Double-clamp four-shaft truss manipulator

Abstract

The double-clamp four-shaft truss mechanical arm structurally comprises a main support, a plane frame, a mechanical arm body, a connecting body and a main clamping device, the mechanical arm body comprises a transverse gear, a transverse insection strip, a servo motor, a control box, an air cylinder, a connecting ring, a limiting rail and a connecting block, and the air cylinder comprises a vertical insection strip, a vertical gear, an air cylinder rod, a drawing rod, a fixing block, a built-in grid and a protective shell. After a workpiece is fixed by the clamp, the movement of the workpiece is mainly driven by the extension square tube, the drawing rod and the extension square tube continuously move and stretch, so that the weight of the workpiece borne by the extension square tube is shared, the air cylinder plays a role in assisting in supporting stress on the extension square tube, the action speed and response of the Z-axis mechanism can be effectively improved, and the work efficiency is improved. The service life of the speed reducer and the service life of the rack mechanism are prolonged, the fourth-axis servo motor is hidden in the Z-axis square tube, the structure is more compact and attractive, and the mechanism cannot fall accidentally when one of the motor and the air cylinder breaks down.

Description

Technical Field

[0001] The utility model belongs to the field of manipulators, and more specifically, particularly relates to a double-clamp 4-axis truss manipulator. Background Art

[0002] The four-axis truss mainly controls the movement of the X-axis, Y-axis, Z-axis and rotation axis through servo motors, and clamps and moves objects to achieve actions such as rotation and tilt of workpieces. In mechanical clamping equipment, the four-axis truss robot can complete various complex automated production tasks.

[0003] Based on the above, the inventor of the present invention has found that the existing dual-clamp 4-axis truss manipulator has the following main shortcomings, such as:

[0004] When a four-axis truss robot clamps a heavier cylindrical or nearly cylindrical workpiece, it needs to control the movement and clamping of the workpiece. When the clamped workpiece exceeds the load of the internal parts, the reducer and rack mechanism will be affected by the weight and their lifespan will be affected. It is easy for the mechanism to fail during operation and cause it to fall. In addition, when ordinary clamps grasp cylindrical or nearly cylindrical workpieces, the contact area is small, making it difficult to clamp them firmly.

[0005] Therefore, it is necessary to propose a dual-gripper 4-axis truss robot. Utility Model Content

[0006] In order to solve the above-mentioned technical problem that the four-axis truss manipulator needs to control the movement and clamping of the workpiece when clamping a heavier cylindrical or nearly cylindrical workpiece, when the clamped workpiece exceeds the load of the internal parts, the reducer and rack mechanism will be affected by the weight and the life will be affected. It is easy to cause the mechanism to fail during operation and fall. In addition, when ordinary clamps grasp cylindrical or nearly cylindrical workpieces, the contact area is small and it is difficult to clamp them firmly.

[0007] The purpose and effect of the dual-clamp 4-axis truss manipulator of the utility model are achieved by the following specific technical means:

[0008] Its structure includes a main bracket, a plane frame, a manipulator, a connecting body, and a main clamping device. The plane frame is welded to the lower surface of the plane frame, the manipulator is installed on the plane frame and is movable, and the connecting body runs through the inside of the manipulator and can be connected with the main clamping device. It is characterized by:

[0009] The manipulator includes a transverse gear, a transverse tooth strip, a servo motor, a control box, a cylinder, a connecting ring, a limit rail, and a connecting block. The upper end of the transverse gear is connected to the servo motor. The rotation of the transverse gear drives the transverse tooth strip to move horizontally. The transverse gear is connected to the control box through the connecting block. The connecting block is nested in the surface of the limit rail. The connecting ring is installed on the upper surface of the main clamping device. The cylinder runs through the inside of the control box. The transverse gear is controlled to rotate by the servo motor to drive the whole to move horizontally along the transverse tooth strip, thereby achieving the effect of movement.

