Heavy truss manipulator

Abstract

The heavy truss manipulator comprises a base, a lifting mechanism is installed at the top of the base and used for adjusting the height of a top mechanism, and a workbench is installed at the top of the lifting mechanism; the adjusting mechanism is located at the top of the workbench and used for adjusting the clamping range; and the working mechanism is located at the bottom of the adjusting mechanism and used for clamping and overturning the object, and the working mechanism comprises an adjusting assembly, an overturning assembly and a clamping assembly. Through the design of the working mechanism and the combination of the adjusting assembly, the overturning assembly and the clamping assembly, accurate clamping and flexible overturning of an object are achieved, an electric push rod controls the vertical position of the overturning assembly and the clamping assembly, and a third motor drives a rotating rod to rotate to achieve overturning. And the clamping assembly stably clamps and releases objects through a fourth motor and a two-way lead screw system, so that the working capacity of the manipulator is greatly expanded, and the requirements of complex machining or assembling scenes are met.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical tools, and in particular to a heavy-duty truss manipulator. Background Art

[0002] The mechanical finger can imitate certain movements and functions of human hands and arms, and is an automatic operating device used to grasp, carry objects or operate tools according to a fixed program. It is mainly composed of three parts: actuator, drive mechanism and control system. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] After searching, the Chinese patent number CN108127652A discloses that the invention discloses a heavy-duty truss manipulator, including a truss, the top of the truss is fixedly connected to a motor, the inside of the truss is fixedly connected to a slide bar, the outer wall of the slide bar is movably connected to a slider, the bottom of the slider is fixedly connected to a bearing, the inner wall of the bearing is fixedly connected to a rotating shaft, the bottom of the rotating shaft is fixedly connected to a connecting block, the bottom of the connecting block is fixedly connected to a first movable rod, the bottom of the first movable rod is movably connected to a first articulated bearing, one end of the first articulated bearing is movably connected to a second movable rod, and the side of the second movable rod is movably connected to a second articulated bearing. The heavy-duty truss manipulator can make the manipulator structure simple, the flexibility is enhanced, and it can adapt to different angles by setting the first movable rod, the first articulated bearing and the second movable rod, and the distance between the manipulator grippers can be adjusted by setting the left movable rod and the right movable rod, so that the manipulator can grip objects of different sizes, and the practicality is stronger.

[0004] However, the heavy-duty truss manipulator needs to adjust its front and rear positions when clamping objects further forward or backward, but the manipulator lacks front and rear position adjustment, resulting in the inability to accurately position and clamp objects at different positions, which limits the operating range and flexibility of the manipulator and reduces production efficiency. At the same time, the manipulator lacks the function of flipping objects, so when flipping objects, the staff needs to flip them manually, which increases the possibility of object damage. Based on this, the present invention designs a heavy-duty truss manipulator to solve the above problems. 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 heavy-duty truss manipulator, which solves the technical problem of low flexibility of the manipulator.

[0007] (II) Technical solution

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

[0009] A heavy-duty truss manipulator, comprising:

[0010] A base, a lifting mechanism is installed on the top of the base for adjusting the height of the top mechanism, and a workbench is installed on the top of the lifting mechanism.

[0011] The adjusting mechanism is located on the top of the workbench and is used for adjusting the clamping range.

[0012] The working mechanism is located at the bottom of the adjusting mechanism and is used for clamping and flipping objects. The working mechanism includes an adjusting component, a flipping component and a clamping component. The adjusting component includes a component installed at the bottom of the adjusting mechanism and is used for lifting and lowering the flipping component and the clamping component. The flipping component is located at the bottom of the adjusting component and drives the flipping of the clamping component. The clamping component is located at the front of the flipping component and is used for clamping objects.

[0013] Preferably, the adjustment mechanism comprises a working support installed on the top of the workbench, a first motor is installed on one side of the working support, a one-way screw is installed on one side of the output shaft of the first motor, and the outer ring of the one-way screw is threadedly connected to a moving block.

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

[0015] Preferably, the stabilizing component includes a groove opened on the top of the rotating plate, a ball is slidably connected in the inner cavity of the groove, a fixing rod is installed on the top of the ball, the fixing rod is connected to the rotating frame, and the balls and the fixing rod are provided in multiple groups and distributed in a circular array.

[0016] Preferably, the adjustment assembly includes an electric push rod installed at the bottom of the rotating plate, and a support frame is installed at the bottom of the electric push rod.

