Heavy truck tire blank carrying truss robot

Abstract

The heavy truck tire blank carrying truss robot comprises a truss moving mechanism, a grabbing mechanical arm, an AGV skip car, a heavy truck tire trolley, a conveying line and a heavy truck tire tray. The heavy truck tire blank grabbing manipulator has the advantages of being reasonable and simple in structure, low in production cost and convenient to install, through linkage work of the Y-axis motor, the Z-axis motor and the X-axis motor, the grabbing manipulator can be accurately moved to the needed position according to needs, and the requirement for rapid carrying of heavy truck tire blanks is met; according to the grabbing manipulator, a screw rod can be driven to rotate through a grabbing motor, a movable seat moves up and down through rotation of the screw rod, and all grabbing arms move along corresponding radial guide rails through corresponding second connecting rods and first connecting rods through vertical movement of the movable seat; therefore, the heavy truck tire blank can be grabbed together through all the grabbing arms, and the grabbing reliability and stability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of handling equipment, and in particular to a heavy truck tire blank handling truss robot. Background Art

[0002] The logistics industry has high requirements for handling efficiency. For large-load tires, semi-automatic KBK and semi-automatic cranes are often used for handling. However, such handling is not only inefficient, but also requires a lot of labor for workers. Therefore, a heavy-duty truck tire blank handling truss robot is needed to reliably transport the tire blanks on the AGV material cart and the heavy-duty truck tire trolley to the conveyor line to meet the needs of unmanned production. Summary of the invention

[0003] The purpose of the present invention is to provide a heavy truck tire blank handling truss robot in order to solve the above-mentioned problem, thereby solving the problem of efficient and reliable handling of heavy truck tire blanks.

[0004] In order to solve the above problems, the present invention provides a technical solution: a truss robot for handling heavy-duty truck tire blanks, comprising a truss moving mechanism, a grabbing manipulator, an AGV material cart, a heavy-duty truck tire cart, a conveyor line and a heavy-duty truck tire pallet; the grabbing manipulator is fixedly connected to the lower moving end of the truss moving mechanism; there are several conveyor lines, and the several conveyor lines are all located on the inner side of the truss moving mechanism; there are several heavy-duty truck tire carts, and the several heavy-duty truck tire carts are respectively arranged on one side of the corresponding conveyor line; the AGV material cart is located on the side of the heavy-duty truck tire cart; there are several heavy-duty truck tire pallets, and the several heavy-duty truck tire pallets are respectively located on the corresponding conveyor lines.

[0005] Preferably, the specific structure of the grabbing robot includes a rotating motor, a reducer, a connecting plate, a side plate, a connecting disc body, a radial slider, a radial guide rail, a grabbing arm, a connecting block 1, a connecting block 2, a connecting rod 2, a guide hole seat, a movable seat, a screw, a grabbing motor and a connecting rod 1; the reducer is fixedly connected to a rotating motor, and the output shaft of the rotating motor is connected to the input shaft on the upper side of the reducer, and the output shaft on the lower side of the reducer is fixedly connected to a connecting plate; both sides of the bottom of the connecting plate are fixedly connected to side plates, and the bottom of the side plate is fixedly connected to the top of the connecting disc body; several radial guide rails are fixedly connected to the bottom of the connecting disc body, and radial sliders are movably connected to the radial guide rails, and the bottoms of the radial sliders are fixedly connected A grabbing arm is connected, and a vertical guide hole seat is fixedly connected to the center of the bottom of the connecting disk body; a connecting block 1 and a connecting block 2 are fixedly connected to the upper and lower positions on the inner side of the grabbing arm respectively; the grabbing motor is fixedly connected to the center of the top of the connecting disk body; a screw rod is movably connected to the center of the guide hole seat, and the upper side of the screw rod is fixedly connected to the output shaft on the lower side of the grabbing motor; the outer side of the movable seat is vertically movably connected to the inside of the guide hole seat, and the threaded hole arranged in the center of the movable seat is connected to the screw rod, a plurality of connecting rods 1 are movably connected to the upper side of the outer side of the movable seat, and the outer side of the connecting rods 1 are respectively hinged to the corresponding connecting block 1, and a plurality of connecting rods 2 are movably connected to the lower side of the outer side of the movable seat, and the outer side of the connecting rods 2 are respectively hinged to the corresponding connecting block 2.