[0010] The cylinder includes vertical tooth stripes, a vertical gear, a cylinder rod, a draw rod, a fixed block, an internal grid, and a protective shell. The vertical tooth stripes are connected to the teeth of the vertical gear. The draw rod is embedded in the cylinder rod and is movable. The bottom end of the draw rod is fixed to the fixed block. The fixed block is welded to the outer surface of the internal grid. The cylinder rod is fixed in the protective shell. The cylinder rod is parallel to the vertical tooth stripes. The vertical tooth stripes are fixed to the outer surface of the internal grid. The draw rod moves together with the internal grid through the fixed block. The vertical gear can drive the connecting part to move vertically by rotating its vertical tooth stripes.

[0011] The cylinder includes a connecting layer, a fourth-axis servo motor, an extended square tube, a connecting shell, and a clamp. The connecting layer is installed on the upper surface of the clamp, the fourth-axis servo motor is installed inside the extended square tube, the extended square tube and the built-in grid are an integrated structure, the connecting shell is connected to the lower end of the extended square tube, the fourth-axis servo motor is connected to the connecting layer through the connecting shell, the extended square tube is parallel to the draw rod, vertical teeth are welded on the outer surface of the extended square tube, the extended square tube is located inside the control box and moves vertically, and the connecting shell can drive the connecting layer to rotate through the rotational force.

[0012] As a further improvement of the present utility model, the connecting body includes a fixed bottom, an extension strip, and a buckle head. The fixed bottom is fixed to the upper surface of the control box, and the extension strip is fixed to the upper surface of the control box through the fixed bottom. A buckle head is installed at the end of the extension strip away from the fixed bottom, and the buckle head can be connected and fixed to the connecting ring. The extension strip is bent and stretched when the extension square tube moves. The extension strip has a certain softness and can bend and pulled when the connecting part is pulled.

[0013] As a further improvement of the utility model, four limit rails are provided and are installed in a horizontal direction, two extended square tubes are provided, the fixed block is welded to the outer surface of the extended square tube, the connecting blocks are grouped into three and a total of four groups are provided, and the connecting ring is a circular ring structure and two are grouped into one.

[0014] As a further improvement of the present invention, the clamp is of symmetrical structure and is movable, the fixed block can connect the extended square tube and move synchronously with the pull rod, the connecting shell is of a cylindrical structure as a whole to facilitate the rotation of the internal fourth-axis servo motor, the pull rod is of a cylindrical structure, the protective shell shields and protects the internal installation components, and the horizontal tooth stripes and the vertical tooth stripes are in vertical directions.

[0015] As a further improvement of the utility model, the clamp includes a tilting head, a clamping block, a connecting shaft, a clamping arm, an adjustment grid, a rotating shaft, and a limiting groove. The tilting head and the clamping block are an integrated structure. The connecting shaft passes through the clamping block to fix it to the surface of the clamping arm. The clamping arm is installed inside the adjustment grid and is hinged. The rotating shaft is connected to the adjustment grid through a connecting layer. The limiting groove passes through the top of the adjustment grid. The clamping blocks are grouped in two and are symmetrically installed. The top end of the rotating shaft is connected to the fourth-axis servo motor. The rotating shaft controls the movement of the clamping arm through the rotating shaft. The clamping arm is a symmetrical structure and grouped in two.

[0016] As a further improvement of the utility model, the plane frame includes a cross frame and a limit block. A limit rail is fixed on the upper surface of the cross frame. The limit block and the limit rail are installed on the same horizontal plane and fixed to the cross frame. The limit blocks are grouped into two and a total of four groups are provided. The limit blocks limit the movement range on the same track.

