Telescopic cantilever truss manipulator and control method

Abstract

The telescopic cantilever truss manipulator comprises a telescopic cantilever truss and a vertical beam, the vertical beam is installed on the telescopic cantilever truss, and the telescopic cantilever truss comprises a truss end and a telescopic end; a first clamping device is arranged at the end part of the telescopic end, a driving device is arranged at the end part of the truss end, a second clamping device is arranged at the output end part of the driving device, the structure of the second clamping device is the same as that of the first clamping device, and a third clamping device is arranged on the second clamping device; the telescopic end can adjust the distance between the first clamping device and the second clamping device, the dynamic adjusting process ensures that whether long-strip-shaped standard round bars or special round bars with slightly different sizes can be stably and accurately clamped, the first clamping device is used for clamping the round bars, and the second clamping device is used for clamping the round bars. And the strong clamping force ensures that the round bar is stable and does not move in the operation process.

Description

Technical Field

[0001] The invention belongs to the technical field of bar material handling and relates to a telescopic cantilever truss manipulator and a control method. Background Art

[0002] In the current industrial automation field, as production needs become increasingly diversified and complex, the task of grasping and handling round rod-shaped products has become particularly critical and challenging. When facing this field, although traditional equipment has met basic production needs to a certain extent, its inherent limitations have become increasingly prominent. The most significant problem is the narrow scope of application. Traditional equipment often adopts a fixed type, which is difficult to adapt to products of different lengths and often cannot provide stable and reliable clamping effects, thus limiting its application in various production scenarios. Summary of the invention

[0003] The object of the present invention is to provide a telescopic cantilever truss manipulator and a control method, which can solve the problems raised by the background technology.

[0004] According to the technical solution provided by the present invention: a telescopic cantilever truss manipulator includes a telescopic cantilever truss and a vertical beam, the vertical beam is installed on the telescopic cantilever truss, and the telescopic cantilever truss includes a truss end and a telescopic end; a first clamping device is provided at the end of the telescopic end, a driving device is provided at the end of the truss end, a second clamping device is provided at the output end of the driving device, the second clamping device has the same structure as the first clamping device, and a third clamping device is provided on the second clamping device;

[0005] The extension and retraction of the telescopic end changes the distance between the first clamping device and the second clamping device. The first clamping device is used to fix the round rod, and the second clamping device is used to extend and retract to fix the round rod. The two cooperate to achieve simultaneous clamping of the round rod; the third clamping device cooperates with the extension and retraction of the second clamping device to clamp short round rods, thereby achieving simultaneous clamping of round rods of multiple specifications; the cooperation of the driving device realizes the angle change between the second clamping device and the third clamping device to adapt to round rods in different scenarios.

[0006] Preferably, the driving device includes a motor support plate, a motor, a first gear, a second gear, a gear support plate and a gear ring; a motor support plate is provided at the end of the truss end, a motor is mounted on the motor support plate, a first gear is provided at the output end of the motor, the first gear is meshed with the second gear, the second gear is rotated and installed on the gear ring, and a gear support plate is provided at the lower end of the gear ring; under the drive of the motor, the angle change of the second clamping device and the third clamping device is realized.

[0007] Preferably, the second clamping device includes a first shell, a connecting plate, a first clamp, a slide groove, a first cylinder, a cylinder push plate and a gear assembly; the lower end of the gear support plate is provided with a first shell, the lower end of the first shell is installed on the connecting plate, the connecting plate is provided with a slide groove and a first cylinder is installed, and the output end of the first cylinder is provided with a cylinder push plate; the cylinder push plate extends out of the slide groove and is provided with a first clamp through the gear assembly, and under the push of the first cylinder, the relative clamping of the first clamp is achieved.

[0008] Preferably, the gear assembly includes a supporting slide, a first push plate, a second push plate, a first grab plate, a linkage gear, a first rack plate, a slide and a second rack plate; two groups of supporting slides are provided at the lower end of the connecting plate, and a slide is slidably provided between each group of supporting slides; the cylinder push plate is connected to the second push plate, and a linkage gear is also rotatably provided on the connecting plate, and the first rack plate and the second rack plate are meshed on the outer side of the linkage gear, the first rack plate is connected to the first push plate, and the second rack plate is connected to the second push plate; the lower ends of the first push plate and the second push plate are both provided with a first grab plate.

