Multifunctional truss manipulator

Abstract

The invention relates to a multifunctional truss manipulator which comprises a mechanical arm, the bottom of the mechanical arm is provided with a working frame, and the working frame is used for loading related mechanisms of the manipulator; the working mechanism is located in the inner cavity of the working frame and used for rotation of the manipulator, the working mechanism comprises adjusting assemblies, rotating assemblies and stabilizing assemblies, the adjusting assemblies are located in the inner cavity of the working frame and used for adjusting the angle of the manipulator, and the rotating assemblies are located between the adjusting assemblies and used for driving the manipulator to rotate in the direction; the stabilizing assembly is located in an inner cavity of the rotating assembly and used for stabilizing rotation of the rotating assembly. The mechanical arm has the beneficial effects that through the design of the adjusting assembly, the first electric push rod controlled by the adjusting assembly, the mechanical arm can achieve more flexible and accurate angle adjustment, the operation requirements under different working conditions are met, meanwhile, through the accurate transmission design of the rotating assembly, it is ensured that the mechanical arm rotates smoothly and accurately in the direction, and the operation accuracy is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of truss manipulators, and in particular to a multifunctional truss manipulator. Background Art

[0002] The truss robot is a fully automatic industrial equipment based on the rectangular X, Y, Z three-coordinate system, which can adjust the workpiece position or realize the trajectory movement of the workpiece.

[0003] After searching, the Chinese patent number CN114700926A discloses that the invention relates to the technical field of truss manipulators, and in particular, to a multifunctional clamping device for a truss manipulator, including a mechanical arm, a lifting column is arranged at the bottom end of the mechanical arm, a lifting groove is opened on the top surface of the lifting column, the bottom end of the lifting column is located inside the lifting groove, a spring is arranged at the bottom end of the inner side of the lifting groove, and electric wire reels are arranged on both sides of the mechanical arm, and a steel wire rope is wound on the surface of the electric wire reel; by designing the mechanical arm, the lifting column, the lifting groove, the electric wire reel, the steel wire rope, the fixing block, the spring, the cross bar, the disc, the clamping rod, the transverse groove, the first bearing, the threaded sleeve, the positioning protrusion, the positioning slide groove, the first motor, the gear, the movable groove, the second motor, the threaded rod, the threaded groove, the through hole, and the second bearing, the structure of the truss manipulator clamping device is compact and simplified, saving a certain cost, and is easy to operate, and at the same time, has good stability when clamping objects.

[0004] However, the existing truss manipulator needs to adjust the angle of the manipulator according to the shape of the object when clamping irregular objects, so as to place the object on a specified plane, and the above-mentioned truss manipulator only has the function of adjusting the direction on the horizontal plane, and does not have the function of adjusting the angle of the manipulator, resulting in that it is difficult for the manipulator to achieve flexible and high-precision angle adjustment when clamping irregular objects, limiting its application ability in multiple scenarios. Based on this, the present invention designs a multifunctional truss manipulator to solve the above-mentioned problem. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multifunctional truss manipulator, which solves the technical problem of lack of angle adjustment.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] A multifunctional truss manipulator, comprising:

[0010] A robotic arm, a working frame is installed at the bottom of the robotic arm, and the working frame is used to load relevant mechanisms of the robotic arm.

[0011] The working mechanism is located in the inner cavity of the working frame and is used for the rotation of the manipulator. The working mechanism includes an adjustment component, a rotation component and a stabilization component. The adjustment component is located in the inner cavity of the working frame and is used to adjust the angle of the manipulator. The rotation component is located between the adjustment components and is used to drive the rotation of the manipulator. The stabilization component is located in the inner cavity of the rotation component and is used to stabilize the rotation of the rotation component.

[0012] The rotating assembly includes a connecting frame installed in the inner cavity of the working frame, a connecting shaft is installed in the inner cavity of the connecting frame, a rotating disk for directional rotation is installed at the bottom of the connecting shaft, rolling grooves are opened on both sides of the connecting frame, and the adjusting assembly includes a first electric push rod installed on the inner wall of the working frame, a roller is installed on the side of the output shaft of the first electric push rod close to the connecting frame, and the roller can roll in the inner cavity of the rolling groove and is used for angle adjustment of the connecting frame.

