Truss retrieving robot for SMT steel mesh frame

Abstract

The present invention discloses a truss material-grabbing robot for an SMT steel mesh frame, which belongs to the technical field of material-grabbing robots. The invention comprises a truss and a material-grabbing mechanism, wherein a moving mechanism is installed on the truss for driving the material-grabbing mechanism to move its position on the truss, and the material-grabbing mechanism comprises: a bracket, a fixed plate, a movable frame, a grabbing assembly, an adjusting assembly and a rotating assembly; a telescopic member is provided on the top of the bracket for adjusting the height of the material-grabbing, and the rotating assembly can be used to drive the movable frame to adjust the angle on the bracket, and make the grabbing assembly contact with the surface of the steel mesh frame and perform a grabbing operation on the steel mesh frame; the position of the grabbing assembly on the movable frame can be adjusted by the adjusting assembly according to the size of the steel mesh frame, so that the grabbing assembly can perform a stable grabbing operation on the steel mesh frame, keep the steel mesh frame stable after grabbing, and improve the material-grabbing effect; the steel mesh frame can be clamped or adsorbed by the grabbing assembly, and different working modes can be applied to effectively improve the material-grabbing efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of material retrieving robots, and in particular relates to a truss material retrieving robot for an SMT steel mesh frame. Background Art

[0002] SMT (Surface Mounted Technology) is the most popular technology and process in the electronics assembly industry. It is a method of mounting leadless or short-lead surface mount components (abbreviated as SMC / SMD, Chinese called chip components) on printed circuit boards (PCBs). The SMT stencil is a special mold used in the SMT screen printing process. The stencil is a thin plate made of stainless steel or other alloy materials with a series of small holes precisely opened according to the component layout on the PCB. These small holes play a key role in the patch processing. The solder paste is brushed from one end of the stencil to the other end by a scraper, and then leaks through the holes to the pads of the PCB board. After the solder paste is applied to the pads, the placement machine places the electronic components on the corresponding pad positions. The reflow soldering process is then followed by staged high-temperature heating to harden the solder paste and firmly fix the electronic components on the PCB board, completing the SMT patch. The structure of the SMT stencil includes a stencil frame, silk screen, steel sheet and adhesive. During the production process of the SMT stencil frame, a robot is required to remove the stencil frame, silk screen and steel sheet.

[0003] The existing truss picking robot for SMT steel mesh frames is not convenient to flexibly change according to the picking objects during operation, and it is easy to cause unstable clamping when picking steel mesh frames of different sizes, causing the steel mesh frames to fall, affecting the picking efficiency and picking effect.

[0004] In order to avoid the above technical problems, it is necessary to provide a truss material retrieving robot for SMT steel mesh frame to overcome the above defects in the prior art. Summary of the Invention

[0005] The object of the present invention is to provide a truss material retrieving robot for SMT steel mesh frame to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A truss retrieving manipulator for an SMT steel mesh frame includes a truss and a retrieving mechanism. The truss is provided with a moving mechanism for driving the retrieving mechanism to move on the truss. The retrieving mechanism includes:

[0008] The bracket is located on the inner side of the truss, and a telescopic member is installed on the top of the bracket, and the telescopic member is connected to the mobile mechanism for adjusting the position of the bracket in the vertical direction. A fixed plate is provided on the inner side of the bracket, and the fixed plate is in the shape of a cross. A movable bracket is provided at the edge of the bracket, and a first rotating rod is fixedly installed on the bottom end of the movable bracket, and the first rotating rod is rotatably connected to the bracket, and a second rotating rod is fixedly installed on the top end of the movable bracket, and the second rotating rod passes through the fixed plate and is rotatably connected to the fixed plate. A grab assembly is provided on the movable bracket, and four of the movable bracket and the grab assembly are provided and are divided into four groups and evenly distributed on the bracket;

[0009] An adjustment component is installed between the bracket and the movable frame for adjusting the position of the grabbing component on the movable frame. A rotating component is installed between the second rotating rod and the fixed plate for adjusting the angle of the movable frame on the bracket so that the grabbing component is close to the steel mesh frame to complete the grabbing operation of the steel mesh frame.

