WO2019042346A1

WO2019042346A1 - Truss transport robot and transport method

Info

Publication number: WO2019042346A1
Application number: PCT/CN2018/103170
Authority: WO
Inventors: 常涛; 田学智; 黄小东; 杨光明; 彭凡; 刘轶; 马睿
Original assignee: 共享智能铸造产业创新中心有限公司
Priority date: 2017-08-31
Filing date: 2018-08-30
Publication date: 2019-03-07
Also published as: CN107498545A

Abstract

A truss transport robot comprises a lateral moving mechanism (6) and a support assembly (1). The lateral moving mechanism (6) is disposed on the support assembly (1) and provided with a horizontal moving mechanism (7) thereon. The horizontal moving mechanism (7) is provided with a vertical moving mechanism (3). The vertical moving mechanism (3) is provided with a clamping mechanism (2) rotatable in a vertical direction for clamping a sand core (9). The clamping mechanism (2) is further provided with a rotating and clamping portion (216) for clamping the sand core (9) and rotating the same in a horizontal direction.

Description

Truss transfer robot and transfer method

The present application claims priority to Chinese Patent Application No. 2017..

Technical field

The invention relates to the field of casting automation, in particular to a truss transfer robot and a transport method.

Background technique

In the existing foundry, in the production of castings, in the forming process after the sand core is produced, the sand core needs to be sand-cleaned, dip-coated, microwave-dried and core-assembled in sequence, and these processes require manual handling of the sand core to The corresponding equipment is subjected to sand cleaning, dip coating, microwave drying and core working in sequence. Due to the large volume difference of each casting sand core, the positioning cannot be accurately positioned and aligned, resulting in the failure of the prior art to complete the efficient and stable transportation through automation. The sand core transfer labor intensity is high and the casting efficiency is low.

Summary of the invention

In view of this, the present application provides a truss transfer robot and a transport method. The device can realize translation and flipping of the sand core in a Cartesian Cartesian coordinate system, and has the advantages of high automation degree and high transport efficiency.

In order to solve the above technical problem, the technical solution provided by the present invention is a truss transfer robot including a lateral movement mechanism and a support assembly, the lateral movement mechanism being disposed on the support assembly, and the lateral movement mechanism is provided with horizontal movement a mechanism, the horizontal moving mechanism is provided with a vertical moving mechanism, and the vertical moving mechanism is provided with a clamping mechanism rotatable in a vertical direction, the clamping mechanism is for clamping a sand core; The tightening mechanism is further provided with a flipping clamping portion for clamping the sand core and inverting the sand core in a horizontal direction;

The support assembly includes a plurality of first uprights and second uprights fixed to the foundation, the first uprights and the second uprights are disposed on the foundation, and the plurality of the first uprights and the plurality of the second uprights are respectively fixed There are mutually parallel support seats;

The lateral movement mechanism includes:

A lateral support block is disposed on each of the two ends of the lateral support block, and a lateral sliding seat is slidably disposed on the support base.

Preferably, the lateral movement mechanism further comprises:

a first guide rail disposed on a side opposite to the support seat; the lateral sliding seat is slidably disposed on the first rail;

A drive mechanism is connected between the support base and the lateral sliding seat.

Preferably, the lateral driving mechanism comprises:

a first drive motor disposed on one side of the lateral support block, the output shaft of the first drive motor is coupled to the first gear;

A first rack is disposed on the support base along a length of the support base and meshes with the first gear.

Preferably, the horizontal movement mechanism comprises:

a second rail disposed on the lateral support block;

Slidingly connecting a horizontal sliding seat of the second rail, the horizontal sliding seat having a degree of freedom of movement along the second rail;

The second rail is horizontally disposed and perpendicular to the first rail;

A horizontal driving mechanism is connected between the lateral support block and the horizontal sliding seat.

Preferably, the horizontal driving mechanism comprises:

a second rack disposed on one side of the lateral support block, the second rack being disposed along a sliding direction of the horizontal sliding seat;

The second driving motor is disposed on one side of the horizontal sliding seat, and the output shaft of the second driving motor is connected to the second gear; the second gear is drivingly connected to the second rack.