[0013] Preferably, a rotating seat is installed on the top of the inner cavity of the working frame, and a connecting seat is installed on the top of the connecting frame. The rotating seat and the connecting seat are rotatably connected via a pin shaft, and the first electric push rods located on both sides can control the extension and retraction respectively.

[0014] Preferably, a first bevel gear is installed on the outer ring of the connecting shaft, a first servo motor is installed in the inner cavity of the connecting frame, a rotating rod is installed on one side of the output shaft of the first servo motor, a second bevel gear is installed on one side of the rotating rod, and the first bevel gear and the second bevel gear are meshed with each other.

[0015] Preferably, the stabilizing component includes a groove opened on the top of the rotating disk, a ball is rotatably connected in the inner cavity of the groove, a connecting rod is installed on the top of the ball, the balls and connecting rods are provided in multiple groups and distributed in a circular array, and a lifting component is installed at the bottom of the rotating disk.

[0016] Preferably, the lifting assembly includes a mounting plate installed at the bottom of the rotating disk, a fixed seat and a support plate are installed at the bottom of the mounting plate, a second servo motor is installed in the middle of the inner cavity of the fixed seat, a bidirectional screw rod is installed on the back of the output shaft of the second servo motor, the back of the bidirectional screw rod is connected to the support plate, the outer ring of the bidirectional screw rod is threadedly connected to a moving block, and a linkage assembly is also installed at the bottom of the moving block.

[0017] Preferably, the linkage assembly includes a rotating plate hinged at the bottom of the moving block, an adjusting plate is provided at the bottom of the rotating plate, a sliding block is hinged at the bottom of the rotating plate, a sliding groove is provided at the top of the adjusting plate, the sliding block slides in the inner cavity of the sliding groove, a telescopic rod is installed between the mounting plate and the adjusting plate, the telescopic rod is provided in four groups and distributed in a rectangular array, and a pushing assembly is installed at the bottom of the adjusting plate.

[0018] Preferably, the pushing assembly comprises a fixing plate installed at the bottom of the adjusting plate, and a heat dissipation assembly is installed on one side of the fixing plate on which the second electric push rod is installed on the right side.

[0019] Preferably, the heat dissipation assembly includes a fixed frame installed on one side of the second electric push rod, a cooling fan is installed on the top of the inner cavity of the fixed frame, heat dissipation holes are opened at the bottom of the inner cavity of the fixed frame, the heat dissipation holes are arranged in multiple groups and are distributed linearly, and a clamping assembly is installed at the bottom of the fixed frame.

[0020] Preferably, the clamping assembly includes a clamping frame installed at the bottom of the fixed frame, a support seat is installed in the inner cavity of the clamping frame, a dual-axis motor is installed on the top of the support seat, one-way screws are installed on both sides of the dual-axis motor, the outer ring of the one-way screw is threadedly connected to an adjustment block, a clamping plate is installed on one side of the adjustment block, the adjustment block and the clamping plate are each provided with two groups and are symmetrically distributed, and a limiting assembly is installed in the inner cavity of the clamping frame.

[0021] Preferably, the limiting assembly comprises limiting rods installed in the inner cavity of the clamping frame, the limiting rods are provided in two groups and are symmetrically distributed, and the limiting rods are inserted in the inner cavity of the adjustment block.

[0022] (III) Beneficial effects

[0023] 1. The present invention, through the design of the adjustment component, controls the first electric push rod, and the manipulator can achieve more flexible and precise angle adjustment to meet the operation requirements under different working conditions. At the same time, the precise transmission design of the rotating component ensures the smooth and accurate rotation of the manipulator direction, further improving the accuracy of the operation.

[0024] 2. The present invention realizes precise clamping of the target object by combining the pushing component with the clamping component. The one-way screw system driven by the dual-axis motor enables the clamping plate to be moved quickly and accurately to the predetermined position, thereby improving the operating efficiency of the manipulator. At the same time, the addition of the limit assembly ensures the accuracy and reliability of the clamping action.