[0010] As a further technical solution of the present invention: the adjustment component includes:

[0011] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The swing arm ends up being rotated by two swing arms and the hook portion.

[0012] As a further technical solution of the present invention: the rotating assembly includes:

[0013] The transmission rod is installed on the movable frame near one end of the bracket and is vertically shaped, and both ends of the transmission rod are rotatably connected to the movable frame, and the rotating rod is fixedly installed with a first bevel gear near one end of the transmission rod, and the transmission rod is fixedly installed with a second bevel gear, and the first bevel gear is meshed with the second bevel gear, and the transmission rod is fixedly installed with a first transmission tooth, and a vertical short rod is installed between the bracket and the fixed plate, and both ends of the short rod are rotatably connected to the bracket and the fixed plate, and the second transmission tooth is installed on the short rod, and the first driving member is fixedly installed in the middle of the inner side of the bracket, and the driving tooth is fixedly installed on the output end of the first driving member, and the second transmission tooth is meshed with the first transmission tooth and the driving tooth.

[0014] As a further technical solution of the present invention: the rotating assembly includes:

[0015] The rotating teeth are fixedly mounted on the top of the second rotating rod, a connecting rod is mounted on the fixed plate, the connecting rod is rotatably connected to the fixed plate, a connecting tooth is fixedly mounted on the outside of the connecting rod, the connecting tooth is meshed with the rotating teeth, an adjusting tooth is fixedly mounted on the top of the connecting rod, and a driving assembly is mounted on the bracket for driving the two adjusting teeth to rotate at the same time, so that the two sets of movable frames rotate at the same time and in opposite directions.

[0016] As a further technical solution of the present invention: the drive assembly includes:

[0017] A positioning frame is fixedly mounted on the inner side of the bracket, a motor frame is fixedly mounted on the side of the positioning frame, a second driving member is fixedly mounted on the motor frame, a driving rod is fixedly mounted on the output end of the second driving member, the driving rod is cooperatively connected with the adjusting tooth, and the driving assembly is provided with two groups and is symmetrical about the center of the middle part of the bracket.

[0018] As a further technical solution of the present invention: the grabbing assembly includes:

[0019] The third driving member is fixedly mounted on the bottom end of the moving block, a connecting frame is installed between the third driving member and the moving block, a vertical long rod is fixedly mounted on the output end of the third driving member, an anti-slip pad is installed on the outside of the long rod, and an electric suction cup is fixedly mounted on the bottom end of the long rod, and the diameter of the electric suction cup is smaller than the diameter of the anti-slip pad.

[0020] As a further technical solution of the present invention: the bottom end of the bracket is circular, the top end of the bracket is cross-shaped, and the axis of the transmission rod is on the same straight line as the axis of the first rotating rod and the second rotating rod.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The truss material-grabbing robot for SMT steel mesh frames provided by the present invention has a telescopic part at the top of the bracket to adjust the height of the material grabbing, and the rotating component can drive the mobile frame to adjust the angle on the bracket, and make the grabbing component contact with the surface of the steel mesh frame, and grab the steel mesh frame. The position of the grabbing component on the mobile frame can be adjusted by the adjusting component according to the size of the steel mesh frame, so that the grabbing component can stably grab the steel mesh frame, keep the steel mesh frame stable after grabbing, and improve the material grabbing effect. The steel mesh frame can be clamped or adsorbed by the grabbing component, and different working modes can be applied to effectively improve the material grabbing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2It is a structural schematic diagram of the bottom side of the bracket in the present invention.

[0025] Figure 3 It is a structural schematic diagram of the rotating assembly in the present invention.

[0026] Figure 4 It is a schematic diagram of the structure between the rotating assembly and the movable frame in the present invention when viewed from above.

[0027] Figure 5 It is a schematic diagram of the structure between the driving assembly and the adjusting gear in the present invention.

[0028] Figure 6 This is a schematic diagram of the structure of the rotating gear on the fixed plate in the present invention.