[0009] Preferably, two first grab plates are provided at the lower ends of the first push plate and the second push plate, and a first clamp is provided on each of the first grab plates.

[0010] Preferably, the opening ends of the first clamps are arranged opposite to each other and are V-shaped to facilitate clamping of the round rod. V-shaped grooves are provided on the walls of the opening ends of the first clamps to increase the friction between the first clamps and the round rod.

[0011] Preferably, the third clamping device includes a bracket, a second shell, a second cylinder, a second grab plate, a second clamp, a third grab plate and a third clamp; a bracket is provided on the first shell, a second shell is provided on the bracket, a second cylinder is installed inside the second shell, an output end of the second cylinder extends out of the second shell and is connected to the second grab plate; the upper end of the second grab plate is slidably connected to the bracket, and under the push of the second cylinder, the movement of the second grab plate is realized, and the second grab plate is provided with a second clamp; a third grab plate is provided on the bracket, and a third clamp cooperating with the second clamp is provided on the third grab plate.

[0012] Preferably, the third clamping device also includes a baffle, and the baffle is connected to the bracket through a screw rod. The baffle extends inward and downward under the rotation of the bolt rod, and a groove is opened in the middle of the baffle, and the groove is connected to the third clamp through a bolt, so that the third clamp moves downward when the screw rod is rotated.

[0013] Preferably, a first clamping groove is formed on the second clamping grip, and a second clamping groove is formed on the third gripping plate, and an opening end of the second clamping groove is opposite to an opening end of the first clamping groove.

[0014] A telescopic cantilever truss manipulator control method includes the following installation steps:

[0015] S1. The telescopic end is extended and retracted to adjust the distance between the first clamping device and the second clamping device, thereby adjusting the distance between the first clamping grip on the first clamping device and the first clamping grip on the second clamping device, making the grasping operation more flexible and changeable. The first clamping grip at the rear provides a stable support point, while the first clamping grip at the front can be freely extended and retracted as needed, and can easily cope with long-distance movement and fine-tuning of position.

[0016] S2. Start the motor to drive the first gear and the second gear to rotate, so that the first clamp in front rotates, and then cooperate with the extension and retraction of the first oil cylinder in front to open and close the first clamp in front, so as to achieve complex grasping actions, which greatly broadens the scope of application and enables complex operations such as flipping and turning of materials to be completed in a wider range of scenarios.

[0017] S3. The second oil cylinder is extended and retracted, and the second gear is rotated in coordination, so that the second gripper and the third gripper also rotate synchronously, and the distance between the second gripper and the third gripper is adjusted by the extension and retraction of the second oil cylinder to adapt to short round rods of different specifications.

[0018] The positive effects of this application are:

[0019] The telescopic cantilever truss manipulator and control method provided by the embodiment of the present invention have the following advantages:

[0020] 1. The telescopic end can adjust the distance between the first clamping device and the second clamping device. This dynamic adjustment process ensures that both long round bars and special round bars with slightly different sizes can be clamped firmly and accurately. The first clamping device, with its strong clamping force, ensures that the round bar is stable during operation; and the second clamping device, through telescopic movement, closely cooperates with the first clamping device to jointly complete the double locking of the round bar, greatly improving the reliability and safety of clamping.

[0021] In addition, in order to meet the clamping needs of short round rods, the third clamping device is combined with the telescopic function of the second clamping device. When the second clamping device extends forward, the third clamping device can quickly and accurately capture the short round rod, thereby realizing the synchronous clamping of round rods of multiple specifications, which not only improves the production efficiency, but also significantly enhances the versatility and flexibility of the clamping system.

[0022] The introduction of the driving device can drive the second clamping device and the third clamping device to adjust the angle, and can flexibly adjust the clamping angle according to the specific needs in different scenarios to better adapt to the shape, position or working space limitations of the round rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a perspective view of the present invention.

