CN109483311A

CN109483311A - Truss robot

Info

Publication number: CN109483311A
Application number: CN201910012004.4A
Authority: CN
Inventors: 陈征平
Original assignee: Zhejiang Bozhan Industrial Automation Equipment Co Ltd
Current assignee: Zhejiang Bozhan Industrial Automation Equipment Co Ltd
Priority date: 2019-01-07
Filing date: 2019-01-07
Publication date: 2019-03-19

Abstract

The present invention relates to a kind of truss robot, column is equipped with fuel reserve tank, pallet component and control cabinet, by adjusting component connection between bottom plate and sole；Pallet component includes the tray body that placing groove is distributed in basetray and upper surface, and tray body is slidably connected with basetray；The top that crossbeam is fixed on column by bridging beam, cross motor and longitudinal motor and equipment gear one are fixed in fixed plate, longitudinal motor is connected with gear one, equipment gear two is connected with pouring orifice, its face of gear is equipped with the oil outlet being connected to pouring orifice and is covered with cashmere layer of cloth, and pouring orifice connects fuel reserve tank by hose；Rotation pneumatic clamper includes that ontology and fixed feeding head and upper material head on the body, upper material head are equipped with elastic parts.The truss robot is reasonable in design simple, and elastic parts applies the power released to workpiece by push piece in feeding；Component realization is adjusted to the horizontal adjustment of truss robot；Equipment gear in real time lubricates each rack gear.

Description

Truss robot

Technical field

The present invention relates to manipulator technical field, especially a kind of truss robot.

Background technique

Truss robot is a kind of puma manipulator, is mainly pressed from both sides by the component and tooling of column frame and cross shifting Tool composition, truss robot and lathe are used cooperatively the pick-and-place for workpiece.Existing truss robot has the disadvantage that 1. vehicles Bed Workpiece clamping head is that laterally setting, workpiece are difficult for workpiece to be in place when being placed on Workpiece clamping head, leads to clamping not Jail；2. truss robot fixes the bad adjustment of its degree of balance；3. the teeth that prolonged use is easy to cause cross shifting component Engagement place is damaged because lacking lubrication.

Summary of the invention

For the deficiency in background technique, the present invention provides a kind of truss robot, and overcomes disadvantages described above.

The technical solution adopted by the present invention to solve the technical problems is:

A kind of truss robot, pedestal and cross shifting component including column and positioned at column upper and lower side, on the column from Oil transfer pump, fuel reserve tank, pallet component and control cabinet are disposed under, the pedestal includes bottom plate and sole, bottom plate It is connect between sole by adjusting component；The pallet component includes that placement is distributed in basetray, bottom plate and upper surface The tray body of slot, tray body are slidably connected with basetray, and basetray opposed bottom angle and levelness are adjustable；Institute State cross shifting component include crossbeam, sliding be fixed on crossbeam connection support plate, sliding be fixed on connect support plate on Mechanical arm, the top that crossbeam is fixed on column by bridging beam, the connection support plate undertaking are fixed with transverse plate and longitudinal plate, Transverse plate upper end is vertically equipped with fixed plate, and cross motor and equipment gear one are fixed in fixed plate, is fixed in longitudinal plate vertical To motor and equipment gear two, longitudinal motor is connected with gear one, and mechanical arm is equipped with longitudinal slide rail and is meshed with gear one Rack gear one, equipment gear one is meshed with rack gear one, and cross motor is connected with gear two, and crossbeam is equipped with and engages with gear two Rack gear two, equipment gear two is parallel with gear two and is engaged with rack, and mechanical arm end is connected with rotary pneumatic by receiving block Pawl, the rotation pneumatic clamper include that ontology and fixed feeding head and upper material head on the body, feeding head and upper material head are vertically arranged, The claw of at least a circle distribution is equipped on feeding head and upper material head, claw moves in or out realization to workpiece simultaneously Crawl is unclamped, and feeding head is equipped with gas blow pipe, and upper material head is equipped with elastic parts.