Preferably, the vertical movement mechanism comprises:

a vertically disposed lifting column, the lifting column being slidably coupled to the horizontal sliding seat;

a third rail disposed vertically on the lifting column, the lifting column being configured to vertically slide on the horizontal sliding seat along the third rail;

A lifting drive mechanism is connected between the lifting column and the horizontal sliding seat.

Preferably, the lifting drive mechanism comprises:

a third drive motor disposed on the horizontal sliding seat;

Driving a third gear of the third drive motor;

a third rack disposed on the lifting column, the third rack meshing with the third gear.

Preferably, the bottom of the lifting column is connected to the clamping mechanism by a rotating seat; the rotating base comprises:

The rotating base is connected to a fourth driving motor for driving the rotating seat to rotate about its center of rotation.

Preferably, the clamping mechanism comprises:

a housing, the upper portion of the housing is connected to the lifting column by a rotating base;

Two independently movable grippers, the gripper drive connection being coupled with a gripping drive mechanism;

The opposite side of the gripper is provided with the inversion clamping portion, and the inversion clamping portion protrudes from a surface on a side opposite to the gripper.

Preferably, the clamping drive mechanism comprises:

a fifth driving motor fixedly disposed in the second cavity

a driving pulley connected to an output shaft of the fifth driving motor;

a driven pulley connected to the driving pulley by a belt drive;

a threaded rod connecting the driven pulley and coaxial with the driven pulley, rotating at the same angular velocity as the driven pulley when the driven pulley rotates;

A horizontal drive seat is fitted over the lead screw, and a bottom of the horizontal drive base is fixedly coupled to the grip.

Preferably, the inversion clamping portion is connected to the horizontal inversion mechanism, and comprises:

a sixth drive motor disposed in the motor case located on the jaw;

a driving gear connected to an output shaft of the sixth driving motor;

The driven gear is connected to the driving gear, and the rotating shaft of the driven gear is fixedly connected to the turning clamping portion.

A truss transport method, including the truss transfer robot, comprising:

The lateral sliding seat at both ends of the lateral moving mechanism moves horizontally along the supporting seat on the supporting assembly, and stops when the lateral moving mechanism and the supporting assembly extend direction are flush with the sand core;

The horizontal moving mechanism moves along the lateral moving device and stops when moving to the top of the sand core;

The clamping mechanism rotates in the vertical direction of the center of rotation until one side of the clamping mechanism is parallel to the side of the sand core;

The vertical moving mechanism moves in a vertical direction, and stops when the center of the inverted clamping portion is flush with the sand core in the height direction;

When the clamping mechanism clamps the sand core, the inversion clamping portion is in contact with the sand core;

After transporting the sand core to the designated position, the inversion clamping portion rotates in the horizontal direction to drive the sand core to flip;

Wherein the support assembly comprises a plurality of first uprights and second uprights fixed to the foundation, the first uprights and the second uprights are disposed on the foundation, and the plurality of the first uprights and the plurality of the second uprights Separate support seats are fixed respectively.

Compared with the prior art, the detailed description of the application is as follows:

The present application discloses a truss transfer robot for transporting a sand core placed on a cache line, and capable of automatic sand turning, the lateral movement mechanism has a degree of freedom of translation along the support assembly, and the horizontal movement mechanism has a translation along the lateral movement mechanism The degree of freedom, the moving direction of the horizontal moving mechanism and the moving direction of the lateral moving mechanism are both on a horizontal plane and perpendicular to each other, the vertical moving mechanism has a degree of freedom of lifting up and down, and the clamping mechanism can be rotated in a vertical direction; The inverting clamping portion provided on the mechanism can be used for clamping the sand core and flipping the sand core in the horizontal direction. Through the mechanism, the movement of the sand core in the three-dimensional space can be realized, and the clamping mechanism can be flexibly adjusted. Angle, adapt to the deflection of the sand core in the actual working conditions, to achieve the effect of flexible transport. In addition, the sand core can also be turned in the horizontal direction to achieve sand turning, which has the advantage of high degree of automation.