[0029] Figure 7 It is a structural schematic diagram of the adjustment component in the present invention.

[0030] Figure 8 It is a schematic diagram of the structure between the adjustment component and the movable frame in the present invention.

[0031] Figure 9 It is a structural schematic diagram of the rotating assembly in the present invention.

[0032] Figure 10 This is a schematic diagram of the structure of the grabbing assembly on the mobile frame in the present invention.

[0033] In the accompanying drawings: 1- bracket, 2- telescopic member, 3- fixed plate, 4- moving frame, 5- first rotating rod, 6- second rotating rod, 7- grabbing assembly, 71- third driving member, 72- connecting frame, 73- long rod, 74- anti-slip pad, 75- electric suction cup, 8- adjusting assembly, 81- rotating rod, 82- moving block, 83- slide groove, 84- slider, 85- rotating assembly, 851- transmission rod, 852- first bevel gear, 853- second bevel gear, 854- first transmission tooth, 855- short rod, 856- second transmission tooth, 857- first driving member, 858- driving tooth, 9- rotating assembly, 91- rotating tooth, 92- connecting rod, 93- connecting tooth, 94- adjusting tooth, 95- driving assembly, 951- positioning frame, 952- motor frame, 953- second driving member, 954- driving rod. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0036] like Figures 1 to 10 As shown in the embodiment provided by the present invention, a truss material retrieving robot for SMT steel mesh frame includes a truss and a retrieving mechanism. A moving mechanism is installed on the truss for driving the retrieving mechanism to move on the truss. The retrieving mechanism includes:

[0037] The bracket 1 is located on the inner side of the truss, and a telescopic member 2 is installed on the top of the bracket 1. The telescopic member 2 is connected to the moving mechanism and is used to adjust the position of the bracket 1 in the vertical direction. A fixed plate 3 is provided on the inside of the bracket 1, and the shape of the fixed plate 3 is a cross. A movable frame 4 is provided at the edge of the bracket 1, and a first rotating rod 5 is fixedly installed on the bottom end of the movable frame 4. The first rotating rod 5 is rotatably connected to the bracket 1, and a second rotating rod 6 is fixedly installed on the top of the movable frame 4. The second rotating rod 6 passes through the fixed plate 3 and is rotatably connected to the fixed plate 3. A grabbing assembly 7 is provided on the movable frame 4, and four of the movable frame 4 and the grabbing assembly 7 are provided and are divided into four groups and evenly distributed on the bracket 1;

[0038] An adjustment component 8 is installed between the bracket 1 and the movable frame 4, which is used to adjust the position of the grabbing component 7 on the movable frame 4. A rotation component 9 is installed between the second rotating rod 6 and the fixed plate 3, which is used to adjust the angle of the movable frame 4 on the bracket 1, so that the grabbing component 7 is close to the steel mesh frame to complete the grabbing operation of the steel mesh frame.

[0039] In this embodiment, a telescopic member 2 is provided at the top of the bracket 1 to adjust the height of the material; the telescopic member 2 can be a telescopic motor or a cylinder, etc. In this embodiment, the telescopic member 2 is a telescopic motor, which can drive the mobile frame 4 to adjust the angle on the bracket 1 through the rotating component 9, and make the grabbing component 7 contact with the surface of the steel mesh frame and grab the steel mesh frame. The position of the grabbing component 7 on the mobile frame can be adjusted by the adjusting component 8 according to the size of the steel mesh frame, so that the grabbing component 7 can stably grab the steel mesh frame, keep the steel mesh frame stable after grabbing, and improve The material picking effect is that the steel mesh frame can be clamped or adsorbed through the grabbing component 7, which can be applied to different working modes to effectively improve the material picking efficiency; the bottom end of the bracket 1 is circular, and the top end of the bracket 1 is cross-shaped, which is convenient for the mobile frame 4 to rotate and facilitate the grabbing operation of the steel mesh frame. A rolling bearing is installed between the first rotating rod 5 and the bracket 1, and a rolling bearing is installed between the second rotating rod 6 and the fixed plate 3, so that the mobile frame 4 can be rotated on the bracket 1, and steel mesh frames of different sizes can be grabbed by the adjusting component 8 and the rotating component 9.

