 is fixedly connected to the inner wall of the telescopic sleeve body 1 71, and the upper sides of the telescopic sleeve body 2 77 are fixedly connected to the inner side of the corresponding chain 75, and the bottom of the telescopic sleeve body 2 77 is fixedly connected with a mounting seat 711, and the upper sides of the mounting seat 711 are respectively fixedly connected to the lower piston rod end of the corresponding nitrogen balance cylinder 76; the Z axis rack 713 is fixedly connected to the back of the telescopic sleeve body 1 71; the Z axis motor 712 is fixedly connected to the back of the connecting seat 12, and the output shaft of the Z axis motor 712 is fixedly connected with a Z axis gear, and the Z axis gear is connected to the Z axis rack 713.

[0032] The Z-axis motor 712 is a servo motor, so that the Z-axis motor 712 can be easily controlled by existing automation technology.

[0033] like Figure 7As shown, the specific structure of the gripper assembly 9 includes a mounting frame 91, a transverse guide rail 92, a transverse slider 93, a connecting block 94, a longitudinal motor 95, a fixed arm 96, a longitudinal nut block 97, a fixing frame 98, a longitudinal screw rod 99, a longitudinal guide rail 910, a transverse nut block 911, a transverse screw rod 912 and a transverse motor 913; the center of the upper side of the mounting frame 91 is fixedly connected to the bottom of the multi-stage telescopic Z axis 7, the left and right sides of the mounting frame 91 are fixedly connected with transverse guide rails 92 at the front and rear positions, and the center of the bottom surface of the mounting frame 91 is fixedly connected with transverse motors 913 at the left and right front and rear positions; there are four transverse screw rods 912, and the four transverse screw rods 912 are movably connected to the left and right front and rear positions of the bottom surface of the mounting frame 91, and the centers of one side of the four transverse screw rods 912 are fixedly connected to the corresponding output shafts of the transverse motors 913; there are four transverse sliders 93, and the four transverse sliders 93 are movably connected to the corresponding transverse guide rails 92, and the outside of the four transverse sliders 93 Each of the plurality of longitudinal motors 95 is fixedly connected to a connecting block 94, and a fixing arm 96 is fixedly connected to the bottom of each of the connecting blocks 94, and a longitudinal guide rail 910 is fixedly connected to the bottom of each of the fixing arms 96; there are four transverse nut blocks 911, which are fixedly connected to the inner sides of the corresponding connecting blocks 94, and are connected to corresponding transverse screw rods 912, respectively; there are four longitudinal motors 95, which are fixedly connected to the sides of the fixing arms 96, respectively; there are four longitudinal screw rods 99, which are movably connected to the sides of the corresponding fixing arms 96, and one side center of each of the four longitudinal screw rods 99 is fixedly connected to the output shaft of the corresponding longitudinal motor 95; there are four fixing frames 98, and the upper sides of the four fixing frames 98 are movably connected to the upper sides of the corresponding longitudinal guide rails 910, and the upper centers of the four fixing frames 98 are fixedly connected to longitudinal nut blocks 97, and the longitudinal nut blocks 97 are connected to corresponding longitudinal screw rods 99, respectively.

[0034] Wherein, the longitudinal motor 95 and the transverse motor 913 are both servo motors, so that the longitudinal motor 95 and the transverse motor 913 can be easily controlled by existing automation technology.

[0035] The use status of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost, and convenient installation. When in use, the X-axis motor 131 is started to drive the transmission shaft 132 to rotate, and the rotation of the transmission shaft 132 causes the Y-axis beam 6 to move along the X-axis axis rail 4 as a whole through the X-axis gear, thereby meeting the need for the gripper assembly 9 to move in the X direction, and starting the Y-axis motor 84 can drive the Y-axis gear to rotate, and the rotation of the Y-axis gear causes the connecting seat 12 to move along the Y-axis axis rail 81 as a whole, thereby meeting the need for the gripper assembly 9 to move in the Y direction, and starting the Z-axis motor 712 can drive the Z-axis gear to rotate, and the rotation of the Z-axis gear causes the telescopic sleeve 71 to move vertically as a whole. The telescopic sleeve 1 71 can move vertically, and the vertical movement of the telescopic sleeve 2 77 is driven by the chain 75 to move vertically together, thereby increasing the range of movement of the gripper assembly 9 in the Z direction, and meeting the needs of different application scenarios, especially for working scenarios with limited height. In addition, the nitrogen balance cylinder 76 arranged in the multi-stage telescopic Z axis 7 can ensure the stability and reliability during Z-direction movement, and also ensure the accuracy of the multi-stage telescopic movement. In addition, the four longitudinal motors 95 and the transverse motor 913 arranged in the gripper assembly 9 meet the needs of the four fixed frames 98 to be able to perform longitudinal and transverse adjustments respectively, and also meet the needs of using different products, thereby improving the convenience during use.