[0025] 3. The present invention, through the design of the heat dissipation component, the cooperation of the heat dissipation fan and the heat dissipation holes, effectively reduces the operating temperature of key components such as the second electric push rod, avoids performance degradation or damage caused by overheating, and thus extends the overall service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the multifunctional truss manipulator of the present invention;

[0027] Figure 2 It is an overall front view of the multifunctional truss manipulator of the present invention;

[0028] Figure 3 It is an overall side view of the multifunctional truss manipulator of the present invention;

[0029] Figure 4 for Figure 2 A magnified image of point A;

[0030] Figure 5 for Figure 3 The enlarged view of point B;

[0031] Figure 6 It is a front view of the working mechanism of the present invention;

[0032] Figure 7 for Figure 6 Enlarged view of point C;

[0033] Figure 8 It is a front view of the heat dissipation component and the clamping component of the present invention.

[0034] [Description of Reference Numerals]

[0035] 1. Robotic arm; 2. Working frame; 3. Connecting frame; 4. Connecting shaft; 5. Rotating disk; 6. Rolling groove; 7. First electric push rod; 8. Roller; 9. Rotating seat; 10. Connecting seat; 11. First bevel gear; 12. First servo motor; 13. Rotating rod; 14. Second bevel gear; 15. Groove; 16. Ball; 17. Connecting rod; 18. Mounting plate; 19. Fixed seat; 20. Support plate; 21. Second servo motor; 22. Bidirectional lead screw; 23. Moving block; 24. Rotating plate; 25. Adjusting plate; 26. Sliding block; 27. Sliding groove; 28. Telescopic rod; 29. ​​Cooling fan; 30. Cooling hole; 31. Clamping frame; 32. Support seat; 33. Dual-axis motor; 34. One-way lead screw; 35. Adjusting block; 36. Clamping plate; 37. Limiting rod; 38. Fixed plate; 39. Second electric push rod; 40. Fixed frame. DETAILED DESCRIPTION

[0036] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific embodiments. Figure 1 The orientation is used as a reference.

[0037] The technical problem of lack of angle adjustment is solved by the embodiment of the present invention. By adjusting the design of the component and controlling the first electric push rod 7, the manipulator can achieve more flexible and precise angle adjustment to meet the operation requirements under different working conditions. At the same time, the precise transmission design of the rotating component ensures the smooth and accurate rotation of the manipulator direction, further improving the accuracy of the operation.

[0038] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0039] Embodiment 1;

[0040] See also Figure 1-Figure 8 In an embodiment of the present invention, a multifunctional truss manipulator comprises: a manipulator arm 1, a working frame 2 is installed at the bottom of the manipulator arm 1, and the working frame 2 is used to load the relevant mechanism of the manipulator; a working mechanism, which is located in the inner cavity of the working frame 2 and is used for the rotation of the manipulator, and the working mechanism comprises an adjustment component, a rotation component and a stabilization component, the adjustment component is located in the inner cavity of the working frame 2 and is used to adjust the angle of the manipulator, the rotation component is located between the adjustment components and is used to drive the rotation direction of the manipulator, and the stabilization component is located in the inner cavity of the rotation component and is used for the rotation stability of the rotation component; the rotation component comprises a connecting frame 3 installed in the inner cavity of the working frame 2, a connecting shaft 4 is installed in the inner cavity of the connecting frame 3, a rotating disk 5 for directional rotation is installed at the bottom of the connecting shaft 4, rolling grooves 6 are opened on both sides of the connecting frame 3, and the adjustment component comprises a first electric push rod 7 installed on the inner wall of the working frame 2, and a roller 8 is installed on the side of the output shaft of the first electric push rod 7 close to the connecting frame 3, and the roller 8 can roll in the inner cavity of the rolling groove 6 and is used for adjusting the angle of the connecting frame 3.

[0041] like Figure 2 As shown, a rotating seat 9 is installed on the top of the inner cavity of the working frame 2, and a connecting seat 10 is installed on the top of the connecting frame 3. The rotating seat 9 and the connecting seat 10 are rotatably connected through a pin shaft, and the first electric push rods 7 located on both sides can control the extension and retraction respectively.