DRAWINGS

Figure 1 is a front elevational view of a truss robot of the present invention.

2 is a perspective view of the three-dimensional structure of the truss robot of the present invention.

Figure 3 is a perspective view of the truss robot of the present invention.

Figure 4 is a perspective view of the three-dimensional structure of the truss robot of the present invention.

Figure 5 is a perspective structural view of the clamping mechanism of the present invention.

Figure 6 is a perspective view of the clamping mechanism of the present invention hiding the side of the housing and the gripper.

Figure 7 is a side elevational view of the clamping mechanism of the present invention.

Figure 8 is a D-D arrow view of Figure 7.

Figure 9 is a partial enlarged view A of the present invention.

Figure 10 is a partial enlarged view of the present invention B.

Figure 11 is a partial enlarged view C of the present invention.

Among them, 1 support assembly, 101 first column, 102 second column, 2 clamping mechanism, 201 housing, 202 gripper, 203 motor box, 204 fifth drive motor, 205 driven sliding seat, 206 horizontal transmission seat, 207 slide rail, 208 third cavity, 209 drive gear, 210 sixth drive motor, 211 driven pulley, 212 belt, 213 drive pulley, 214 second cavity, 215 screw, 216 flip mechanism, 217 from Moving gear, 3 vertical moving mechanism, 301 third driving motor, 302 third gear, 303 third rack, 304 lifting column, 305 first cavity, 306 third rail, 4 support seat, 5 rotating seat, 6 Lateral moving mechanism, 601 rotating shaft, 602 first driving motor, 603 lateral supporting block, 604 first gear, 605 first rack, 606 first rail, 7 horizontal moving mechanism, 701 second driving motor, 702 second gear, 703 second rack, 704 horizontal sliding seat, 705 second rail, 8 fourth driving motor, 9 sand core.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

A truss transfer robot as shown, including:

The support assembly 1 is fixed on the base;

a lateral movement mechanism 6 disposed on the support assembly 1 for horizontal movement along the support assembly 1;

a horizontal moving mechanism 7 disposed on the lateral movement mechanism 6 for horizontal movement along the lateral movement mechanism 6;

a vertical moving mechanism 3 is disposed on the horizontal moving mechanism 7 for lifting and lowering in the vertical direction on the horizontal moving mechanism 6;

The clamping mechanism 2 is rotatably disposed at the bottom of the vertical moving mechanism 3, and the clamping mechanism 2 is used for clamping the sand core 9;

The horizontal turning mechanism 216 is disposed on the clamping mechanism 2, and when the clamping mechanism 2 holds the sand core 9, the turning mechanism 216 is in contact with the sand core 9, and the turning mechanism 216 is used to rotate along the center of the rotation Rotate to drive the sand core 9 to flip.

In the present embodiment, for convenience of description, the moving direction of the lateral moving mechanism 6 is defined as the front-rear direction, the moving direction of the horizontal moving mechanism 7 is defined as the left-right direction, and the moving direction of the vertical moving mechanism 3 is defined as the up-and-down direction. The clamping mechanism 2 is moved in the front-rear direction by the lateral movement mechanism 6, the left-right direction is moved by the horizontal movement mechanism 7, and the vertical movement is realized by the vertical movement mechanism 3, and the clamping mechanism 2 can be realized at the bottom of the vertical movement mechanism 3. Rotation, therefore, the clamping mechanism 2 has a spatial freedom of movement and a degree of freedom of rotation in a Cartesian Cartesian coordinate system to achieve automatic clamping of the core 9.

among them:

The support assembly 1 includes:

a plurality of first uprights 101 and a plurality of second uprights 102, a plurality of first uprights 101 and a plurality of second uprights 102 are disposed on the foundation in a straight line;

The support bases 4 are respectively disposed at the tops of the first uprights 101 and the second uprights 102; the two support bases 4 are parallel to each other and horizontally disposed.