[0017] Preferably, the flip assembly includes a third motor installed on the back of the support frame, a rotating rod is installed on the front of the output shaft of the third motor, and the third motor is connected to the rotating rod through a coupling.

[0018] Preferably, the clamping assembly includes a clamping frame installed on the front side of the rotating rod, a fourth motor is installed on the front side of the clamping frame, a first bidirectional screw is installed on the back side of the output shaft of the fourth motor, the outer ring of the first bidirectional screw is threadedly connected with a clamping block, a clamping plate is installed on the bottom of the clamping block, the clamping block and the clamping plate are each provided with two groups and are symmetrically distributed, a limiting rod is installed in the inner cavity of the clamping frame, the limiting rod is inserted in the inner cavity of the clamping block, and the limiting rod is provided with two groups and are symmetrically distributed.

[0019] Preferably, the lifting mechanism includes a mounting seat and a support plate installed on the top of the base, a fifth motor is installed in the middle of the inner cavity of the mounting seat, a second bidirectional screw is installed on the back of the output shaft of the fifth motor, the back of the second bidirectional screw is connected to the support plate, the outer ring of the second bidirectional screw is threadedly connected to an adjustment block, and a linkage assembly is also installed on the top of the adjustment block.

[0020] Preferably, the linkage assembly includes a rotating plate hinged on the top of the adjusting block, a lifting plate is provided on the top of the rotating plate, a sliding block is hinged on the top of the rotating plate, a sliding groove is provided at the bottom of the lifting plate, the sliding block slides in the inner cavity of the sliding groove, a telescopic rod is installed between the base and the lifting plate, and the telescopic rod is provided in four groups and distributed in a rectangular array.

[0021] Preferably, a connection kit is installed on the outer ring of the working bracket, and a display screen body is installed on one side of the connection kit.

[0022] (III) Beneficial effects

[0023] 1. The present invention realizes precise clamping and flexible flipping of objects through the design of the working mechanism and the combination of the adjustment component, the flipping component and the clamping component. The electric push rod controls the vertical position of the flipping component and the clamping component. The third motor drives the rotating rod to rotate to achieve flipping, and the clamping component achieves stable clamping and release of the object through the fourth motor and the bidirectional screw system, thereby greatly expanding the operating capacity of the robot and meeting the needs of complex processing or assembly scenarios.

[0024] 2. The present invention, through the design of the adjustment mechanism, the first motor drives the one-way screw and the movement of the moving block, combined with the second motor drive system in the rotating frame, to achieve a large range of flexible adjustment of the clamping assembly in the horizontal direction, thereby enhancing the adaptability of the manipulator and enabling it to accurately locate and clamp objects of different sizes and positions.

[0025] 3. The present invention, through the design of the lifting mechanism, enables the workbench and the upper mechanism to achieve smooth and precise height adjustment. The fifth motor drives the second bidirectional screw to rotate. Through the movement of the adjustment block and the coordinated action of the linkage assembly, the lifting process is ensured to be stable and reliable to meet different working height requirements. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0028] Figure 3 for Figure 2 A magnified image of point A;

[0029] Figure 4 The overall side view of the heavy-duty truss manipulator of the present invention

[0030] Figure 5 for Figure 4 The enlarged view of point B;

[0031] Figure 6 A side view of the working mechanism of the heavy-duty truss manipulator of the present invention;

[0032] Figure 7 It is a front view of the adjustment mechanism of the heavy-duty truss manipulator of the present invention;

[0033] Figure 8 It is a side view of the lifting mechanism of the heavy-duty truss manipulator of the present invention.

[0034] [Description of Reference Numerals]

[0035] 1. Base; 2. Workbench; 3. Work bracket; 4. First motor; 5. One-way screw; 6. Moving block; 7. Rotating frame; 8. Second motor; 9. First connecting rod; 10. First bevel gear; 11. Second connecting rod; 12. Second bevel gear; 13. Rotating plate; 14. Groove; 15. Ball; 16. Fixed rod; 17. Electric push rod; 18. Support frame; 19. Third motor; 20. Rotating rod; 21. Clamping frame; 22. Fourth motor; 23. First two-way screw; 24. Clamping block; 26. Clamping plate; 27. Limit rod; 28. Mounting seat; 29. ​​Support plate; 30. Fifth motor; 31. Second two-way screw; 32. Adjusting block; 33. Rotating plate; 34. Lifting plate; 35. Sliding block; 36. Sliding groove; 37. Telescopic rod; 38. Connection kit; 39. Display body. 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 low flexibility of the manipulator proposed in the embodiment of the present invention is solved by designing the working mechanism and adjusting the combination of the flipping component, the flipping component and the clamping component to achieve precise clamping and flexible flipping of the object. The electric push rod 17 controls the vertical position of the flipping component and the clamping component, and the third motor 19 drives the rotating rod 20 to rotate to achieve flipping. The clamping component achieves stable clamping and release of the object through the fourth motor 22 and the bidirectional screw system, thereby greatly expanding the operating capacity of the manipulator and meeting the needs of complex processing or assembly scenarios.