Multiple groups opposite the first screw hole and the second screw hole, the adjusting component packet are respectively equipped on the bottom plate and base anchor The stud that through-hole is equipped with including screw, nut and center is included, the stud upper end is equipped with regular polygon stress surface, and stud successively revolves It is screwed in nut and the first screw hole the simultaneously levelness of regulating base board, screw is passed through into through-hole later and is screwed in the bottom of in the second screw hole Plate is fixedly connected with sole；Gasket is equipped between the screw and stud.

The basetray is equipped with guide rail and screw rod parallel with it, and screw rod is connected with motor one, uniformly divides on guide rail It is furnished with counterbore, T-type through slot one and T-type through slot two are equipped on basetray top and bottom, stop nut one built in T-type through slot one is every Sunk screw is worn in a counterbore, sunk screw end is screwed on stop nut, which realizes that guide rail is removable；Bottom plate It is equipped with centre bore, water transfer flat hole and the arcuate socket around center pore size distribution, basetray bottom surface is equipped with and is plugged in centre bore Pillar, stop nut is equipped in T-type through slot two, connection is fed through the stud of arcuate socket, stud other end spiral shell in stop nut Line is connected with locking nut；Bottom plate is fixed on column by support plate component.

Pallet component further includes the pallet fixed plate between tray body and basetray, and pallet fixed plate bottom surface is logical It crosses sliding block to be slidably connected with guide rail, pallet fixed plate upper surface is equipped with two cylinders, which is formed by straight line for determining Itself and rotate the depth of parallelism of pneumatic clamper motion track, be additionally provided with the post holes opposite with two cylinders in the tray body.

The support plate component includes that two support plates one being fixed on column and two are fixed therein a support plate Support plate two on one, two support plates one one end and two one end of support plate two far from support plate one far from column pass through respectively Connecting plate connection, the bottom plate are fixed in two support plates one, connecting plate and two support plates two.

The bridge joint beam includes upper plate, lower plate, the both side plate between upper and lower plates, and both side plate is arranged in parallel, and the two Between be equipped with link block, be equipped with lightening hole on the upper plate and both side plate, the cambered surface setting that the two sides of both side plate concave, The lower plate is equipped with threading hole.

Cashmere layer of cloth is covered on the face of gear of equipment gear two, equipment gear two is connected with pouring orifice, sets on face of gear There is the oil outlet being connected to pouring orifice, the pouring orifice connects fuel reserve tank by hose, and column is hollow, and hose and cable are therefrom It passes through；Equipment gear one is identical as two structure of equipment gear.

The elastic parts includes push piece, guide rod, fixinig plate, and push piece includes the bar portion that even circumferential extends, fixinig plate one End is fixed between adjacent claw, other end location guide, and guide rod slides the end for being threaded through bar portion, and position is equipped on guide rod Elastic component between fixinig plate and bar portion.

Shield on the crossbeam, transverse plate are equipped with the fixed cover of label.Equipped with circumference point between the column and bottom plate The reinforcing rib of cloth.

By adopting the above-described technical solution, effectively improving background technique is previously mentioned problem, the truss robot knot Structure design is rationally simple, by, equipped with elastic parts, applying the power released to workpiece by push piece in feeding on upper material head, The fixing end of workpiece is pushed into lathe workpiece collet penetralia, is in place, fixation；It is realized by adjusting component 23 To the horizontal adjustment of truss robot；Each rack gear is lubricated in real time by setting equipment gear, guarantees service performance, extends and uses Service life.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention I.

Fig. 2 is the structural schematic diagram I of present invention removal shield 311.

Fig. 3 is the structural schematic diagram of basetray 52.

Fig. 4 is the job state reference configuration schematic diagram for rotating pneumatic clamper 7.

Fig. 5 is structural schematic diagram II of the invention.

Fig. 6 is partial structural diagram I of the invention.

Fig. 7 is the fractionation structural representation for adjusting component 23.

Fig. 8 is the structural schematic diagram for adjusting component 23.

Fig. 9 is partial structural diagram II of the invention.

Figure 10 is the partial structural diagram of mechanical arm 33.

Figure 11 is the structural schematic diagram I for rotating pneumatic clamper 7.