[0040] In one embodiment of the present invention, see Figure 1 、 Figure 2 、 Figure 6 、 Figure 7、 Figure 8 、 Figure 9 and Figure 10 , the regulating component 8 comprises:

[0041] The rotating rod 81 is installed on the movable frame 4 and is rotatably connected to the movable frame 4. A moving block 82 is provided on the outside of the rotating rod 81. The moving block 82 is threadedly connected to the rotating rod 81. The bottom end of the moving block 82 is fixedly connected to the grab assembly 7. A slide groove 83 is provided on the top side of the movable frame 4. A slider 84 is fixedly installed on the top of the movable block 82. The slider 84 is located inside the slide groove 83. The slider 84 is slidably connected to the slide groove 83, and is used to make the movable block 82 always move along the rotating rod 81; a rotating assembly 85 is installed on the end of the rotating rod 81 close to the bracket 1, which is used to drive the rotating rod 81 to rotate on the movable frame 4 after the angle of the movable frame 4 is adjusted.

[0042] The rotating assembly 85 includes:

[0043] The transmission rod 851 is installed on the end of the mobile frame 4 close to the bracket 1 and is vertical. The two ends of the transmission rod 851 are rotatably connected to the mobile frame 4. The first bevel gear 852 is fixedly installed on the end of the rotating rod 81 close to the transmission rod 851, and the second bevel gear 853 is fixedly installed on the transmission rod 851. The first bevel gear 852 is meshed with the second bevel gear 853. The first transmission tooth 854 is fixedly installed on the transmission rod 851. A vertical short rod 855 is installed between the bracket 1 and the fixed plate 3. Both ends of the short rod 855 are rotatably connected to the bracket 1 and the fixed plate 3. The second transmission tooth 856 is installed on the short rod 855. The first driving member 857 is fixedly installed on the middle part of the inner side of the bracket 1. The output end of the first driving member 857 is fixedly installed with a driving tooth 858, and the second transmission tooth 856 is meshed with the first transmission tooth 854 and the driving tooth 858.

[0044] In this embodiment, a horizontal rotating rod 81 is installed on the movable frame 4, and a rolling bearing is installed between the rotating rod 81 and the movable frame 4, so that the rotating rod 81 can perform a stable rotation operation on the movable frame 4. The rotating rod 81 is a threaded rod in this embodiment, and a moving block 82 is provided on the outer side of the rotating rod 81. A screw hole is provided on the moving block 82, and the inner side of the screw hole is threadedly connected to the outer side of the rotating rod 81. A slide groove 83 is also provided on the movable frame 4, and a slider 84 is installed on the top of the moving block 82. The slider 84 and the slide groove 83 can make the moving block 82 move stably along the rotating rod 81. When the rotating rod 81 rotates, the moving block 82 can be driven to drive the grabbing assembly 7 to move along the rotating rod 81.

[0045] The movable frame 4 is provided with a vertical transmission rod 851 near one end of the bracket 1, and rolling bearings are installed between the two ends of the transmission rod 851 and the movable frame 4, and the axis of the transmission rod 851 is in the same straight line as the axis of the first rotating rod 5 and the second rotating rod 6; the rotating rod 81 is fixedly provided with a first bevel gear 852 near one end of the bracket 1, and the second bevel gear 853 and the first transmission tooth 854 are installed on the transmission rod 851. When the transmission rod 851 rotates, the rotating rod 81 can be driven to rotate on the movable frame 4. A short rod 855 is installed between the fixed plate 3 and the bracket 1, and rolling bearings are installed at both ends of the short rod 855 and between the fixed plate 3 and the bracket 1. The second transmission tooth 856 is fixedly installed on the short rod 855, and the first driving member 857 is fixedly installed on the middle part of the inner side of the bracket 1. The first driving member 857 can be a rotating motor or a stepping motor, etc. In this embodiment In the example, the first driving member 857 is a rotating motor, and the output end of the first driving member 857 is fixedly installed with a driving tooth 858. When the first driving member 857 controls the driving tooth 858 to rotate, the first transmission tooth 854 and the second transmission tooth 856 can realize the rotation of the transmission rod 851 on the movable frame 4, and further realize the rotation of the rotating rod 81 on the movable frame 4. Since the axis of the transmission rod 851 is on the same straight line as the axis of the first rotating rod 5 and the second rotating rod 6, when the movable frame 4 rotates on the bracket 1, the first transmission tooth 854 is always engaged with the second transmission tooth 856. After the angle of the movable frame 4 is adjusted, the rotating rod 81 can still be driven to rotate on the movable frame 4 through the first driving member 857. When the first driving member 857 controls the driving tooth 858 to rotate, the four groups of grabbing components 7 can be synchronously driven to move synchronously, which is convenient for adapting to steel mesh frames of different sizes and easy to operate.