[0024] Figure 2 It is a three-dimensional diagram of a second clamping device of the present invention.

[0025] Figure 3 It is a three-dimensional diagram of the driving device of the present invention.

[0026] Figure 4 It is a front view of the third clamping device of the present invention.

[0027] Figure 5 It is a three-dimensional view of a third clamping device of the present invention.

[0028] Figure 6 It is a stereoscopic view of the present invention with the first shell removed.

[0029] Figure 7 It is a front view of the second clamping device of the present invention.

[0030] Figure 8 It is a schematic diagram of the meshing of the linkage gears of the present invention.

[0031] In the figure: telescopic cantilever truss 1; truss end 11; telescopic end 12; first clamping device 2; second clamping device 3; first shell 301; connecting plate 302; supporting slide plate 303; first push plate 304; second push plate 305; first grab plate 306; first clamping grip 307; slide groove 308; first oil cylinder 309; oil cylinder push plate 310; linkage gear 311; first rack plate 312; slide plate 313; second rack plate 314; driving device 4; motor support plate 41; motor 42; first gear 43; second gear 44; gear support plate 45; gear ring 46; third clamping device 5; bracket 51; second shell 52; second oil cylinder 53; second grab plate 54; second clamping grip 55; first clamping groove 551; third grab plate 56; third clamping grip 57; second clamping groove 571; baffle 58; vertical beam 6. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0034] like Figure 1-8 As shown, the present invention is a telescopic cantilever truss manipulator, comprising a telescopic cantilever truss 1 and a vertical beam 6, the vertical beam 6 adopts a heavy-duty roller guide rail, and the overall material is heat-treated to ensure strength; the vertical beam 6 is installed on the telescopic cantilever truss 1, and the telescopic cantilever truss 1 comprises a truss end 11 and a telescopic end 12; a first clamping device 2 is provided at the end of the telescopic end 12, a driving device 4 is provided at the end of the truss end 11, and a second clamping device 3 is provided at the output end of the driving device 4, the second clamping device 3 has the same structure as the first clamping device 2, and a third clamping device 5 is provided on the second clamping device 3;

[0035] The extension and retraction of the telescopic end 12 changes the spacing between the first clamping device 2 and the second clamping device 3. The first clamping device 2 is used to fix the round rod, and the second clamping device 3 is used to extend and fix the round rod. The two cooperate to achieve simultaneous clamping of the round rod; the third clamping device 5 cooperates with the extension and retraction of the second clamping device 3 to clamp short round rods, thereby achieving simultaneous clamping of round rods of multiple specifications; the cooperation of the driving device 4 realizes the angle change between the second clamping device 3 and the third clamping device 5 to adapt to round rods in different scenarios.

[0036] The telescopic end 12 can adjust the distance between the first clamping device 2 and the second clamping device 3. This dynamic adjustment process ensures that whether it is a long round rod or a special round rod with slightly different sizes, it can be clamped firmly and accurately. The first clamping device 2, with its strong clamping force, ensures that the round rod is stable during operation; and the second clamping device 3, through telescopic movement, closely cooperates with the first clamping device 2 to jointly complete the double locking of the round rod, which greatly improves the reliability and safety of clamping.

[0037] In addition, in order to meet the clamping needs of short round rods, the third clamping device 5 is combined with the telescopic function of the second clamping device 3. When the second clamping device 3 extends forward, the third clamping device 5 can quickly and accurately capture the short round rods, thereby realizing the synchronous clamping of round rods of multiple specifications, which not only improves the production efficiency, but also significantly enhances the versatility and flexibility of the clamping system.

[0038] The introduction of the driving device 4 can drive the second clamping device 3 and the third clamping device 5 to adjust the angle, and can flexibly adjust the clamping angle according to the specific needs in different scenes to better adapt to the shape, position or working space limitations of the round rod.