Figure 12 is the structural schematic diagram II for rotating pneumatic clamper 7.

Figure 13 is the structural schematic diagram II of present invention removal shield 311.

Figure 14 is partial structural diagram III of the invention.

Figure 15 is the fractionation structural representation of pedestal 52, bottom plate 53.

Figure 16 is enlarged structure schematic diagram at A in Figure 15.

Figure 17 is pedestal 52,53 local cutting attachment structure schematic diagram of bottom plate.

Figure 18 is the attachment structure schematic diagram for connecting support plate 32.

Figure 19 is the partial structural diagram of column 1.

Figure 20 is the partial structural diagram of basetray 52.

Specific embodiment

Referring to figs. 1 to Figure 20 it is found that the present invention: a kind of truss robot, including column 1 and positioned at 1 upper and lower side of column Pedestal 2 and cross shifting component 3 are disposed with oil transfer pump 41, fuel reserve tank 4, pallet component 5 on the column 1 from top to bottom With control cabinet 6, the pedestal 2 includes bottom plate 21 and sole 22, is connected between bottom plate 21 and sole 22 by adjusting component 23 It connects；Opposite the first screw hole 021 and the second screw hole 022 of multiple groups, the adjusting are respectively equipped on the bottom plate 21 and base anchor 22 Component 23 include include screw 231, nut 232 and center be equipped with through-hole 234 stud 233,233 upper end of stud be equipped with just Polygon stress surface 235, stud 233 is successively screwed in nut 232 and the first screw hole 021 and the levelness of regulating base board 21, Screw 231 is screwed in the second screw hole 022 across through-hole 234 later and is fixedly connected with bottom plate 21 with sole 22；The spiral shell Gasket 236 is equipped between nail 231 and stud 233.As shown in attached drawing 1, attached drawing 7, attached drawing 8, base anchor 22 is fixed on ground first On face or stationary plane；Secondly bottom plate 21 is placed on base anchor 22, and makes the first screw hole 021 second screw hole, 022 phase one by one It is right；Then the stud 233 for screwing nut 232 is screwable into the first screw hole 021 from 21 top of bottom plate, it is just more during screwing Side shape stress surface 235 is the focusing surface that screws of spanner, and stud 233 screws out one end overhead of bottom plate 21 table on base anchor 22 Face screws out the length of one end of bottom plate 21 by adjusting stud 233 to adjust the levelness of bottom plate 21, it is preferable that at least set There are three groups of one-to-one first screw holes 021 and the second screw hole 022, the length of bottom plate 21 is screwed out by adjusting multiple groups stud 233 The levelness of bottom plate 21 is adjusted, adjustment finishes, and nut 232 is screwed with respect to stud 233 to lower end surface and is close to 21 upper surface of bottom plate； Then the screw 231 for being equipped with gasket 236 is fed through and is screwed in the through-hole 234 of 21 upper stud 233 of bottom plate and is screwed in sole The second screw hole 022 on 22, bottom plate 21 and base anchor 22 are connected and fixed.Preferably, component 23 will be adjusted before item is horizontal Each component is separately connected, and stud 233 is shorter than tentatively screwed in the second screw hole 022, so that the first screw hole 021 and the second screw hole 022 is corresponding, then further according to the levelness of the above operation adjustment bottom plate 21.