[0017] As a further improvement of the present invention, the main bracket includes a triangular block, a stacked rod, a diagonal square tube, a consolidation rod, a fixing screw, a fixing plate, and a transverse fixing rod. The triangular block is fixed between the stacked rod and the main bracket, the consolidation rod is welded to the outer surface of the diagonal square tube, the bottom end of the diagonal square tube is fixed to the fixing plate by a fixing screw, the transverse fixing rod is vertically welded between the two main brackets, two diagonal square tubes are provided and both are installed at an angle, and the inclination angle of the diagonal square tube forms a triangular structure with the main bracket, which plays a stabilizing role.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] 1. Start the control of the fourth axis servo motor inside the built-in grid to rotate the clamp arm through the rotating shaft, so that the clamp block can be opened on both sides of the workpiece. After the clamp is fixed with the workpiece, the movement of the workpiece is mainly driven by the extended square tube. The draw rod and the extended square tube continue to move and retract to share the weight of the workpiece borne by the extended square tube. When the horizontal gear rotates, it will move along the tooth pattern of the horizontal tooth strip, thereby driving the connecting block to translate along the trajectory of the limit rail. The vertical gear connected to the servo motor will rotate vertically along the vertical tooth strip. When the extended square tube moves vertically, the extended strip It will bend and stretch, and its draw rod will telescope inside the cylinder rod, which can share the gravity of the workpiece clamped by the fixture and assist in supporting the movement of the extended square tube. When the fixture clamps a heavier cylindrical workpiece, the chuck of the fixture has a certain inclination angle, which can be better fixed on the surface of the cylinder. The cylinder can assist in supporting the force of the extended square tube, which can effectively improve the movement speed and response of the Z-axis mechanism, and is beneficial to extend the service life of the reducer and rack mechanism. The fourth-axis servo motor is hidden inside the Z-axis square tube, and the structure is more compact and beautiful. When one of the motor or cylinder mechanisms fails, the mechanism will not fall accidentally.

[0020] 2. When the manipulator moves and controls the workpiece on the upper end of the plane frame, the four corners of the bottom end are fixed by the main bracket, which cannot avoid the shaking caused by limiting and moving the manipulator. There is also a diagonal square tube on the side of the main bracket to form an inclined angle with the main bracket. The fixing screws can fix the whole in a stable position. The triangular block can consolidate the original main bracket and the plane frame, and the shaking caused by the manipulator moving on the surface of the plane frame can be more effectively stabilized. The bracket is inclined at an angle to form a triangle, which can more effectively stabilize the shaking caused by the operation and movement of the equipment, so that the equipment can be better controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a dual-clamp 4-axis truss manipulator of the utility model.

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the four-axis truss manipulator of the utility model.

[0023] Figure 3 It is a schematic diagram of the three-dimensional cross-sectional structure of the four-axis truss manipulator of the utility model.

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the clamp of the utility model.

[0025] Figure 5 It is a three-dimensional structural schematic diagram of the main bracket of the utility model.

[0026] In the figure: main bracket-1, plane frame-2, manipulator-3, connecting body-4, main clamping device-5, horizontal gear-01, horizontal tooth stripe-02, servo motor-03, control box-04, cylinder-05, connecting ring-06, limit rail-07, connecting block-08, vertical tooth stripe-m1, vertical gear-m2, cylinder rod-m3, draw rod-m4, fixed block-m5, built-in grid-m6, protective shell-m7, connecting layer-s1, fourth axis servo motor- s2, extended square tube-s3, connecting shell-s4, clamp-s5, fixed bottom-51, extension strip-52, buckle head-53, tilting head-x1, clamp block-x2, connecting shaft-x3, clamp arm-x4, adjustment grid-x5, rotating shaft-x6, limit groove-x7, cross frame-g1, limit block-g2, triangle block-71, stacking rod-72, oblique square tube-73, consolidation rod-74, fixing screw-75, fixing plate-76, horizontal fixing rod-77. DETAILED DESCRIPTION

[0027] The utility model is further described below in conjunction with the accompanying drawings:

[0028] Embodiment 1:

[0029] As attached Figure 1 To Attachment Figure 4 As shown:

[0030] The utility model provides a dual-clamp 4-axis truss manipulator, which structure includes a main support 1, a plane frame 2, a manipulator 3, a connecting body 4, and a main clamping device 5. The plane frame 2 is welded to the lower surface of the plane frame 2, the manipulator 3 is mounted on the plane frame 2 and is movable, the connecting body 4 runs through the inside of the manipulator 3 and can be connected with the main clamping device 5, and is characterized in that:

[0031] The manipulator 3 includes a transverse gear 01, a transverse tooth strip 02, a servo motor 03, a control box 04, a cylinder 05, a connecting ring 06, a limit rail 07, and a connecting block 08. The upper end of the transverse gear 01 is connected to the servo motor 03. The rotation of the transverse gear 01 drives the transverse tooth strip 02 to move horizontally. The transverse gear 01 is connected to the control box 04 through the connecting block 08. The connecting block 08 is nested in the surface of the limit rail 07. The connecting ring 06 is installed on the upper surface of the main clamping device 5. The cylinder 05 runs through the inside of the control box 04. The transverse gear 01 is controlled to rotate by the servo motor 03 to drive the whole to move horizontally along the transverse tooth strip 02, thereby achieving the effect of movement. The limit rail 07 limits the moving range and position of the connecting block 08.

[0032] The cylinder 05 includes a vertical tooth stripe m1, a vertical gear m2, a cylinder rod m3, a draw rod m4, a fixed block m5, a built-in grid m6, and a protective shell m7. The vertical tooth stripe m1 is connected to the tooth stripe of the vertical gear m2. The draw rod m4 is embedded in the cylinder rod m3 and is movable. The bottom end of the draw rod m4 is fixed to the fixed block m5. The fixed block m5 is welded to the outer surface of the built-in grid m6. The cylinder rod m3 is fixed to the inside of the protective shell m7. The cylinder rod m3 is parallel to the vertical tooth stripe m1. The vertical tooth stripe m1 is fixed to the outer surface of the built-in grid m6. The draw rod m4 moves together with the built-in grid m6 through the fixed block m5. The vertical gear m2 rotates so that its vertical tooth stripe m1 can drive the connecting part to move vertically. The draw rod m4 plays a role of auxiliary support and connection to its connecting part through the fixed block m5.

[0033] The cylinder 05 includes a connecting layer s1, a fourth-axis servo motor s2, an extended square tube s3, a connecting shell s4, and a clamp s5. The connecting layer s1 is installed on the upper surface of the clamp s5, and the fourth-axis servo motor s2 is installed inside the extended square tube s3. The extended square tube s3 and the built-in grid m6 are an integrated structure. The connecting shell s4 is connected to the lower end of the extended square tube s3. The fourth-axis servo motor s2 is connected to the connecting layer s1 through the connecting shell s4. The extended square tube s3 is parallel to the draw rod m4. The outer surface of the extended square tube s3 is welded with vertical tooth strips m1. The extended square tube s3 is located inside the control box 04 and moves vertically. The connecting shell s4 can drive the connecting layer s1 to rotate through the rotational force. The extended square tube s3 is the main moving part for clamping the workpiece.

[0034] Among them, the connecting body 4 includes a fixed bottom 51, an extension strip 52, and a buckle head 53. The fixed bottom 51 is fixed to the upper surface of the control box 04, and the extension strip 52 is fixed to the upper surface of the control box 04 through the fixed bottom 51. The end of the extension strip 52 away from the fixed bottom 51 is installed with a buckle head 53, and the buckle head 53 can be connected and fixed to the connecting ring 06. The extension strip 52 is bent and stretched when the extension square tube s3 moves. The extension strip 52 has a certain softness and can bend and pull when it is pulled by the connecting part. The extension strip 52 mainly assists in supporting and pulling the connecting part.

[0035] Among them, four limit rails 07 are provided and installed in a horizontal direction, two extended square tubes s3 are provided, the fixed block m5 is welded to the outer surface of the extended square tube s3, the connecting blocks 08 are grouped into three and a total of four groups are provided, the connecting rings 06 are circular ring structures and two are grouped together, and the control box 04 is a box body connected up and down.