[0039] Preferably, the driving device 4 includes a motor support plate 41, a motor 42, a first gear 43, a second gear 44, a gear support plate 45 and a gear ring 46; the end of the truss end 11 is provided with a motor support plate 41, the motor 42 is installed on the motor support plate 41, the output end of the motor 42 is provided with a first gear 43, the first gear 43 is meshed with the second gear 44, the second gear 44 is rotated and installed on the gear ring 46, and the lower end of the gear ring 46 is provided with a gear support plate 45; under the drive of the motor 42, the angle change of the second clamping device 3 and the third clamping device 5 is realized;

[0040] The first gear 43 is driven by the motor 42 to rotate. Since the first gear 43 is engaged with the second gear 44, the second gear 44 and the gear ring 46 are driven to rotate, thereby realizing the rotation of the second clamping device 3. The rotation range is 360 degrees in all directions, so as to complete flipping and turning in a wider range of scenarios.

[0041] In this embodiment, the second clamping device 3 includes a first housing 301, a connecting plate 302, a first clamping catch 307, a slide groove 308, a first oil cylinder 309, an oil cylinder push plate 310 and a gear assembly; the lower end of the gear support plate 45 is provided with a first housing 301, the lower end of the first housing 301 is installed on the connecting plate 302, the connecting plate 302 is provided with a slide groove 308 and a first oil cylinder 309 is installed, and the output end of the first oil cylinder 309 is provided with an oil cylinder push plate 310; the oil cylinder push plate 310 extends out of the slide groove 308, and is provided with a first clamping catch 307 through the gear assembly, and under the push of the first oil cylinder 309, the relative clamping of the first clamping catch 307 is realized;

[0042] The gear assembly includes a supporting slide plate 303, a first push plate 304, a second push plate 305, a first grab plate 306, a linkage gear 311, a first rack plate 312, a slide plate 313 and a second rack plate 314; two groups of supporting slide plates 303 are provided at the lower end of the connecting plate 302, and a slide plate 313 is slidably provided between each group of supporting slide plates 303; the cylinder push plate 310 is connected to the second push plate 305, and a linkage gear 311 is also rotatably provided on the connecting plate 302, and the first rack plate 312 and the second rack plate 314 are meshed on the outer side of the linkage gear 311, the first rack plate 312 is connected to the first push plate 304, and the second rack plate 314 is connected to the second push plate 305; the lower ends of the first push plate 304 and the second push plate 305 are both provided with a first grab plate 306;

[0043] Two first grab plates 306 are provided at the lower ends of the first push plate 304 and the second push plate 305, and a first clamping grip 307 is provided on each of the first grab plates 306;

[0044] Under the push of the first oil cylinder 309, the oil cylinder push plate 310 slides in the slide groove 308. Since the lower end of the oil cylinder push plate 310 is connected to the second push plate 305, the second push plate 305 moves forward under the push of the first oil cylinder 309. The movement of the second push plate 305 drives the second rack plate 314 connected thereto to move. The second rack plate 314 drives the first rack plate 312 to run in the reverse direction through the linkage gear 311, so that the first push plate 304 runs in the reverse direction, and opens and closes the first clamp 307 to complete the clamping of the round bar.

[0045] The double clamping arrangement of the first clamping grip 307 at the rear and the first clamping grip 307 at the front not only increases the clamping stability, but also reduces the local pressure on the round bar surface by dispersing the clamping force, thereby avoiding the round bar deformation or surface scratches that may be caused by a single clamping. In addition, the double clamping arrangement also improves the fault tolerance. Even if one of the clamping grips fails or deviates, the other clamping grip can still maintain a stable clamping state, thereby ensuring the continuity and safety of the production process.

[0046] At the same time, the first clamping gripper 307 at the rear and the first clamping gripper 307 at the front can also work independently, further improving the flexibility and effect of production. When multiple round bars need to be processed, the two clamping grippers can clamp the round bars separately to work, which significantly shortens the production cycle and improves the output. At the same time, the independent work also facilitates the classification or differentiated processing of different types of round bars to meet diverse production needs.