The first rail 606 is disposed on the support base 4, and the first rail 606 is disposed in parallel with the support base 4 for mounting the lateral movement mechanism 6.

The lateral movement mechanism 6 includes:

a lateral support block 603, the left and right ends of the lateral support block 603 are provided with a lateral sliding seat; the lateral sliding seat is supported on the first rail 606 for moving back and forth along the first rail 606; A drive mechanism is coupled between the support block 603 and the support base 4 with a lateral drive mechanism.

The lateral drive mechanism includes:

a first rack 605 is disposed on a side opposite to the support base 4, and the first rack 605 is parallel to the first rail 606;

a first driving motor 602 is disposed on the lateral sliding seat, and an output shaft of the first driving motor 602 is coupled to a rotating shaft 601, and a first gear 604 is coupled to the left and right sides of the rotating shaft 601; Gear 604 meshes with first rack 605.

When the first driving motor 602 drives the first gear 604 to rotate, the first gear 604 meshes with the first rack 605 to drive the lateral support block 603 to move along the extending direction of the support assembly 1, the first rail 606 and the first rack 605. Parallel, the first guide rail 606 serves to improve the smoothness of the movement of the lateral movement mechanism 6.

The horizontal support block 603 is provided with the horizontal movement mechanism 7 movable along the lateral support block 603.

The horizontal movement mechanism 7 includes:

a second rail 705 disposed on the lateral support block 603, the second rail 705 being horizontally disposed and perpendicular to the first rail 606,

a horizontal sliding seat 704 for moving left and right along the second rail 705; a horizontal driving mechanism is connected between the horizontal sliding seat 704 and the lateral supporting block 603, and the horizontal driving mechanism is used for driving the horizontal sliding The seat 704 moves horizontally on the lateral support block 603.

The horizontal drive mechanism includes:

a second driving motor 701 is fixedly disposed on the horizontal sliding seat 704;

a second gear 702, drivingly connecting the output shaft of the second driving motor 701;

The second rack 703 is fixed to the lateral support block 603 and parallel to the extending direction of the second rail 705, and the second gear 702 is engaged with the second rack 703.

The second driving motor 701 is configured to drive the second gear 702 to rotate. When the second gear 702 rotates, the second gear 702 meshes with the second rack 703 to drive the horizontal sliding seat 704 to move along the second rail 705.

The horizontal sliding mechanism 704 is provided with the vertical moving mechanism 3, and the vertical moving mechanism 3 includes:

a lifting column 304 disposed vertically is disposed on the horizontal sliding seat 704;

The third rail 306 is vertically disposed on the lifting column 304, and the lifting column 304 can vertically slide along the third rail 306 on the horizontal sliding seat 704;

The lifting column 304 and the horizontal sliding seat 704 are drivingly connected by a vertical driving mechanism.

The vertical drive mechanism includes:

The third driving motor 301 is disposed on the horizontal sliding seat 704;

The third gear 302 is connected to the third driving motor 301;

The third rack 303 is vertically disposed on the lifting column 304, and the third rack 303 is meshed with the third gear 302. When the third driving motor 301 drives the third gear 302 to rotate, the third driving motor 301 and the third gear are relatively fixed, and the third rack 303 meshes with the third gear and moves in the vertical direction to drive the lifting column 304 to move up and down.

A first cavity 305 is disposed on the lifting column 304, and the vertical driving mechanism is disposed in the first cavity 305.

The bottom of the lifting column 304 is connected to the clamping mechanism 2 via a rotating base 5, and the rotating base 5 is drivingly connected with a fourth driving motor 8 for driving the rotating base 5 to rotate around it. The center rotates, and when the rotating base 5 rotates, the clamping mechanism 2 and the rotating base 5 rotate in synchronization with the same center of rotation.