[0036] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0037] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0038] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0039] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A multi-stage telescopic axis truss robot, characterized in that: It comprises an X-axis beam (1), a column (2), an X-axis line rail (4), an X-axis slide seat (5), a Y-axis beam (6), a multi-stage telescopic Z-axis (7), a Y-axis drive mechanism (8), a gripper assembly (9), an X-axis beam (10), a column (11), a connecting seat (12) and an X-axis drive mechanism (13); The bottom of the X-axis beam (1) is fixedly connected to a plurality of columns (2); The bottom of the X-axis beam 2 (10) is fixedly connected to a plurality of columns 2 (11); the tops of the X-axis beam 2 (10) and the X-axis beam 1 (1) are fixedly connected to X-axis rails (4); the tops of the X-axis rails (4) are movably connected to X-axis slides (5); and the X-axis slides (5) are fixedly connected to the Y-axis beams (6); An X-axis driving mechanism (13) is provided on one side of the Y-axis beam (6), and the two sides of the X-axis driving mechanism (13) are respectively connected to the inner sides of the second X-axis beam (10) and the first X-axis beam (1); a Y-axis driving mechanism (8) is provided on the other side of the Y-axis beam (6), and a connecting seat (12) is fixedly connected to the moving part of the Y-axis driving mechanism (8), and a multi-stage telescopic Z axis (7) is provided on the connecting seat (12); A gripper assembly (9) is fixedly connected to the bottom of the multi-stage telescopic Z axis (7).

2. The multi-stage telescopic axis truss robot according to claim 1, characterized in that: The specific structure of the X-axis driving mechanism (13) includes an X-axis motor (131), a transmission shaft (132) and an X-axis rack (133); There are two X-axis racks (133), and the two X-axis racks (133) are respectively fixedly connected to the inner sides of the second X-axis beam (10) and the first X-axis beam (1); The X-axis motor (131) is fixedly connected to the center of one side of the Y-axis beam (6), the output shafts on both sides of the X-axis motor (131) are fixedly connected to transmission shafts (132), and the outer ends of the transmission shafts (132) are fixedly connected to X-axis gears, and the X-axis gears are respectively connected to corresponding X-axis racks (133).

3. The multi-stage telescopic axis truss robot according to claim 2, characterized in that: The X-axis motor (131) is a servo motor.

4. The multi-stage telescopic axis truss robot according to claim 1, characterized in that: The specific structure of the Y-axis driving mechanism (8) includes a Y-axis axis rail (81), a Y-axis slide (82), a Y-axis rack (83) and a Y-axis motor (84); The Y-axis rail (81) is fixedly connected to the Y-axis beam (6), a Y-axis slide seat (82) is movably connected to the Y-axis rail (81), and a connecting seat (12) is fixedly connected to the Y-axis slide seat (82); The Y-axis rack (83) is fixedly connected to the other side surface of the Y-axis beam (6); The Y-axis motor (84) is fixedly connected to the outer surface of the connecting seat (12); a Y-axis gear is fixedly connected to the output shaft of the Y-axis motor (84), and the Y-axis gear is connected to the Y-axis rack (83).

5. The multi-stage telescopic axis truss robot according to claim 4, characterized in that: The Y-axis motor (84) is a servo motor.