[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 heavy-duty truss manipulator includes: a base 1, a lifting mechanism is installed on the top of the base 1 for adjusting the height of the top mechanism, and a workbench 2 is installed on the top of the lifting mechanism; an adjusting mechanism, the adjusting mechanism is located on the top of the workbench 2 and is used to adjust the clamping range; a working mechanism, the working mechanism is located at the bottom of the adjusting mechanism and is used for clamping and flipping objects, the working mechanism includes an adjusting component, a flipping component and a clamping component, the adjusting component includes a component installed at the bottom of the adjusting mechanism and used for lifting and lowering the flipping component and the clamping component, the flipping component is located at the bottom of the adjusting component and drives the flipping of the clamping component, and the clamping component is located in front of the flipping component and is used to clamp objects.

[0041] like Figure 1 and Figure 2 As shown, the adjustment mechanism includes a working support 3 installed on the top of the workbench 2, a first motor 4 is installed on one side of the working support 3, a one-way screw 5 is installed on one side of the output shaft of the first motor 4, and the outer ring of the one-way screw 5 is threadedly connected to a moving block 6.

[0042] like Figure 2 and Figure 3As shown, a rotating frame 7 is installed at the bottom of the moving block 6, a second motor 8 is installed in the inner cavity of the rotating frame 7, a first connecting rod 9 is installed on one side of the output shaft of the second motor 8, a first bevel gear 10 is installed on one side of the first connecting rod 9, a second connecting rod 11 is installed in the inner cavity of the rotating frame 7, a second bevel gear 12 is installed on the outer ring of the second connecting rod 11, the first bevel gear 10 and the second bevel gear 12 are meshed with each other, a rotating plate 13 is installed at the bottom of the second connecting rod 11, and a stabilizing component is installed between the rotating frame 7 and the rotating plate 13.

[0043] like Figure 4 and Figure 5 As shown, the stabilizing component includes a groove 14 opened on the top of the rotating plate 13, a ball 15 is slidably connected in the inner cavity of the groove 14, a fixing rod 16 is installed on the top of the ball 15, and the fixing rod 16 is connected to the rotating frame 7. The ball 15 and the fixing rod 16 are provided in multiple groups and distributed in a circular array.

[0044] The working principle of the embodiment of the present invention is as follows: above the workbench 2, the adjustment mechanism is responsible for adjusting the clamping range to accommodate objects of different sizes and positions. The mechanism drives the one-way screw 5 to rotate through the first motor 4 on the working bracket 3, so that the moving block 6 moves left and right along the direction of the one-way screw 5. In the rotating frame 7 installed at the bottom of the moving block 6, the second motor 8 drives the first bevel gear 10 to rotate through the first connecting rod 9, and the second bevel gear 12 meshing therewith drives the second connecting rod 11 and the rotating plate 13 to rotate, thereby realizing the horizontal adjustment of the clamping assembly. To ensure the stability of the rotation process, the ball 15 and the fixed rod 16 in the stabilizing assembly provide circumferentially distributed support and rolling friction between the rotating plate 13 and the rotating frame 7 to reduce the rotation resistance.

[0045] Embodiment 2;

[0046] See also Figure 1-Figure 8 In the embodiment of the present invention, the adjustment assembly includes an electric push rod 17 installed at the bottom of the rotating plate 13, and a support frame 18 is installed at the bottom of the electric push rod 17. The flip assembly includes a third motor 19 installed at the back of the support frame 18, and a rotating rod 20 is installed on the front of the output shaft of the third motor 19. The third motor 19 and the rotating rod 20 are connected through a coupling.