[0047] The opening ends of the first clamping grips 307 are arranged opposite to each other and are V-shaped to facilitate clamping the round rod. V-shaped grooves are provided on the walls of the opening ends of the first clamping grips 307 to increase the friction between the first clamping grips 307 and the round rod.

[0048] In this embodiment, the third clamping device 5 includes a bracket 51, a second shell 52, a second oil cylinder 53, a second grab plate 54, a second clamping grip 55, a third grab plate 56 and a third clamping grip 57; the first shell 301 is provided with a bracket 51, the bracket 51 is provided with a second shell 52, the second shell 52 is installed with a second oil cylinder 53 inside, the output end of the second oil cylinder 53 extends out of the second shell 52 and is connected to the second grab plate 54; the upper end of the second grab plate 54 is slidably connected to the bracket 51, and under the push of the second oil cylinder 53, the second grab plate 54 is moved, and the second grab plate 54 is provided with a second clamping grip 55; the bracket 51 is provided with a third grab plate 56, and the third grab plate 56 is provided with a third clamping grip 57 that matches the second clamping grip 55;

[0049] The cooperation between the second clamping gripper 55 and the third clamping gripper 57 makes it possible to easily clamp round bars of different lengths. When a short round bar needs to be clamped, the second clamping gripper 55 and the third clamping gripper 57 can achieve precise clamping with the cooperation of the second oil cylinder 53. The third clamping device can also operate independently, and can be freely moved and positioned to cope with various complex production scenarios and process requirements.

[0050] The third clamping device 5 also includes a baffle 58, which is connected to the bracket 51 through a screw rod. The baffle 58 extends inward and downward when the bolt rod is rotated, and a groove is provided in the middle of the baffle 58, which is connected to the third clamping grip 57 through a bolt, so that when the screw rod is rotated, the third clamping grip 57 moves downward.

[0051] The second clamping grip 55 is provided with a first clamping groove 551 , and the third gripping plate 56 is provided with a second clamping groove 571 . The opening end of the second clamping groove 571 is opposite to the opening end of the first clamping groove 551 , thereby improving the clamping accuracy and stability.

[0052] A telescopic cantilever truss manipulator control method includes the following installation steps:

[0053] S1. The telescopic end 12 is extended and retracted to adjust the distance between the first clamping device 2 and the second clamping device 3, thereby adjusting the distance between the first clamping grip 307 on the first clamping device 2 and the first clamping grip 307 on the second clamping device 3, so that the grasping operation is more flexible and changeable. The first clamping grip 307 at the rear provides a stable support point, and the first clamping grip 307 at the front can be freely extended and retracted as needed, whether it is long-distance movement or fine-tuning of the position, it can be easily handled;

[0054] On the first clamping device 2 and the second clamping device 3, each is equipped with a first clamping grip 307 as a key component for directly performing the grasping task, and the first clamping grip 307 on the first clamping device 2 is the first clamping grip 307 at the rear, and the first clamping grip 307 on the second clamping device 3 is the first clamping grip 307 at the front; the first clamping grip 307 at the rear can only be opened and closed under the push of the first oil cylinder 309 at the rear, providing a stable support foundation for grasping the round bar, effectively preventing the first clamping grip 307 at the front from shaking or deflecting due to the front-end operation, thereby improving the safety and accuracy of the operation;

[0055] The first front clamp 307 exhibits a high degree of flexibility and adaptability. Under the control of the telescopic end 12 and the first rear cylinder 309, the first rear clamp 307 can be opened and extended forward to accurately match and firmly grasp various round rods. Whether it is necessary to grasp over a long distance across a large space or to perform fine fine-tuning operations in a small space, the first front clamp 307 can respond quickly, showing excellent flexibility and accuracy.

[0056] S2. Start the motor 42 to drive the first gear 43 and the second gear 44 to rotate, so that the first gripper 307 in front rotates, and then cooperates with the extension and retraction of the first oil cylinder 309 in front to open and close the first gripper 307 in front, so as to achieve complex grasping actions, greatly broaden the scope of application, and enable complex operations such as flipping and turning of materials to be completed in a wider range of scenarios;

[0057] Driven by the first gear 43 and the second gear 44, the first clamp 307 can flexibly rotate, whether in clockwise or counterclockwise direction, and can easily cope with complex operations such as flipping and turning of materials. By combining the two functions of rotation and clamping, the first clamp 307 can perform complex and varied grasping actions, whether it is necessary to transport materials from one place to another, or to flip, turn, or perform other special operations on materials.