Shown in attached drawing 1, attached drawing 3, the pallet component 5 includes that placement is distributed in basetray 52, bottom plate 53 and upper surface The tray body 51 of slot 512, tray body 51 are slidably connected with basetray 52, and the basetray 52 is equipped with guide rail 521 And screw rod 522 parallel with it, screw rod 522 are connected with motor 1.Motor 1 drives screw rod 522 to drive tray body 51 It is slided along guide rail 521.The basetray 52 is equipped with guide rail 521 and screw rod 522 parallel with it, screw rod 522 are connected with electricity Machine 1 is evenly distributed with counterbore 5211 on guide rail 521, as shown in attached drawing 15, attached drawing 20, on 52 top and bottom of basetray Equipped with T-type through slot 1 and T-type through slot 2 5202, each counterbore 5211 of stop nut 1 built in T-type through slot 1 Sunk screw 5212 is inside worn, 5212 end of sunk screw is screwed on stop nut 5203, passes through multiple groups sunk screw 5212 Guide rail 521 is fixed on basetray 52 with stop nut 5203, which realizes that guide rail 521 is removable.As attached drawing 15, Shown in attached drawing 16,52 opposed bottom of basetray, 53 angle and levelness are adjustable, and bottom plate 53 is equipped with centre bore 531, water transfer Flat hole 533 and the arcuate socket 532 being distributed around centre bore 531,52 bottom surface of basetray are convex in centre bore 531 equipped with being plugged in Column 524, T-type through slot 2 5203 is interior to be equipped with stop nut 526, and connection is fed through the stud of arcuate socket 532 in stop nut 526 527,527 other end of stud is threaded with locking nut 528.First as shown in Fig. 15, bottom plate 53 is equipped with multiple groups water Flat hole 533 screws screw in water transfer flat hole 533 below bottom plate 53, and screw screws out the tray bottom of 53 overhead of bottom plate on it Seat 52, one every group of screw screw out the length of bottom plate 53 to adjust the levelness of basetray 52；After level-off is completed, such as attached drawing 17, shown in attached drawing 16, stop nut 526 is placed in T-type through slot 2 5203, stud 527 is then equipped with arcuate socket 532 and is revolved It is screwed on the stop nut 526 being placed in T-type through slot 2 5203, then as shown in Fig. 15, by adjusting fixing seat 52 and bottom Relative angle between plate 53, i.e. pillar 524 are placed in centre bore 531 and rotate, and at the same time, stud 527 is in arcuate socket 532 Interior swing, fixing seat 52 angle adjustment be subject to two cylinders 542 line with rotate 7 motion track of pneumatic clamper it is parallel, work as adjustment After the angle of good fixing seat 52, as shown in Fig. 17, by screwing locking nut 528 on stud 527, by stop nut 526 53 direction of bottom plate is pulled to, it is finally that fixing seat 52 and bottom plate 53 is relatively fixed securely.

As shown in figure 3, pallet component 5 further includes the pallet fixed plate between tray body 51 and basetray 52 54,54 underrun sliding block 541 of pallet fixed plate is slidably connected with guide rail 521, and 54 upper surface of pallet fixed plate is equipped with two cylinders 542, which is formed by straight line for determining the depth of parallelism of itself and rotation 7 motion track of pneumatic clamper, the tray body The post holes 511 opposite with two cylinders 542 is additionally provided on 51, two cylinders 542 are used for fixed tray ontology 51.

As shown in figure 14, bottom plate 53 is fixed on column 1 by support plate component 11.The support plate component 11 includes two The support plate 1 being fixed on column 1 and two support plates 2 112 being fixed therein in a support plate 1, two Fagging 1 one end and two one end of support plate 2 112 far from support plate 1 far from column 1 pass through connecting plate 113 respectively Connection, the bottom plate 53 are fixed in two support plates 1, connecting plate 113 and two support plates 2 112.