[0046] In one embodiment of the present invention, see Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , the rotating assembly 9 includes:

[0047] The rotating tooth 91 is fixedly mounted on the top of the second rotating rod 6, and a connecting rod 92 is mounted on the fixed plate 3. The connecting rod 92 is rotatably connected to the fixed plate 3. A connecting tooth 93 is fixedly mounted on the outer side of the connecting rod 92. The connecting tooth 93 is meshed with the rotating tooth 91. An adjusting tooth 94 is fixedly mounted on the top of the connecting rod 92. A driving assembly 95 is mounted on the bracket 1 for simultaneously driving the two adjusting teeth 94 to rotate, so that the two groups of movable frames 4 rotate at the same time and in opposite directions.

[0048] The drive assembly 95 includes:

[0049] A positioning frame 951 is fixedly mounted on the inner side of the bracket 1, a motor frame 952 is fixedly mounted on the side of the positioning frame 951, a second driving member 953 is fixedly mounted on the motor frame 952, a driving rod 954 is fixedly mounted on the output end of the second driving member 953, the driving rod 954 is connected with the adjusting tooth 94, and the driving assembly 95 is provided with two groups and is symmetrical about the center of the middle part of the bracket 1.

[0050] In this embodiment, a rotating tooth 91 is fixedly installed on the top of the second rotating rod 6. When the rotating tooth 91 rotates, it can drive the second rotating rod 6 and the mobile frame 4 to rotate on the bracket 1, thereby adjusting the horizontal angle of the mobile frame 4, and further making the grabbing assembly 7 close to the outside of the steel mesh frame. A connecting rod 92 is installed on the fixed plate 3, and a rolling bearing is installed between the connecting rod 92 and the fixed plate 3. The connecting rod 92 can be rotated on the fixed plate 3. A connecting tooth 93 and an adjusting tooth 94 are installed on the connecting rod 92. The connecting tooth 93 is meshed with the rotating tooth 91. The adjusting tooth 94 is a worm gear in this embodiment. The rotating tooth 91, the connecting rod 92, the connecting tooth 93 and the adjusting tooth 94 are each provided with four and are divided into four groups and connected to the four groups of mobile frames 4;

[0051] A vertical positioning frame 951 is installed on the bracket 1, and the positioning frame 951 is located on the side of the fixed plate 3. A motor frame 952 and a second driving member 953 are installed on the positioning frame 951. The second driving member 953 can be a rotary motor or a stepping motor, etc. In this embodiment, the second driving member 953 is a rotary motor, and a driving rod 954 is fixedly installed on the output end of the second driving member 953. The driving rod 954 is a worm in this embodiment, and the driving rod 954 is cooperated with the adjusting tooth 94. The driving rod 954 is provided with two, and the two driving rods 954 are fixedly connected. The two driving rods 954 are both worms in this embodiment, and the rotation directions of the two worms are opposite. When the second driving member 953 controls the driving rod 954 to rotate, the two adjusting teeth 94 can be rotated at the same time, further realizing that the angle adjustment directions of the two movable frames 4 are opposite, which facilitates the grabbing assembly 7 to approach the steel mesh frame and complete the grabbing operation of the steel mesh frame.