[0036] Among them, the clamp s5 is a symmetrical structure and is movable, the fixed block m5 can connect the extended square tube s3 and the pull rod m4 to move synchronously, the connecting shell s4 is a cylindrical structure as a whole to facilitate the rotation of the internal fourth-axis servo motor s2, the pull rod m4 is a cylindrical structure, the protective shell m7 shields and protects the internal installation components, the horizontal tooth strip 02 and the vertical tooth strip m1 are both vertical, and the vertical gear m2 and the horizontal gear 01 are mainly controlled by the servo motor 03.

[0037] Among them, the clamp s5 includes a tilting head x1, a clamping block x2, a connecting shaft x3, a clamping arm x4, an adjustment grid x5, a rotating shaft x6, and a limiting groove x7. The tilting head x1 and the clamping block x2 are an integrated structure. The connecting shaft x3 passes through the clamping block x2 to fix it to the surface of the clamping arm x4. The clamping arm x4 is installed inside the adjustment grid x5 and is hinged. The rotating shaft x6 is connected to the adjustment grid x5 through the connecting layer s1. The limiting groove x7 passes through the top of the adjustment grid x5. The clamping blocks x2 are in groups of two and are symmetrically installed. The top of the rotating shaft x6 is connected to the fourth-axis servo motor s2. The rotating shaft x6 controls the movement of the clamping arm x4 through the rotating shaft. The clamping arm x4 is a symmetrical structure and two are in a group. The limiting groove x7 can limit the range of movement of the conflicting part.

[0038] The specific usage and function of this embodiment are as follows:

[0039] In the utility model, when the equipment clamps a heavier cylinder through the main clamping device 5, the fourth axis servo motor s2 inside the built-in grid m6 is started and controlled to rotate the clamp arm x4 through the rotating shaft x6, and the clamp arm x4 will swing and expand along the limit range of the limit groove x7 inside the adjustment grid x5, so that its clamp block x2 can be opened on both sides of the workpiece, and then the clamp arm x4 is returned by rotation, so that the clamp block x2 can be clamped on the surface of the workpiece, and the inclination angle of the tilting head x1 can better fix the cylindrical workpiece. After the clamp s5 fixes the workpiece, the movement of the workpiece is mainly driven by the extended square tube s3. The top connecting ring 06 of the extended square tube s3 will be connected with the buckle head 53, which can play an auxiliary force role for the extended square tube s3. The cylinder rod m3 and the pull rod m4 on the side of the extended square tube s3 are fixedly connected by the fixing block m5. The cylinder rod m3 is continuously fixed inside the protective shell m7, and the pull rod m4 is connected with the extended square tube s3. The extended square tube s3 continuously moves and retracts to share the weight of the workpiece borne by the extended square tube s3. The servo motor 03 inside the control box 04 will operate the transverse gear 01 to rotate. The control box 04 is installed on the surface of the limit rail 07 through the connecting block 08. When the transverse gear 01 rotates, it will move along the tooth pattern of the transverse tooth pattern 02, thereby driving the connecting block 08 to translate along the trajectory of the limit rail 07. When it is necessary to adjust up and down, the vertical gear m2 connected to the servo motor 03 rotates and moves vertically along the vertical tooth pattern m1. When the extended square tube s3 moves vertically, the extension bar 52 will bend and stretch, and the bottom is fixed by the fixed bottom 51 to the extension bar 52. The extension bar 52 exerts a certain pulling force on the extended square tube s3. The side puller rod m4 also moves synchronously with the extended square tube s3. The puller rod m4 moves and retracts inside the cylinder rod m3, which plays a role in sharing the gravity of the workpiece clamped by the clamp s5 and assisting the support activity of the extended square tube s3.

[0040] Embodiment 2:

[0041] As attached Figure 5 As shown:

[0042] Among them, the plane frame 2 includes a cross frame g1 and a limit block g2. A limit rail 07 is fixed on the upper surface of the cross frame g1. The limit block g2 and the limit rail 07 are installed on the same horizontal plane and fixed to the cross frame g1. The limit blocks g2 are grouped into two and there are four groups in total. The limit blocks g2 limit the moving range on the same track. There are four cross frames g1 and they are all installed horizontally.