The clamping mechanism 2 comprises:

a housing 201, above the housing 201 is connected to the lifting column 304 through a rotating seat 5;

The two independently movable grippers 202 are disposed opposite to the housing 201, the gripper 202 has a third cavity 208, and the opposite side of the gripper 202 is provided with a convex flipping clamping portion 216;

A second cavity 214 is disposed in the housing 201. The second cavity 214 is provided with a clamping drive mechanism for driving the gripper 202 to move toward or away from the back.

The clamping drive mechanism comprises:

The fifth driving motor 204 is fixedly disposed in the second cavity 214,

a driving pulley 213 is connected to the output shaft of the fifth driving motor 204;

The driven pulley 211, the belt pulley 212 is connected to the driving pulley 213;

a lead screw 215 connected to the driven pulley 211 and coaxial with the driven pulley 211, and rotates at the same angular velocity as the driven pulley 211 when the driven pulley 211 rotates;

The horizontal transmission seat 206 is sleeved on the screw rod 215. The bottom of the horizontal transmission base 206 is fixedly connected to the gripper 202. When the screw rod 215 rotates, the horizontal transmission base 206 moves horizontally on the screw rod 215 to drive the gripper. The hand 202 moves linearly in the axial direction of the screw 215, and the two grippers 202 move toward or away from each other. When the two grippers 202 move toward each other, the clamping rotary seat 216 clamps the sand core 9.

A sliding rail 207 is further disposed in the second cavity 214. The sliding rail 207 is provided with a driven sliding seat 205. The bottom of the driven sliding seat 205 is fixedly connected to the top of the gripper 202. The slide rail 207 is parallel to the screw rod 217. When the gripper 202 moves linearly in the axial direction of the screw rod 215, the driven sliding seat 205 moves on the slide rail 207 for ensuring the The smoothness of the translation of the gripper 202.

The inversion clamping portion 216 is for contacting the sand core 9 when the jaw 202 holds the sand core 9, and can drive the sand core 9 to be turned over in the horizontal direction.

The flip clamping portion 216 is drivingly connected with a horizontal turning mechanism, including:

The sixth driving motor 210 is disposed in the motor box 203 located on the clamping jaw 202;

a driving gear 209 is drivingly connected to an output shaft of the sixth driving motor 210;

The driven gear 217 is coupled to the driving gear 209. The rotating shaft of the driven gear 217 is coaxial with the clamping rotating seat 216. When the driven gear 217 rotates, the rotating rotating seat 216 and the slave are clamped. The moving gear 217 rotates at the same angular velocity to drive the clamped core 9 to rotate. When the core 9 is turned to a certain angle, the sixth drive motor 210 stops outputting torque.

The device disclosed by the invention can complete the action of grasping, moving and automatically assembling the core 9; the invention also protects a transport method, and can simultaneously make the technical solution of the transfer robot in the present application in combination with the transport method disclosed in the present application. Further explanation:

A truss transport method comprising:

The lateral movement mechanism 6 moves along the support assembly 1 and stops when the support assembly 1 extends in a direction flush with the sand core 9;

The horizontal moving mechanism 7 moves along the lateral moving device 6, and stops when moving to the sand core 9 directly above;

The jaws 202 are rotated in the center of rotation in the vertical direction until the faces of the grippers 202 are parallel to the sides of the sand core 9;

The vertical moving mechanism 3 moves in the vertical direction, and stops when the center of the inversion clamping portion 216 is flush with the sand core 9 in the height direction;

The clamping mechanism 2 is gathered, the inversion clamping portion 216 is in contact with the sand core 9, and the sand core 9 is clamped;

After the sand core 9 is transported to the designated position, the inversion clamping portion 216 is rotated in the horizontal direction to drive the sand core 9 to be reversed.

specific:

The first driving motor 602 drives the rotation of the rotating shaft 601, the rotation of the rotating shaft 601 drives the first gear 604 to rotate, the first rack 605 is fixed on the support base 4, and the first gear 604 moves along the first rack 605, the first gear The 604 drives the lateral support block 603 to move along the length of the support base 4, and when the gripper 202 is flush with the sand core 9 to be grasped in the longitudinal direction of the support base 4, or the sand core 9 is transported along the support base 4 When the length direction is transferred to the set distance, the first driving motor 202 stops working;