[0047] The clamping assembly includes a clamping frame 21 installed on the front side of the rotating rod 20, a fourth motor 22 is installed on the front side of the clamping frame 21, a first bidirectional screw 23 is installed on the back side of the output shaft of the fourth motor 22, the outer ring of the first bidirectional screw 23 is threadedly connected with a clamping block 24, a clamping plate 26 is installed at the bottom of the clamping block 24, the clamping block 24 and the clamping plate 26 are each provided with two groups and are symmetrically distributed, a limiting rod 27 is installed in the inner cavity of the clamping frame 21, the limiting rod 27 is inserted in the inner cavity of the clamping block 24, and the limiting rod 27 is provided with two groups and are symmetrically distributed.

[0048] The working principle of the embodiment of the present invention is: the adjustment component is located at the bottom of the rotating plate 13, and the lifting and lowering of the support frame 18 is controlled by the electric push rod 17, thereby adjusting the vertical position of the flip component and the clamping component to meet the clamping requirements of different heights.

[0049] The flip assembly drives the rotating rod 20 to rotate through the third motor 19 on the back of the support frame 18, thereby realizing the flip function of the clamping assembly and flipping the clamped object 90 degrees. This design enables the manipulator to flexibly flip the clamped object to meet complex processing or assembly requirements.

[0050] The clamping assembly is the part of the manipulator that directly acts on the object. It drives the first bidirectional screw 23 to rotate through the fourth motor 22, so that the clamping blocks 24 symmetrically distributed on both sides move toward or away from each other along the direction of the first bidirectional screw 23. The clamping plate 26 at the bottom of the clamping block 24 moves accordingly to achieve stable clamping and release of the object; at the same time, the limit rod 27 in the clamping frame 21 ensures the stability of the clamping block 24 during movement to prevent it from deflecting or tilting.

[0051] Embodiment 3;

[0052] See also Figure 1-Figure 8 In the embodiment of the present invention, the lifting mechanism includes a mounting seat 28 and a support plate 29 mounted on the top of the base 1, a fifth motor 30 is mounted in the middle of the inner cavity of the mounting seat 28, a second bidirectional screw 31 is mounted on the back of the output shaft of the fifth motor 30, the back of the second bidirectional screw 31 is connected to the support plate 29, the outer ring of the second bidirectional screw 31 is threadedly connected to an adjustment block 32, and a linkage assembly is also mounted on the top of the adjustment block 32. The linkage assembly includes a rotating plate 33 hinged on the top of the adjustment block 32, a lifting plate 34 is arranged on the top of the rotating plate 33, a sliding block 35 is hinged on the top of the rotating plate 33, a sliding groove 36 is provided at the bottom of the lifting plate 34, and the sliding block 35 slides in the inner cavity of the sliding groove 36, and a telescopic rod 37 is installed between the base 1 and the lifting plate 34, and the telescopic rod 37 is arranged in four groups and distributed in a rectangular array.

[0053] A connection kit 38 is installed on the outer ring of the working bracket 3 , and a display screen body 39 is installed on one side of the connection kit 38 .

[0054] The working principle of the embodiment of the present invention is: the heavy-duty truss manipulator is firmly installed in the working environment through its base 1. The lifting mechanism on the top of the base 1 is the core part of the manipulator to achieve height adjustment. The lifting mechanism is composed of a mounting seat 28, a support plate 29, a fifth motor 30 and a second bidirectional screw 31. When the fifth motor 30 is started, it drives the second bidirectional screw 31 to rotate, and then drives the adjustment block 32 threadedly connected thereto to move in the direction of the second bidirectional screw 31. This movement is converted into vertical lifting of the lifting plate 34 through a linkage assembly. The rotating plate 33, the sliding block 35 and the telescopic rod 37 in the linkage assembly work together to ensure that the lifting process is smooth and precise, thereby achieving the overall height adjustment of the workbench 2 and the upper mechanism.

[0055] In addition, a display screen body 39 is also provided on the connection kit 38 installed on the outer ring of the working bracket 3, which is used to display the working status, parameter settings and fault information of the manipulator in real time, so as to facilitate monitoring and adjustment by the operator.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 heavy-duty truss manipulator, characterized in that: include: A base (1), a lifting mechanism is installed on the top of the base (1) for adjusting the height of the top mechanism, and a workbench (2) is installed on the top of the lifting mechanism; An adjustment mechanism, which is located on the top of the workbench (2) and is used to adjust the clamping range; The working mechanism is located at the bottom of the adjusting mechanism and is used for clamping and flipping objects. The working mechanism includes an adjusting component, a flipping component and a clamping component. The adjusting component includes a component installed at the bottom of the adjusting mechanism and is used for lifting and lowering the flipping component and the clamping component. The flipping component is located at the bottom of the adjusting component and drives the flipping of the clamping component. The clamping component is located at the front of the flipping component and is used for clamping objects.