As shown in attached drawing 2, attached drawing 6, attached drawing 9, Figure 18, the cross shifting component 3 is fixed on cross including crossbeam 31, sliding Connection support plate 32, sliding on beam 31 are fixed on the mechanical arm 33 in connection support plate 32, and crossbeam 31 is fixed by bridge joint beam 4 On the top of column 1, the undertaking of connection support plate 32 is fixed with transverse plate 322 and longitudinal plate 323, and 322 upper end of transverse plate is hung down It is directly equipped with fixed plate 303, is slidably matched between transverse plate 322 and crossbeam 31 by sliding block slide rail group 500, it is solid in fixed plate 303 Surely there are cross motor 34 and equipment gear 1, longitudinal motor 35 and equipment gear 2 305 are fixed in longitudinal plate 323, it is longitudinal Motor 35 is connected with gear 1, and longitudinal plate 323 is equipped with the through slot 324 passed through for rack gear 1 and for longitudinal slide rail 3301 The guide pad 325 worn.As shown in Fig. 10, mechanical arm 33 is equipped with longitudinal slide rail 3301 and is meshed with gear 1 Rack gear 1, equipment gear 1 are also meshed with rack gear 1, and cross motor 34 is connected with gear 2 341, on crossbeam 31 Equipped with the rack gear 2 310 engaged with gear 2 341, equipment gear 2 305 is parallel with gear 2 341 and engages with rack gear 400.Such as Shown in attached drawing 6, cashmere layer of cloth is covered on the face of gear of equipment gear 2 305, equipment gear 2 305 is connected with pouring orifice 307, Face of gear is equipped with the oil outlet 306 being connected to pouring orifice 307, and the pouring orifice 307 connects fuel reserve tank 6 by hose, described Equipment gear 1 is identical as 2 305 structure of equipment gear.Column 1 is hollow, and hose and cable extend there through, hose and electricity Cable is arranged in column 1 using concealed wire, simplifies external structure, protects hose and cable.Oil transfer pump 41 will be in fuel reserve tank 4 Lubricating oil is delivered to pouring orifice 307 by hose, is finally discharged from oil outlet 306, cashmere layer of cloth adsorpting lubrication oil, by lubricating oil It is uniform to be coated on the rack gear being engaged with.

As shown in Fig. 2,33 end of mechanical arm is connected with rotation pneumatic clamper 7 by receiving block 9, such as attached drawing 4, attached drawing 11, attached Shown in Figure 12, the rotation pneumatic clamper 7 includes ontology 70 and the feeding head 71 and upper material head 72 that are fixed on ontology 70, feeding head 71 It is vertically arranged with upper material head 72, the claw 73 of at least a circle distribution is equipped on feeding head 71 and upper material head 72, claw 73 is same When move in or out and realize crawl or release to workpiece, feeding head 71 is equipped with gas blow pipe 74, and upper material head 72 is equipped with Elastic parts 8.Specifically, cross motor 34 is drivingly connected the drive mechanical arm 33 of support plate 32 and slides along crossbeam 31, makes rotary pneumatic Pawl 7 is placed in right above tray body 51；The upper material head 72 for rotating pneumatic clamper 7 rotates downward, then mechanical arm 33 is driven to move vertically downward Dynamic, for upper material head 72 when folder removes workpiece 001, the 002 overhead push piece 81 of end to be processed of workpiece 001, push piece 81 is by workpiece end to be processed 002 overhead, mobile towards mechanical arm 33, elastic component 84 is compressed；Then mechanical arm 33 moves vertically upward, then drives machinery Arm 2 is mobile towards Workpiece clamping head 003, and as shown in Fig. 4, feeding head 71, which faces, is clamped with the machined workpiece 001 finished Workpiece clamping head 003, gas blow pipe 74 connect air pump, blow to the machined workpiece 001 finished, remove its surface irregularities, so The claw 73 of feeding head 71 is removed afterwards, and far from Workpiece clamping head 003, is then rotated pneumatic clamper 7 and is rotated, makes 71 court of feeding head Under, it is clamped with the 72 face Workpiece clamping head 003 of upper material head of workpiece to be processed 001, and mobile towards Workpiece clamping head 003, finally will Workpiece to be processed 001 faces Workpiece clamping head 003, claw 73 is unclamped, by the thrust of push piece 81, the fixation of workpiece to be processed 001 End is pushed into inside Workpiece clamping head 003 fixed by bullet；The above movement is finally repeated, finished work 001 is placed into original placement Placing groove 512 in, then take another workpiece to be processed 001, and so on repeat.

The reinforcing rib 10 of circle distribution is equipped between the column 1 and bottom plate 21.

As shown in figure 13, the bridge joint beam 4 includes the both side plate 43 of upper plate 41, lower plate 42 between upper and lower plates, two sides Plate 43 is arranged in parallel, and is equipped with link block 40 between the two, is equipped with lightening hole 44, two sides on the upper plate 41 and both side plate 43 The cambered surface 431 that the two sides of plate 43 concave is arranged, and the lower plate 42 and top plate 100 are equipped with threading hole 400, and threading hole is used for Hose and cable pass through.As shown in figure 19, it is equipped with top plate 100 at the top of the column 1, is set between top plate 100 and lower plate 42 There is the cushion block 200 being located at close to two sides, reinforcing rib 1 is equipped between top plate 100 and column 1.