[0058] S3. The second oil cylinder 53 is extended and retracted, and the second gear 44 is rotated, so that the second grip 55 and the third grip 57 also rotate synchronously, and the distance between the second grip 55 and the third grip 57 is adjusted during the extension and retraction of the second oil cylinder 53 to adapt to short round rods of different specifications;

[0059] The extension and retraction of the second oil cylinder 53 and the rotation of the second gear 44 work together to enable the second clamping grip 55 and the third clamping grip 57 to be quickly and accurately adjusted to a suitable distance and angle, so that the second clamping grip 55 and the third clamping grip 57 can easily cope with round bars of various sizes and shapes, and can achieve stable and reliable clamping regardless of their diameter and length.

[0060] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A telescopic cantilever truss manipulator, characterized in that: The invention comprises a telescopic cantilever truss (1) and a vertical beam (6), wherein the vertical beam (6) is installed on the telescopic cantilever truss (1), and the telescopic cantilever truss (1) comprises a truss end (11) and a telescopic end (12); a first clamping device (2) is provided at the end of the telescopic end (12), a driving device (4) is provided at the end of the truss end (11), a second clamping device (3) is provided at the output end of the driving device (4), the second clamping device (3) has the same structure as the first clamping device (2), and a third clamping device (5) is provided on the second clamping device (3); The extension and retraction of the telescopic end (12) changes the spacing between the first clamping device (2) and the second clamping device (3); the first clamping device (2) is used to fix the round rod, and the second clamping device (3) is used to extend and retract to fix the round rod. The two cooperate to achieve simultaneous clamping of the round rod; the third clamping device (5) cooperates with the extension and retraction of the second clamping device (3) to clamp short round rods, thereby achieving simultaneous clamping of round rods of various specifications; the driving device (4) cooperates to achieve angle changes between the second clamping device (3) and the third clamping device (5) to adapt to round rods in different scenarios.

2. A telescopic cantilever truss manipulator according to claim 1, characterized in that: The driving device (4) comprises a motor support plate (41), a motor (42), a first gear (43), a second gear (44), a gear support plate (45) and a gear ring (46); a motor support plate (41) is provided at the end of the truss end (11), a motor (42) is mounted on the motor support plate (41), a first gear (43) is provided at the output end of the motor (42), the first gear (43) is meshed with the second gear (44), the second gear (44) is rotated and mounted on the gear ring (46), and a gear support plate (45) is provided at the lower end of the gear ring (46); under the drive of the motor (42), the angle change of the second clamping device (3) and the third clamping device (5) is realized.

3. A telescopic cantilever truss manipulator according to claim 2, characterized in that: The second clamping device (3) comprises a first housing (301), a connecting plate (302), a first clamping grip (307), a sliding groove (308), a first oil cylinder (309), an oil cylinder push plate (310) and a gear assembly; the first housing (301) is provided at the lower end of the gear support plate (45); the lower end of the first housing (301) is mounted on the connecting plate (302); the connecting plate (302) is provided with a sliding groove (308) and is mounted with a first oil cylinder (309); the output end of the first oil cylinder (309) is provided with an oil cylinder push plate (310); the oil cylinder push plate (310) extends out of the sliding groove (308) and is provided with a first clamping grip (307) through the gear assembly, and under the push of the first oil cylinder (309), the relative clamping of the first clamping grip (307) is achieved.