The second driving motor 701 drives the second gear 702 to rotate, the second rack 703 is fixed on the lateral support block 603, the second gear 702 rolls along the second rack 703, and the second gear 702 drives the horizontal sliding seat 704 along The lateral support block 603 is horizontally moved in the longitudinal direction;

The first drive motor 202 and the second drive motor 701 together effect the movement of the clamping mechanism 2 in the horizontal direction.

The third driving motor 301 drives the third gear 302. The third gear 302 is fixed in the position in the height direction, and the third rack 303 moves up and down linearly under the action of the third gear 302 to realize the lifting and lowering of the clamping mechanism 2.

The fifth driving motor 204 drives the rotation of the driving pulley 213. The rotation of the driving pulley 213 drives the rotation of the driven pulley 211. The rotation of the driven pulley 211 drives the rotation of the screw 215, and the rotation of the screw 215 drives the horizontal transmission. The linear movement of the seat 206 in the longitudinal direction of the rotating shaft 601, the linear movement of the horizontal driving base 206 drives the linear movement of the gripper 202, and the two grippers 202 move toward each other or move backwards;

It is recognized whether the opposite sides of the two grippers 202 are parallel with the side of the sand core 9. If not parallel, the fourth drive motor 8 and the fourth drive motor 8 drive the rotation of the gripper 202 until the two grippers 202 face each other. The sides of the sand core 9 are parallel, and the fourth drive motor 8 is closed;

When the two grippers 202 move toward each other, the clamping rotary seat 216 clamps the sand core 9, and when the clamped sand core 9 needs to be turned over, the sixth driving motor 210 drives the rotation of the driving gear 209, and the driving gear 209 rotates. The rotation of the driven gear 217 is driven, the rotation of the driven gear 217 drives the rotation of the horizontal reversing portion 216, and the rotation of the horizontal reversing portion 216 drives the rotation of the core 9, and when the core 9 is turned over to the required angle, the sixth driving motor 210 closed.

The above is only a preferred embodiment of the present invention, and it should be noted that the above-described preferred embodiments are not to be construed as limiting the scope of the invention, and the scope of the invention should be determined by the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and scope of the invention.

Claims

A truss transfer robot, comprising: a lateral movement mechanism and a support assembly, wherein the lateral movement mechanism is disposed on the support assembly, the horizontal movement mechanism is provided with a horizontal movement mechanism, and the horizontal movement mechanism is disposed There is a vertical moving mechanism, and the vertical moving mechanism is provided with a clamping mechanism rotatable in a vertical direction, the clamping mechanism is for clamping a sand core; and the clamping mechanism is further provided with a flip clamping The inverting clamping portion is configured to clamp the sand core and invert the sand core in a horizontal direction;

The support assembly includes a plurality of first uprights and second uprights fixed to the foundation, the first uprights and the second uprights are disposed on the foundation, and the plurality of the first uprights and the plurality of the second uprights are respectively fixed There are mutually parallel support seats;

The lateral movement mechanism includes:

A lateral support block is disposed on each of the two ends of the lateral support block, and a lateral sliding seat is slidably disposed on the support base.
The truss transfer robot according to claim 1, wherein the lateral movement mechanism further comprises:

a first guide rail disposed on a side opposite to the support seat; the lateral sliding seat is slidably disposed on the first rail;

A drive mechanism is connected between the support base and the lateral sliding seat.
The truss transfer robot according to claim 2, wherein said lateral drive mechanism comprises:

a first driving motor disposed on one side of the lateral support block, the first driving motor is coupled to a rotating shaft, and the rotating shaft is supported on the lateral sliding seat;

a first gear, the transmission is disposed on both sides of the rotating shaft;

A first rack is disposed on the support base along a length of the support base and meshes with the first gear.
The truss transfer robot according to claim 2, wherein said horizontal movement mechanism comprises:

a second rail disposed on the lateral support block;