[0042] like Figure 2 and Figure 7 As shown, a first bevel gear 11 is installed on the outer ring of the connecting shaft 4, a first servo motor 12 is installed in the inner cavity of the connecting frame 3, a rotating rod 13 is installed on one side of the output shaft of the first servo motor 12, and a second bevel gear 14 is installed on one side of the rotating rod 13, and the first bevel gear 11 and the second bevel gear 14 are meshed with each other.

[0043] like Figure 4 As shown, the stabilizing component includes a groove 15 opened on the top of the rotating disk 5, a ball 16 is rotatably connected in the inner cavity of the groove 15, a connecting rod 17 is installed on the top of the ball 16, and the ball 16 and the connecting rod 17 are provided in multiple groups and distributed in a circular array. A lifting component is installed at the bottom of the rotating disk 5.

[0044] The working principle of the embodiment of the present invention is as follows: the manipulator is mounted on a working frame 2 through a mechanical arm 1 at its bottom. The working frame 2 serves as the supporting structure of the entire manipulator and integrates multiple key components to achieve complex operations. The working mechanism is located in the working frame 2 and mainly includes an adjustment component, a rotation component and a stabilization component, which work together to achieve precise control and stable movement of the manipulator.

[0045] The adjustment component is implemented by the first electric push rod 7 installed on the inner wall of the working frame 2, and the rollers 8 on the output shaft thereof roll in the rolling grooves 6 on both sides of the connecting frame 3, thereby adjusting the angle of the connecting frame 3. When the first electric push rod 7 is extended or retracted, the position of the roller 8 in the rolling groove 6 changes, driving the connecting frame 3 to rotate around the pin between the rotating seat 9 and the connecting seat 10, thereby adjusting the clamping angle of the manipulator, and the first electric push rods 7 on both sides can be independently controlled to achieve more flexible angle adjustment.

[0046] The rotating assembly realizes the rotation of the manipulator by connecting the connecting shaft 4 and the rotating disk 5 in the connecting frame 3. The first bevel gear 11 installed on the connecting shaft 4 is meshed with the second bevel gear 14 on the rotating rod 13 driven by the first servo motor 12. When the first servo motor 12 is started, the connecting shaft 4 and the rotating disk 5 are driven to rotate through the transmission of the bevel gears, thereby changing the direction of the manipulator. This design ensures that the manipulator can rotate smoothly and accurately. The stabilizing assembly is used to enhance the stability during the rotation process. The groove 15 on the top of the rotating disk 5 is installed with balls 16 and connecting rods 17 distributed in a circular array, which reduce friction by rolling and improve the smoothness of rotation.

[0047] Embodiment 2;

[0048] See also Figure 1-Figure 8In the embodiment of the present invention, the lifting assembly includes a mounting plate 18 mounted on the bottom of the rotating disk 5, a fixing seat 19 and a supporting plate 20 are mounted on the bottom of the mounting plate 18, a second servo motor 21 is mounted in the middle of the inner cavity of the fixing seat 19, a bidirectional screw rod 22 is mounted on the back of the output shaft of the second servo motor 21, the back of the bidirectional screw rod 22 is connected to the supporting plate 20, the outer ring of the bidirectional screw rod 22 is threadedly connected to a moving block 23, and a linkage assembly is also mounted on the bottom of the moving block 23. The linkage assembly includes a rotating plate 24 hinged at the bottom of the moving block 23, an adjusting plate 25 is arranged at the bottom of the rotating plate 24, a sliding block 26 is hinged at the bottom of the rotating plate 24, a sliding groove 27 is provided at the top of the adjusting plate 25, and the sliding block 26 slides in the inner cavity of the sliding groove 27, a telescopic rod 28 is mounted between the mounting plate 18 and the adjusting plate 25, four groups of telescopic rods 28 are arranged and distributed in a rectangular array, and a pushing assembly is mounted at the bottom of the adjusting plate 25.

[0049] The pushing assembly includes a fixing plate 38 mounted on the bottom of the adjusting plate 25 , and a heat dissipation assembly is mounted on one side of the fixing plate 38 where a second electric push rod 39 is mounted on the right side.