Equipment gear 1 is identical as 2 305 structure of equipment gear.

As shown in attached drawing 11, attached drawing 12, the elastic parts 8 includes push piece 81, guide rod 82, fixinig plate 83, and push piece 81 wraps The bar portion 811 of even circumferential extension is included, 83 one end of fixinig plate is fixed between adjacent claw 73, and other end location guide 82 is led Bar 82 slides the end for being threaded through bar portion 811, and the elastic component being equipped between fixinig plate 83 and bar portion 811 on guide rod 82 84。

Shield 311 on the crossbeam 31, transverse plate 322 are equipped with the fixed cover 321 of label.

The present invention effectively improves background technique and is previously mentioned problem, and the truss robot is reasonable in design simple, leads to It crosses and is equipped with elastic parts 8 on upper material head 72, the power released is applied to workpiece 001 by push piece 81 in feeding, by workpiece 001 Fixing end be pushed into 002 penetralia of lathe workpiece collet, be in place, fixation；By adjusting the realization pair of component 23 The horizontal adjustment of truss robot；Each rack gear is lubricated in real time by setting equipment gear, guarantees service performance, extends and uses the longevity Life.

Every technical staff's notice: of the invention although the present invention is described according to above-mentioned specific embodiment Invention thought be not limited in the invention, any repacking with inventive concept will all be included in this patent protection of the patent right In range.

Claims

1. a kind of truss robot, including column (1) and positioned at the pedestal (2) and cross shifting component of column (1) upper and lower side (3), it is characterised in that: be disposed with oil transfer pump (41), fuel reserve tank (4), pallet component on the column (1) from top to bottom (5) and control cabinet (6), the pedestal (2) include bottom plate (21) and sole (22), are led between bottom plate (21) and sole (22) Overregulate component (23) connection；The pallet component (5) includes that placement is distributed in basetray (52), bottom plate (53) and upper surface The tray body (51) of slot (512), tray body (51) are slidably connected with basetray (52), basetray (52) opposed bottom (53) angle and levelness are adjustable；The cross shifting component (3) include crossbeam (31), sliding be fixed on crossbeam (31) Connection support plate (32), sliding are fixed on the mechanical arm (33) in connection support plate (32), and crossbeam (31) is solid by bridge joint beam (4) It is scheduled on the top of column (1), the connection support plate (32) accepts and is fixed with transverse plate (322) and longitudinal plate (323), transverse plate (322) upper end is vertically equipped with fixed plate (303), and cross motor (34) and equipment gear one are fixed in fixed plate (303) (304), longitudinal motor (35) and equipment gear two (305) are fixed in longitudinal plate (323), longitudinal motor (35) is connected with gear One (351), the rack gear one (331) that mechanical arm (33) is equipped with longitudinal slide rail (3301) and is meshed with gear one (351), auxiliary Gear one (304) is meshed with rack gear one (331), and cross motor (34) is connected with gear two (341), crossbeam (31) be equipped with The rack gear two (310) of gear two (341) engagement, mechanical arm (33) end are connected with rotation pneumatic clamper (7), institute by receiving block (9) Stating rotation pneumatic clamper (7) includes ontology (70) and the feeding head (71) and upper material head (72) that are fixed on ontology (70), feeding head (71) it is vertically arranged with upper material head (72), the claw of at least a circle distribution is equipped on feeding head (71) and upper material head (72) (73), claw (73) moves in or out the crawl or release realized to workpiece simultaneously, and feeding head (71) is equipped with gas blow pipe (74), upper material head (72) is equipped with elastic parts (8).