2. A heavy duty truss manipulator according to claim 1, characterized in that: The adjustment mechanism comprises a working support (3) mounted on the top of the workbench (2); a first motor (4) is mounted on one side of the working support (3); a one-way screw (5) is mounted on one side of the output shaft of the first motor (4); and a moving block (6) is threadedly connected to the outer ring of the one-way screw (5).

3. A heavy duty truss manipulator according to claim 2, characterized in that: A rotating frame (7) is installed at the bottom of the moving block (6), a second motor (8) is installed in the inner cavity of the rotating frame (7), a first connecting rod (9) is installed on one side of the output shaft of the second motor (8), a first bevel gear (10) is installed on one side of the first connecting rod (9), a second connecting rod (11) is installed in the inner cavity of the rotating frame (7), a second bevel gear (12) is installed on the outer ring of the second connecting rod (11), the first bevel gear (10) and the second bevel gear (12) are meshed with each other, a rotating plate (13) is installed at the bottom of the second connecting rod (11), and a stabilizing component is installed between the rotating frame (7) and the rotating plate (13).

4. A heavy duty truss manipulator according to claim 3, characterized in that: The stabilizing component comprises a groove (14) formed on the top of the rotating plate (13), a ball (15) being slidably connected in the inner cavity of the groove (14), a fixing rod (16) being installed on the top of the ball (15), the fixing rod (16) being connected to the rotating frame (7), and the ball (15) and the fixing rod (16) are both provided in multiple groups and distributed in a circular array.

5. A heavy duty truss manipulator according to claim 3, characterized in that: The adjustment assembly comprises an electric push rod (17) installed at the bottom of the rotating plate (13), and a support frame (18) is installed at the bottom of the electric push rod (17).

6. A heavy duty truss manipulator according to claim 5, characterized in that: The flip assembly comprises a third motor (19) mounted on the back of the support frame (18); a rotating rod (20) is mounted on the front of the output shaft of the third motor (19); and the third motor (19) and the rotating rod (20) are connected via a coupling.

7. A heavy duty truss manipulator according to claim 6, characterized in that: The clamping assembly comprises a clamping frame (21) installed on the front side of the rotating rod (20), a fourth motor (22) is installed on the front side of the clamping frame (21), a first bidirectional screw (23) is installed on the back side of the output shaft of the fourth motor (22), the outer ring of the first bidirectional screw (23) is threadedly connected to a clamping block (24), a clamping plate (26) is installed on the bottom of the clamping block (24), the clamping block (24) and the clamping plate (26) are both provided in two groups and are symmetrically distributed, a limiting rod (27) is installed in the inner cavity of the clamping frame (21), the limiting rod (27) is inserted in the inner cavity of the clamping block (24), and the limiting rod (27) is provided in two groups and are symmetrically distributed.

8. A heavy duty truss manipulator according to claim 1, characterized in that: The lifting mechanism comprises a mounting seat (28) and a support plate (29) mounted on the top of the base (1); a fifth motor (30) is mounted in the middle of the inner cavity of the mounting seat (28); a second bidirectional screw rod (31) is mounted on the back of the output shaft of the fifth motor (30); the back of the second bidirectional screw rod (31) is connected to the support plate (29); the outer ring of the second bidirectional screw rod (31) is threadedly connected to an adjustment block (32); and a linkage assembly is also mounted on the top of the adjustment block (32).

9. A heavy duty truss manipulator according to claim 8, characterized in that: The linkage assembly comprises a rotating plate (33) hinged on the top of an adjusting block (32); a lifting plate (34) is arranged on the top of the rotating plate (33); a sliding block (35) is hinged on the top of the rotating plate (33); a sliding groove (36) is provided at the bottom of the lifting plate (34); the sliding block (35) slides in the inner cavity of the sliding groove (36); a telescopic rod (37) is installed between the base (1) and the lifting plate (34); and the telescopic rod (37) is arranged in four groups and distributed in a rectangular array.

10. A heavy duty truss manipulator according to claim 2, characterized in that: The outer ring of the working bracket (3) is installed with a connection kit (38), and one side of the connection kit (38) is installed with a display screen body (39).

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