[0043] Among them, the main bracket 1 includes a triangular block 71, a stacked rod 72, a diagonal square tube 73, a consolidation rod 74, a fixing screw 75, a fixing plate 76, and a transverse fixing rod 77. The triangular block 71 is fixed between the stacked rod 72 and the main bracket 1, the consolidation rod 74 is welded to the outer surface of the diagonal square tube 73, and the bottom end of the diagonal square tube 73 is fixed to the fixing plate 76 by a fixing screw 75. The transverse fixing rod 77 is vertically welded between the two main brackets 1. The diagonal square tube 73 is provided with two and both are installed obliquely. The inclination angle of the diagonal square tube 73 forms a triangular structure with the main bracket 1, which plays a stabilizing role. The consolidation rod 74 mainly consolidates the angle installation between the diagonal square tube 73 and the main bracket 1.

[0044] The specific usage and function of this embodiment are as follows:

[0045] When the workpiece is moved and controlled by the main support 1, the four corners of the bottom end are fixed by the main support 1. The workpiece will be limited by the limit block g2 during movement, and the shaking caused by the limitation and movement of the manipulator 3 cannot be avoided. In addition to the main support 1 fixing the four corners at the bottom end of the plane frame 2, there is also an inclined square tube 73 on the side of the main support 1 to form an inclined angle with the main support 1, and the lower end is fixed by a consolidation rod 74 and a transverse fixing rod 77 to fix the frame. The inclined square tube 73 is fixed to the fixing plate 76 by fixing screws 75. The fixing screws 75 can fix the whole in a stable position. The triangular block 71 can consolidate the original main support 1 and the plane frame 2, and the superimposed rod 72 further fixes the plane frame 2. When the inclined square tube 73 and the main support 1 form a triangle, the shaking caused by the manipulator 3 being located on the surface of the plane frame 2 for moving operation can be more effectively stabilized.

[0046] Utilizing the technical solution described in the utility model, or those skilled in the art designing similar technical solutions inspired by the technical solution of the utility model to achieve the above-mentioned technical effects, all fall within the protection scope of the utility model.

Claims

1. A dual-clamp 4-axis truss manipulator, the structure of which includes a main support (1), a plane frame (2), a manipulator (3), a connecting body (4), and a main clamping device (5), wherein the plane frame (2) is welded to the lower surface of the plane frame (2), the manipulator (3) is mounted on the plane frame (2) and is movable, and the connecting body (4) runs through the inside of the manipulator (3) and can be connected with the main clamping device (5), characterized in that: The manipulator (3) comprises a transverse gear (01), a transverse tooth strip (02), a servo motor (03), a control box (04), a cylinder (05), a connecting ring (06), a limit rail (07), and a connecting block (08); the upper end of the transverse gear (01) is connected to the servo motor (03); the rotation of the transverse gear (01) drives the transverse tooth strip (02) to move horizontally; the transverse gear (01) is connected to the control box (04) through the connecting block (08); the connecting block (08) is nested in the surface of the limit rail (07); the connecting ring (06) is installed on the upper surface of the main clamping device (5); and the cylinder (05) runs through the inside of the control box (04); The cylinder (05) comprises a vertical tooth strip (m1), a vertical gear (m2), a cylinder rod (m3), a draw rod (m4), a fixed block (m5), a built-in grid (m6), and a protective shell (m7). The vertical tooth strip (m1) is connected to the tooth strip of the vertical gear (m2). The draw rod (m4) is embedded in the cylinder rod (m3) and is movable. The bottom end of the draw rod (m4) is fixed to the fixed block (m5). The fixed block (m5) is welded to the outer surface of the built-in grid (m6). The cylinder rod (m3) is fixed to the inside of the protective shell (m7). The cylinder rod (m3) is parallel to the vertical tooth strip (m1). The vertical tooth strip (m1) is fixed to the outer surface of the built-in grid (m6). The draw rod (m4) moves together with the built-in grid (m6) through the fixed block (m5). The cylinder (05) includes a connecting layer (s1), a fourth-axis servo motor (s2), an extended square tube (s3), a connecting shell (s4), and a clamp (s5). The connecting layer (s1) is installed on the upper surface of the clamp (s5), the fourth-axis servo motor (s2) is installed inside the extended square tube (s3), the extended square tube (s3) and the built-in grid (m6) are an integrated structure, the connecting shell (s4) is connected to the lower end of the extended square tube (s3), the fourth-axis servo motor (s2) is connected to the connecting layer (s1) through the connecting shell (s4), the extended square tube (s3) is parallel to the draw rod (m4), the outer surface of the extended square tube (s3) is welded with vertical tooth strips (m1), and the extended square tube (s3) is located inside the control box (04) and moves vertically.