6. The multi-stage telescopic axis truss robot according to claim 1, characterized in that: The specific structure of the multi-stage telescopic Z axis (7) includes a telescopic sleeve body 1 (71), a Z axis line rail 1 (72), a Z axis slider 1 (73), a sprocket wheel 1 (74), a chain (75), a nitrogen balance cylinder (76), a telescopic sleeve body 2 (77), a Z axis line rail 2 (78), a Z axis slider 2 (79), a sprocket wheel 2 (710), a mounting seat (711), a Z axis motor (712) and a Z axis rack (713); The telescopic sleeve body 1 (71) is movably connected inside the connecting seat (12), and both sides of the telescopic sleeve body 1 (71) are fixedly connected with a vertical Z-axis line rail 1 (72), and the Z-axis line rail 1 (72) is movably connected with a Z-axis slider 1 (73), and the Z-axis slider 1 (73) is fixedly connected to the inner wall of the connecting seat (12), and the upper sides of the telescopic sleeve body 1 (71) are provided with sprockets 1 (74), and the bottom sides of the telescopic sleeve body 1 (71) are provided with sprockets 2 (710), and the sprockets 2 (710) are connected to the corresponding sprockets 1 (74) through chains (75), and the outer sides of the chains (75) are fixedly connected to the inner wall of the connecting seat (12); There are two nitrogen balance cylinders (76), and the two nitrogen balance cylinders (76) are respectively fixedly connected to two sides of the outer side of the connecting seat (12); The second telescopic sleeve (77) is externally movably connected to the inside of the first telescopic sleeve (71), and both sides of the second telescopic sleeve (77) are fixedly connected to the vertical Z-axis rail (78), and the second Z-axis rail (78) is movably connected to the second Z-axis slider (79), and the second Z-axis slider (79) is fixedly connected to the inner wall of the first telescopic sleeve (71), and both sides of the upper side of the second telescopic sleeve (77) are fixedly connected to the inner side of the corresponding chain (75), and the bottom of the second telescopic sleeve (77) is fixedly connected to the mounting seat (711), and the upper sides of the mounting seat (711) are respectively fixedly connected to the lower piston rod end of the corresponding nitrogen balance cylinder (76); The Z-axis rack (713) is fixedly connected to the back side of the telescopic sleeve (71); The Z-axis motor (712) is fixedly connected to the back of the connecting seat (12); a Z-axis gear is fixedly connected to the output shaft of the Z-axis motor (712), and the Z-axis gear is connected to the Z-axis rack (713).

7. The multi-stage telescopic axis truss robot according to claim 6, characterized in that: The Z-axis motor (712) is a servo motor.

8. The multi-stage telescopic axis truss robot according to claim 1, characterized in that: The specific structure of the gripper assembly (9) comprises a mounting frame (91), a transverse guide rail (92), a transverse slide block (93), a connecting block (94), a longitudinal motor (95), a fixed arm (96), a longitudinal nut block (97), a fixed frame (98), a longitudinal screw rod (99), a longitudinal guide rail (910), a transverse nut block (911), a transverse screw rod (912) and a transverse motor (913); The center of the upper side of the mounting frame (91) is fixedly connected to the bottom of the multi-stage telescopic Z axis (7), the left and right sides of the mounting frame (91) are fixedly connected to transverse guide rails (92) at the front and rear positions, and the center of the bottom surface of the mounting frame (91) is fixedly connected to transverse motors (913) at the left and right front and rear positions. There are four transverse screw rods (912), and the four transverse screw rods (912) are movably connected to the left, right, front and back positions of the bottom surface of the mounting frame (91), and the centers of one side of the four transverse screw rods (912) are fixedly connected to the output shafts of the corresponding transverse motors (913); There are four transverse sliders (93), and the four transverse sliders (93) are movably connected to corresponding transverse guide rails (92), and the outsides of the four transverse sliders (93) are fixedly connected to connecting blocks (94), and the bottoms of the connecting blocks (94) are fixedly connected to fixing arms (96), and the bottoms of the fixing arms (96) are fixedly connected to longitudinal guide rails (910); There are four transverse nut blocks (911), and the four transverse nut blocks (911) are respectively fixedly connected to the inner sides of corresponding connection blocks (94), and the four transverse nut blocks (911) are respectively connected to corresponding transverse screw rods (912); There are four longitudinal motors (95), and the four longitudinal motors (95) are respectively fixedly connected to the side of the fixed arm (96); There are four longitudinal screw rods (99), and the four longitudinal screw rods (99) are movably connected to the side surfaces of the corresponding fixed arms (96), and the center of one side of the four longitudinal screw rods (99) is fixedly connected to the output shaft of the corresponding longitudinal motor (95); There are four fixing frames (98), the upper sides of the four fixing frames (98) are movably connected to the upper sides of corresponding longitudinal guide rails (910), and the centers of the upper sides of the four fixing frames (98) are fixedly connected with longitudinal nut blocks (97), and the longitudinal nut blocks (97) are respectively connected to corresponding longitudinal screw rods (99).

9. The multi-stage telescopic axis truss robot according to claim 8, characterized in that: The longitudinal motor (95) and the transverse motor (913) are both servo motors.

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