[0050] The working principle of the embodiment of the present invention is: the lifting component drives the bidirectional screw 22 through the second servo motor 21, so that the moving block 23 moves on the bidirectional screw 22, and then through the linkage structure composed of the hinged rotating plate 24, the adjustment plate 25, the sliding block 26 and the telescopic rod 28 of the linkage component, the inclination angle of the adjustment plate 25 is automatically adjusted as the lifting component moves, ensuring that the end of the manipulator maintains a relatively stable posture during the lifting process.

[0051] The pushing assembly is driven by a second electric push rod 39 installed at the bottom of the adjustment plate 25 to perform specific grabbing or pushing tasks. The second electric push rod 39 drives the clamping assembly to approach or move away from the target object through its telescopic action. The dual-axis motor 33 drives the one-way screw 34 to rotate, so that the adjustment block 35 moves along the one-way screw 34, and then adjusts the position of the clamping plate 36 to achieve accurate clamping of the object.

[0052] Embodiment 3;

[0053] See also Figure 1-Figure 8In the embodiment of the present invention, the heat dissipation assembly includes a fixed frame 40 installed on one side of the second electric push rod 39, a heat dissipation fan 29 is installed on the top of the inner cavity of the fixed frame 40, a heat dissipation hole 30 is opened at the bottom of the inner cavity of the fixed frame 40, and the heat dissipation holes 30 are provided in multiple groups and are linearly distributed, and a clamping assembly is installed at the bottom of the fixed frame 40. The clamping assembly includes a clamping frame 31 installed at the bottom of the fixed frame 40, a support seat 32 is installed in the inner cavity of the clamping frame 31, a double-axis motor 33 is installed on the top of the support seat 32, and a one-way screw rod 34 is installed on both sides of the double-axis motor 33. The outer ring of the one-way screw rod 34 is threadedly connected with an adjustment block 35, and a clamping plate 36 is installed on one side of the adjustment block 35. The adjustment block 35 and the clamping plate 36 are both provided with two groups and are symmetrically distributed, and a limit assembly is installed in the inner cavity of the clamping frame 31.

[0054] The limiting assembly includes limiting rods 37 installed in the inner cavity of the clamping frame 31 . The limiting rods 37 are provided in two groups and are symmetrically distributed. The limiting rods 37 are inserted into the inner cavity of the adjustment block 35 .

[0055] The working principle of the embodiment of the present invention is as follows: the heat dissipation component is responsible for providing heat dissipation for key components such as the second electric push rod 39, ensuring that they will not be damaged due to overheating during long-term operation. The heat dissipation fan 29 is installed in the fixed frame 40, and effectively reduces the internal temperature by sucking in cold air and exhausting hot air in conjunction with the heat dissipation holes 30 opened at the bottom.

[0056] The limiting rod 37 in the clamping assembly ensures the stability and accuracy of the adjusting block 35 during movement, prevents it from deviating from the predetermined track, and ensures the precise execution of the clamping action.

[0057] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0060] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0061] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A multifunctional truss manipulator, characterized in that: include: A mechanical arm (1), wherein a working frame (2) is installed at the bottom of the mechanical arm (1), and the working frame (2) is used to load related mechanisms of the mechanical arm; A working mechanism, the working mechanism is located in the inner cavity of the working frame (2) and is used for the rotation of the manipulator, the working mechanism comprises an adjustment component, a rotation component and a stabilization component, the adjustment component is located in the inner cavity of the working frame (2) and is used for adjusting the angle of the manipulator, the rotation component is located between the adjustment components and is used for driving the rotation of the manipulator, and the stabilization component is located in the inner cavity of the rotation component and is used for stabilizing the rotation of the rotation component; The rotating assembly comprises a connecting frame (3) installed in the inner cavity of the working frame (2), a connecting shaft (4) is installed in the inner cavity of the connecting frame (3), a rotating disk (5) for directional rotation is installed at the bottom of the connecting shaft (4), rolling grooves (6) are provided on both sides of the connecting frame (3), and the adjusting assembly comprises a first electric push rod (7) installed on the inner wall of the working frame (2), a roller (8) is installed on the side of the output shaft of the first electric push rod (7) close to the connecting frame (3), and the roller (8) can roll in the inner cavity of the rolling groove (6) and is used for adjusting the angle of the connecting frame (3).