2. A dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The connecting body (4) comprises a fixed bottom (51), an extension strip (52), and a buckle head (53); the fixed bottom (51) is fixed to the upper surface of the control box (04); the extension strip (52) is fixed to the upper surface of the control box (04) through the fixed bottom (51); a buckle head (53) is installed at one end of the extension strip (52) away from the fixed bottom (51); the buckle head (53) can be connected and fixed to the connecting ring (06); and the extension strip (52) is bent and stretched when the extension square tube (s3) moves.

3. A dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The limit rails (07) are provided in four and are installed in a horizontal direction, the extended square tubes (s3) are provided in two, the fixed blocks (m5) are welded to the outer surface of the extended square tube (s3), and the connecting blocks (08) are provided in groups of three and four groups in total.

4. A dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The clamp (s5) is of symmetrical structure and is movable. The fixed block (m5) can connect the extended square tube (s3) and the pull rod (m4) to move synchronously. The connecting shell (s4) is of cylindrical structure as a whole to facilitate the rotation of the internal fourth-axis servo motor (s2). The pull rod (m4) is of cylindrical structure. The protective shell (m7) shields and protects the internal installation components.

5. The dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The clamp (s5) comprises a tilting head (x1), a clamping block (x2), a connecting shaft (x3), a clamping arm (x4), an adjustment grid (x5), a rotating shaft (x6), and a limiting groove (x7); the tilting head (x1) and the clamping block (x2) are an integrated structure; the connecting shaft (x3) passes through the clamping block (x2) to fix it to the surface of the clamping arm (x4); the clamping arm (x4) is installed inside the adjustment grid (x5) and is hingedly connected; the rotating shaft (x6) is connected to the adjustment grid (x5) through a connecting layer (s1); the limiting groove (x7) passes through the top of the adjustment grid (x5); the clamping blocks (x2) are grouped in two and are symmetrically installed; the top end of the rotating shaft (x6) is connected to the fourth axis servo motor (s2); and the rotating shaft (x6) controls the movement of the clamping arm (x4) through the rotating shaft.

6. A dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The plane frame (2) comprises a cross frame (g1) and a limit block (g2); a limit rail (07) is fixed on the upper surface of the cross frame (g1); the limit block (g2) and the limit rail (07) are installed on the same horizontal plane and fixed to the cross frame (g1); two limit blocks (g2) form a group and four groups are provided in total.

7. The dual-gripper 4-axis truss manipulator according to claim 1, characterized in that: The main support (1) comprises a triangular block (71), a stacked rod (72), an inclined square tube (73), a consolidation rod (74), a fixing screw (75), a fixing plate (76), and a transverse fixing rod (77); the triangular block (71) is fixed between the stacked rod (72) and the main support (1); the consolidation rod (74) is welded to the outer surface of the inclined square tube (73); the bottom end of the inclined square tube (73) is fixed to the fixing plate (76) by a fixing screw (75); the transverse fixing rod (77) is vertically welded between the two main supports (1); and two inclined square tubes (73) are provided and both are installed obliquely.

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