[0052] In one embodiment of the present invention, see Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 and Figure 10 , the grabbing component 7 includes:

[0053] The third driving member 71 is fixedly mounted on the bottom end of the moving block 82. A connecting frame 72 is installed between the third driving member 71 and the moving block 82. A vertical long rod 73 is fixedly mounted on the output end of the third driving member 71. An anti-slip pad 74 is installed on the outside of the long rod 73. An electric suction cup 75 is fixedly mounted on the bottom end of the long rod 73. The diameter of the electric suction cup 75 is smaller than the diameter of the anti-slip pad 74.

[0054] In this embodiment, a third driving member 71 is fixedly installed at the bottom end of the moving block 82. The third driving member 71 can be a rotary motor or a stepping motor. In this embodiment, the third driving member 71 is a rotary motor. A long rod 73 is fixedly installed at the output end of the third driving member 71. A cylindrical anti-skid pad 74 is fixedly installed on the outside of the long rod 73. The anti-skid pad 74 is made of rubber, which can effectively increase the friction between the steel mesh frame and the steel mesh frame, thereby maintaining the stability of the steel mesh frame. An electric suction cup 75 is also installed at the bottom end of the long rod 73, through which the steel sheet can be sucked. The steel mesh frames of different sizes can be grabbed by the adjustment component 8 and the rotation component 9. The long rod 73 and the anti-skid pad 74 can be rotated by the third driving member 71, so that the grabbed steel mesh frame can be moved. It can be applied to different processing operations, and the position of the steel mesh frame on the bottom side of the bracket 1 can be adjusted to ensure the stability of the steel mesh frame and improve the material taking effect.

[0055] The working principle of the present invention is:

[0056] In the present invention, first, the position of the bracket 1 is adjusted through the moving mechanism and telescopic member 2 on the truss, so that the bracket 1 is located above the steel mesh frame. Then, according to the size of the steel mesh frame, the first driving member 857 is controlled to rotate the rotating rod 81 on the moving frame 4, and the position of the grabbing component 7 on the moving frame 4 is adjusted. Then, the rotating component 9 is controlled to rotate the moving frame 4 on the bracket 1, so that the anti-slip pad 74 in the grabbing component 7 is in full contact with the surface of the steel mesh frame to achieve the grabbing operation. Then, the moving mechanism and telescopic member 2 are controlled to move the steel mesh frame to complete the material picking operation. When picking up the steel sheet, the first driving member 857 and the second driving member 953 can be controlled to make the electric suction cup 75 located at the four corners of the steel sheet to ensure stability after adsorption and convenient material picking operation. The third driving member 71 can also be controlled to adjust the position of the steel mesh frame on the bottom side of the bracket 1, which is convenient to operate and improves the material picking effect.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0058] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. Truss material retrieving robot for SMT steel mesh frame, including a truss and a retrieving mechanism, wherein a moving mechanism is installed on the truss to drive the retrieving mechanism to move on the truss, characterized in that: The material taking mechanism comprises: The bracket (1) is located inside the truss. A telescopic member (2) is installed on the top of the bracket (1). The telescopic member (2) is connected to the moving mechanism and is used to adjust the position of the bracket (1) in the vertical direction. A fixed plate (3) is provided on the inside of the bracket (1). The fixed plate (3) is in the shape of a cross. A movable frame (4) is provided at the edge of the bracket (1). A first rotating rod (5) is fixedly installed on the bottom end of the movable frame (4). The first rotating rod (5) is rotatably connected to the bracket (1). A second rotating rod (6) is fixedly installed on the top end of the movable frame (4). The second rotating rod (6) passes through the fixed plate (3) and is rotatably connected to the fixed plate (3). A grabbing assembly (7) is provided on the movable frame (4). Four movable frames (4) and grabbing assemblies (7) are provided and divided into four groups and evenly distributed on the bracket (1). An adjusting assembly (8) is installed between the bracket (1) and the movable bracket (4) for adjusting the position of the grabbing assembly (7) on the movable bracket (4); a rotating assembly (9) is installed between the second rotating rod (6) and the fixed plate (3) for adjusting the angle of the movable bracket (4) on the bracket (1) so that the grabbing assembly (7) is close to the steel mesh frame to complete the grabbing operation on the steel mesh frame; The regulating assembly (8) comprises: The rotating rod (81) is mounted on the movable frame (4) and is rotatably connected to the movable frame (4); a moving block (82) is provided on the outer side of the rotating rod (81); the moving block (82) is threadedly connected to the rotating rod (81); the bottom end of the moving block (82) is fixedly connected to the grab assembly (7); a sliding groove (83) is provided on the top side of the movable frame (4); a slider (84) is fixedly mounted on the top of the movable block (82); the slider (84) is located on the inner side of the sliding groove (83); the slider (84) is slidably connected to the sliding groove (83) for making the movable block (82) always move along the rotating rod (81); a rotating assembly (85) is installed on one end of the rotating rod (81) close to the bracket (1), for driving the rotating rod (81) to rotate on the movable frame (4) after the angle of the movable frame (4) is adjusted; The rotating assembly (85) comprises: The transmission rod (851) is installed on one end of the mobile frame (4) close to the bracket (1) and is vertical. Both ends of the transmission rod (851) are rotatably connected to the mobile frame (4). A first bevel gear (852) is fixedly installed on one end of the rotating rod (81) close to the transmission rod (851). A second bevel gear (853) is fixedly installed on the transmission rod (851). The first bevel gear (852) is meshed with the second bevel gear (853). A first transmission tooth (854) is fixedly installed on the transmission rod (851). A vertical short rod (855) is installed between the bracket (1) and the fixed plate (3), and both ends of the short rod (855) are rotatably connected to the bracket (1) and the fixed plate (3). A second transmission tooth (856) is installed on the short rod (855). A first driving member (857) is fixedly installed in the middle of the inner side of the bracket (1). A driving tooth (858) is fixedly installed at the output end of the first driving member (857). The second transmission tooth (856) is meshed with the first transmission tooth (854) and the driving tooth (858). The rotating assembly (9) comprises: A rotating tooth (91) is fixedly mounted on the top of the second rotating rod (6); a connecting rod (92) is mounted on the fixed plate (3); the connecting rod (92) is rotatably connected to the fixed plate (3); a connecting tooth (93) is fixedly mounted on the outer side of the connecting rod (92); the connecting tooth (93) is meshed and connected with the rotating tooth (91); an adjusting tooth (94) is fixedly mounted on the top of the connecting rod (92); a driving assembly (95) is mounted on the bracket (1) for simultaneously driving the two adjusting teeth (94) to rotate, so that the two groups of movable racks (4) rotate simultaneously and in opposite directions; The drive assembly (95) comprises: A positioning frame (951) is fixedly mounted on the inner side of the bracket (1); a motor frame (952) is fixedly mounted on the side of the positioning frame (951); a second driving member (953) is fixedly mounted on the motor frame (952); a driving rod (954) is fixedly mounted on the output end of the second driving member (953); the driving rod (954) is cooperatively connected with the adjusting tooth (94); and the driving assembly (95) is provided with two groups and is symmetrical about the center of the middle of the bracket (1).

2. The truss retrieving robot for SMT steel mesh frame according to claim 1 is characterized in that: The grabbing assembly (7) comprises: A third driving member (71) is fixedly mounted on the bottom end of the moving block (82); a connecting frame (72) is mounted between the third driving member (71) and the moving block (82); a vertical long rod (73) is fixedly mounted on the output end of the third driving member (71); an anti-slip pad (74) is mounted on the outside of the long rod (73); an electric suction cup (75) is fixedly mounted on the bottom end of the long rod (73); and a diameter of the electric suction cup (75) is smaller than that of the anti-slip pad (74).

3. The truss material retrieving robot for SMT steel mesh frame according to claim 2, characterized in that: The bottom end of the bracket (1) is circular in shape, the top end of the bracket (1) is cross-shaped, and the axis of the transmission rod (851) is on the same straight line as the axes of the first rotating rod (5) and the second rotating rod (6).

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