2. truss robot according to claim 1, it is characterised in that: on the bottom plate (21) and base anchor (22) respectively Equipped with multiple groups opposite the first screw hole (021) and the second screw hole (022), the adjusting component (23) include including screw (231), Nut (232) and center are equipped with the stud (233) of through-hole (234), and stud (233) upper end is equipped with regular polygon stress surface (235), stud (233) is successively screwed in nut (232) and the first screw hole (021) the simultaneously levelness of regulating base board (21), it Screw (231) through-hole (234) are passed through afterwards to be screwed in bottom plate (21) and the fixed company of sole (22) in the second screw hole (022) It connects；Gasket (236) are equipped between the screw (231) and stud (233).

3. truss robot according to claim 1, it is characterised in that: the basetray (52) is equipped with guide rail (521) and screw rod parallel with it (522), screw rod (522) are connected with motor one (523), and it is heavy to be evenly distributed on guide rail (521) Hole (5211) is equipped with T-type through slot one (5201) and T-type through slot two (5202), T-type through slot one on basetray (52) top and bottom (5201) it is worn sunk screw (5212) in each counterbore of stop nut one (5203) (5211) built in, sunk screw (5212) end Portion is screwed on stop nut (5203)；Bottom plate (53) is equipped with centre bore (531), water transfer flat hole (533) and around centre bore (531) arcuate socket (532) being distributed, basetray (52) bottom surface are equipped with the pillar (524) being plugged in centre bore (531), T Stop nut (526) are equipped in type through slot (525), connection is fed through the stud of arcuate socket (532) in stop nut (526) (527), stud (527) other end is threaded with locking nut (528)；Bottom plate (53) is fixed on by support plate component (11) On column (1).

4. truss robot according to claim 3, it is characterised in that: pallet component (5) further includes being located at tray body (51) the pallet fixed plate (54) between basetray (52), pallet fixed plate (54) underrun sliding block (541) and guide rail (521) it is slidably connected, pallet fixed plate (54) upper surface is equipped with two cylinders (542), which is formed by straight line use It is additionally provided with and two cylinders (542) phase in the depth of parallelism for determining itself and rotation pneumatic clamper (7) motion track, the tray body (51) Pair post holes (511).

5. truss robot according to claim 4, it is characterised in that: the support plate component (11) is fixed on including two Support plate one (111) and two support plates two (112) being fixed therein on a support plate one (111) on column (1), two Support plate one (111) one end and two support plates two (112) far from column (1) lead to respectively far from one end of support plate one (111) Connecting plate (113) connection is crossed, the bottom plate (53) is fixed on two support plates one (111), connecting plate (113) and two support plates two (112) on.

6. truss robot according to claim 1, it is characterised in that: the bridge joint beam (4) includes upper plate (41), lower plate (42), the both side plate between upper and lower plates (43), both side plate (43) are arranged in parallel, and are equipped with link block (40) between the two, It is equipped with lightening hole (44) on the upper plate (41) and both side plate (43), the cambered surface that the two sides of both side plate (43) concave (431) it is arranged, the lower plate (42) is equipped with threading hole (45).

7. truss robot according to claim 1, it is characterised in that: be covered on the face of gear of equipment gear two (305) Cashmere layer of cloth, equipment gear two (305) are connected with pouring orifice (307), and face of gear goes out equipped with what is be connected to pouring orifice (307) Oilhole (306), the pouring orifice (307) connect fuel reserve tank (6) by hose, and column (1) is hollow, and hose and cable are therefrom worn It crosses；Equipment gear one (304) is identical as equipment gear two (305) structure.

8. truss robot according to claim 1, it is characterised in that: the elastic parts (8) includes push piece (81), leads Bar (82), fixinig plate (83), push piece (81) include the bar portion (811) that even circumferential extends, and fixinig plate (83) one end is fixed on phase Between adjacent claw (73), other end location guide (82), guide rod (82) slides the end for being threaded through bar portion (811), and guide rod (82) elastic component (84) being equipped between fixinig plate (83) and bar portion (811).

9. truss robot according to claim 1, it is characterised in that: shield (311) on the crossbeam (31), laterally Plate (322) is equipped with the fixed cover (321) of label；The reinforcing rib of circle distribution is equipped between the column (1) and bottom plate (21) (10).