Slidingly connecting a horizontal sliding seat of the second rail, the horizontal sliding seat having a degree of freedom of movement along the second rail;

The second rail is horizontally disposed and perpendicular to the first rail;

A horizontal driving mechanism is connected between the lateral support block and the horizontal sliding seat.
The truss transfer robot according to claim 4, wherein said horizontal drive mechanism comprises:

a second rack disposed on one side of the lateral support block, the second rack being disposed along a sliding direction of the horizontal sliding seat;

The second driving motor is disposed on one side of the horizontal sliding seat, and the output shaft of the second driving motor is connected to the second gear; the second gear is drivingly connected to the second rack.
The truss transfer robot according to claim 4, wherein said vertical movement mechanism comprises:

a vertically disposed lifting column, the lifting column being slidably coupled to the horizontal sliding seat;

a third rail disposed vertically on the lifting column, the lifting column being configured to vertically slide on the horizontal sliding seat along the third rail;

A lifting drive mechanism is connected between the lifting column and the horizontal sliding seat.
The truss transfer robot according to claim 6, wherein the lifting drive mechanism comprises:

a third drive motor disposed on the horizontal sliding seat;

Driving a third gear of the third drive motor;

a third rack disposed on the lifting column, the third rack meshing with the third gear.
The truss transfer robot according to claim 6, wherein the bottom of the lifting column is connected to the clamping mechanism by a rotating seat; the rotating base comprises:

The rotating base is connected to a fourth driving motor for driving the rotating seat to rotate about its center of rotation.
The truss transfer robot according to claim 8, wherein said clamping mechanism comprises:

a housing, the upper portion of the housing is connected to the lifting column by a rotating base;

Two independently movable grippers, the gripper drive connection being coupled with a gripping drive mechanism;

The opposite side of the gripper is provided with the inversion clamping portion, and the inversion clamping portion protrudes from a surface on a side opposite to the gripper.
The truss transfer robot according to claim 9, wherein said clamping drive mechanism comprises:

a fifth driving motor fixedly disposed in the second cavity

a driving pulley connected to an output shaft of the fifth driving motor;

a driven pulley connected to the driving pulley by a belt drive;

a threaded rod connecting the driven pulley and coaxial with the driven pulley, rotating at the same angular velocity as the driven pulley when the driven pulley rotates;

A horizontal drive seat is fitted over the lead screw, and a bottom of the horizontal drive base is fixedly coupled to the grip.
The truss transfer robot according to claim 9, wherein the flip nip portion is connected to the horizontal flip mechanism, comprising:

a sixth drive motor disposed in the motor case located on the jaw;

a driving gear connected to an output shaft of the sixth driving motor;

The driven gear is connected to the driving gear, and the rotating shaft of the driven gear is fixedly connected to the turning clamping portion.
A truss transfer method, comprising the truss transfer robot according to any one of claims 1 to 11, characterized in that it comprises:

The lateral sliding seat at both ends of the lateral moving mechanism moves horizontally along the supporting seat on the supporting assembly, and stops when the lateral moving mechanism and the supporting assembly extend direction are flush with the sand core;

The horizontal moving mechanism moves along the lateral moving device and stops when moving to the top of the sand core;

The clamping mechanism rotates in the vertical direction of the center of rotation until one side of the clamping mechanism is parallel to the side of the sand core;

The vertical moving mechanism moves in a vertical direction, and stops when the center of the inverted clamping portion is flush with the sand core in the height direction;

When the clamping mechanism clamps the sand core, the inversion clamping portion is in contact with the sand core;

After transporting the sand core to the designated position, the inversion clamping portion rotates in the horizontal direction to drive the sand core to flip;

Wherein the support assembly comprises a plurality of first uprights and second uprights fixed to the foundation, the first uprights and the second uprights are disposed on the foundation, and the plurality of the first uprights and the plurality of the second uprights Separate support seats are fixed respectively.