2. A multifunctional truss manipulator according to claim 1, characterized in that: A rotating seat (9) is installed at the top of the inner cavity of the working frame (2), and a connecting seat (10) is installed at the top of the connecting frame (3). The rotating seat (9) and the connecting seat (10) are rotatably connected via a pin shaft, and the first electric push rods (7) located on both sides can be controlled to extend and retract respectively.

3. A multifunctional truss manipulator according to claim 1, characterized in that: A first bevel gear (11) is installed on the outer ring of the connecting shaft (4), a first servo motor (12) is installed in the inner cavity of the connecting frame (3), a rotating rod (13) is installed on one side of the output shaft of the first servo motor (12), a second bevel gear (14) is installed on one side of the rotating rod (13), and the first bevel gear (11) and the second bevel gear (14) are meshed with each other.

4. The multifunctional truss manipulator according to claim 1, characterized in that: The stabilizing component comprises a groove (15) formed on the top of the rotating disk (5), a ball (16) is rotatably connected in the inner cavity of the groove (15), a connecting rod (17) is installed on the top of the ball (16), and the ball (16) and the connecting rod (17) are provided in multiple groups and distributed in a circular array, and a lifting component is installed at the bottom of the rotating disk (5).

5. A multifunctional truss manipulator according to claim 4, characterized in that: The lifting assembly comprises a mounting plate (18) mounted on the bottom of the rotating disk (5); a fixing seat (19) and a supporting plate (20) are mounted on the bottom of the mounting plate (18); a second servo motor (21) is mounted in the middle of the inner cavity of the fixing seat (19); a bidirectional screw rod (22) is mounted on the back of the output shaft of the second servo motor (21); the back of the bidirectional screw rod (22) is connected to the supporting plate (20); the outer ring of the bidirectional screw rod (22) is threadedly connected to a moving block (23); and a linkage assembly is also mounted on the bottom of the moving block (23).

6. A multifunctional truss manipulator according to claim 5, characterized in that: The linkage assembly comprises a rotating plate (24) hinged at the bottom of the moving block (23); an adjusting plate (25) is arranged at the bottom of the rotating plate (24); a sliding block (26) is hinged at the bottom of the rotating plate (24); a sliding groove (27) is provided at the top of the adjusting plate (25); the sliding block (26) slides in the inner cavity of the sliding groove (27); a telescopic rod (28) is installed between the mounting plate (18) and the adjusting plate (25); four groups of the telescopic rods (28) are arranged and distributed in a rectangular array; and a pushing assembly is installed at the bottom of the adjusting plate (25).

7. A multifunctional truss manipulator according to claim 6, characterized in that: The pushing assembly comprises a fixing plate (38) mounted on the bottom of the adjusting plate (25), and a heat dissipation assembly is mounted on one side of the fixing plate (38) on the right side of which a second electric push rod (39) is mounted.

8. The multifunctional truss manipulator according to claim 7, characterized in that: The heat dissipation component includes a fixed frame (40) installed on one side of the second electric push rod (39), a heat dissipation fan (29) is installed on the top of the inner cavity of the fixed frame (40), and heat dissipation holes (30) are opened at the bottom of the inner cavity of the fixed frame (40). The heat dissipation holes (30) are arranged in multiple groups and are distributed linearly, and a clamping component is installed at the bottom of the fixed frame (40).

9. The multifunctional truss manipulator according to claim 8, characterized in that: The clamping assembly comprises a clamping frame (31) installed at the bottom of a fixed frame (40), a support seat (32) is installed in the inner cavity of the clamping frame (31), a double-axis motor (33) is installed on the top of the support seat (32), one-way screw rods (34) are installed on both sides of the double-axis motor (33), the outer ring of the one-way screw rod (34) is threadedly connected to an adjustment block (35), a clamping plate (36) is installed on one side of the adjustment block (35), the adjustment block (35) and the clamping plate (36) are both provided in two groups and are symmetrically distributed, and a limit position assembly is installed in the inner cavity of the clamping frame (31).

10. A multifunctional truss manipulator according to claim 9, characterized in that: The limiting assembly comprises limiting rods (37) installed in the inner cavity of the clamping frame (31), the limiting rods (37) are provided in two groups and are symmetrically distributed, and the limiting rods (37) are inserted into the inner cavity of the adjustment block (35).

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