4. A telescopic cantilever truss manipulator according to claim 3, characterized in that: The gear assembly comprises a supporting slide plate (303), a first push plate (304), a second push plate (305), a first grab plate (306), a linkage gear (311), a first rack plate (312), a slide plate (313) and a second rack plate (314); two groups of supporting slide plates (303) are provided at the lower end of the connecting plate (302), and a slide plate (313) is slidably provided between each group of supporting slide plates (303); the oil cylinder push plate (310) and the second push plate (305), a linkage gear (311) is rotatably provided on the connecting plate (302), a first rack plate (312) and a second rack plate (314) are meshed on the outer side of the linkage gear (311), the first rack plate (312) is connected to the first push plate (304), and the second rack plate (314) is connected to the second push plate (305); the lower ends of the first push plate (304) and the second push plate (305) are both provided with a first grab plate (306).

5. A telescopic cantilever truss manipulator according to claim 4, characterized in that: Two first grab plates (306) are provided at the lower ends of the first push plate (304) and the second push plate (305), and a first clamping grip (307) is provided on each of the first grab plates (306).

6. A telescopic cantilever truss manipulator according to claim 5, characterized in that: The opening ends of the first clamping grip (307) are arranged opposite to each other and are V-shaped to facilitate clamping the round rod. V-shaped grooves are provided on the walls of the opening ends of the first clamping grip (307) to increase the friction between the first clamping grip (307) and the round rod.

7. A telescopic cantilever truss manipulator according to claim 6, characterized in that: The third clamping device (5) comprises a bracket (51), a second housing (52), a second oil cylinder (53), a second gripping plate (54), a second gripping plate (55), a third gripping plate (56) and a third gripping plate (57); the first housing (301) is provided with a bracket (51), the bracket (51) is provided with a second housing (52), a second oil cylinder (53) is installed inside the second housing (52), an output end of the second oil cylinder (53) extends out of the second housing (52) and is connected to the second gripping plate (54); the upper end of the second gripping plate (54) is slidably connected to the bracket (51), and under the push of the second oil cylinder (53), the second gripping plate (54) is moved, and the second gripping plate (54) is provided with a second gripping plate (55); the bracket (51) is provided with a third gripping plate (56), and the third gripping plate (56) is provided with a third gripping plate (57) matched with the second gripping plate (55).

8. A telescopic cantilever truss manipulator according to claim 7, characterized in that: The third clamping device (5) further comprises a baffle (58), and the bracket (51) is also connected with the baffle (58) via a screw rod. The baffle (58) is extended inward and downward when the bolt rod is rotated, and a groove is provided in the middle of the baffle (58), and the groove is connected with the third clamping grip (57) via a bolt, so that when the screw rod is rotated, the third clamping grip (57) moves downward.

9. A telescopic cantilever truss manipulator according to claim 8, characterized in that: The second clamping grip (55) is provided with a first clamping groove (551), the third gripping plate (56) is provided with a second clamping groove (571), and the opening end of the second clamping groove (571) is opposite to the opening end of the first clamping groove (551).

10. A control method for a telescopic cantilever truss manipulator, using a telescopic cantilever truss manipulator according to any one of claims 1 to 9, characterized in that: The installation steps include: S1. The telescopic end (12) is extended and retracted to adjust the distance between the first clamping device (2) and the second clamping device (3), thereby adjusting the distance between the first clamping grip (307) on the first clamping device (2) and the first clamping grip (307) on the second clamping device (3), so that the grasping operation is more flexible and changeable. The first clamping grip (307) at the rear provides a stable support point, while the first clamping grip (307) at the front can be freely extended and retracted as needed, and can easily cope with long-distance movement and fine-tuning of the position. S2. Start the motor (42) to drive the first gear (43) and the second gear (44) to rotate, thereby rotating the first clamp (307) in front, and then cooperate with the extension and retraction of the first oil cylinder (309) in front to open and close the first clamp (307) in front, thereby realizing complex grasping actions, greatly broadening the scope of application, and enabling complex operations such as flipping and turning of materials to be completed in a wider range of scenarios. S3. The second oil cylinder (53) is extended and retracted, and the second gear (44) is coordinated to rotate, so that the second clamp (55) and the third clamp (57) also rotate synchronously, and the distance between the second clamp (55) and the third clamp (57) is adjusted by the extension and retraction of the second oil cylinder (53) to adapt to short round rods of different specifications.

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