[0006] Preferably, a protrusion is provided on the lower side of the grabbing arm.

[0007] Preferably, the rotating motor and the grabbing motor are both servo motors or stepping motors.

[0008] Preferably, a visual measuring instrument is provided on the side of the connecting disc body.

[0009] Preferably, the specific structure of the truss moving mechanism includes a column, an X-axis crossbeam, an X-axis guide rail, an X-axis slider, a Y-axis crossbeam, a Y-axis guide rail, a Y-axis rack, a Y-axis seat, a Y-axis motor, a Z-axis motor, a Z-axis rack, a Z-axis arm, a Z-axis guide rail, a Z-axis slider, an X-axis rack, an X-axis transmission shaft, a gear box and an X-axis motor; there are two X-axis crossbeams, both sides of the bottom of the two X-axis crossbeams are fixedly connected with columns, the tops of the two X-axis crossbeams are fixedly connected with X-axis guide rails, and the inner sides of the two X-axis crossbeams are fixedly connected with X-axis racks; the bottoms of both sides of the Y-axis crossbeams are fixedly connected with X-axis sliders, and the X-axis sliders are movably connected to the outside of the corresponding X-axis guide rails, the Y-axis crossbeam is fixedly connected with the Y-axis guide rail, and the Y-axis rack is fixedly connected to one side of the Y-axis crossbeam; the Y-axis seat is movably connected to the outside of the Y-axis guide rail, and the outer side of the Y-axis seat is fixedly connected with the Y-axis motor, A Y-axis gear is fixedly connected to the output shaft of the Y-axis motor, and the Y-axis gear is connected to the Y-axis rack; a Z-axis slider is fixedly connected to the inside of the other side of the outer side of the Y-axis seat; a Z-axis rack and a Z-axis guide rail are fixedly connected to the outside of the Z-axis arm, and a grabbing manipulator is fixedly connected to the bottom of the Z-axis arm; the Z-axis guide rail is movably connected to the inside of the Z-axis slider; the Z-axis motor is fixedly connected to the central side of the Y-axis seat, a Z-axis gear is fixedly connected to the output shaft of the Z-axis motor, and the Z-axis gear is connected to the Z-axis rack; the gear box is fixedly connected to the center of the other side of the Y-axis crossbeam, and X-axis transmission shafts are fixedly connected to the output shafts on both sides of the gear box, and the outer ends of the X-axis transmission shafts are fixedly connected to X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks, and the X-axis motor is fixedly connected to the outside of the gear box, and the output shaft of the X-axis motor is fixedly connected to the input shaft of the gear box.

[0010] Preferably, the Y-axis motor, the Z-axis motor and the X-axis motor are all servo motors or stepper motors.

[0011] Preferably, a positioning strip matching the heavy-duty tire trolley is provided on the ground on one side of the conveyor line.

[0012] The beneficial effects of the present invention are as follows: (1) The present invention has a reasonable and simple structure, low production cost and convenient installation. Here, through the linkage operation of the Y-axis motor, the Z-axis motor and the X-axis motor, the grasping robot can be accurately moved to the required position as needed, thereby improving the need for rapid transportation of heavy truck tire blanks.

[0013] (2) The grabbing robot provided in the present invention can drive the screw to rotate through the grabbing motor, and the rotation of the screw causes the movable seat to move up and down. The up and down movement of the movable seat causes all the grabbing arms to move along the corresponding radial guide rails through the corresponding connecting rod 2 and connecting rod 1, so that the heavy truck tire blank can be grabbed together by all the grabbing arms, thereby improving the reliability and stability of grabbing.

[0014] (3) The rotating motor provided in the present invention can drive the connecting disc body to rotate as a whole, and at the same time form a four-axis linkage mechanism with the Y-axis motor, the Z-axis motor and the X-axis motor, thereby meeting the needs of product handling, product QR code scanning and angular positioning, and also meeting the needs of unmanned production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 Schematic diagram of the structure of the grasping robot.

[0017] Figure 3 for Figure 2 Schematic diagram from another perspective.

[0018] Figure 4 Based Figure 2 sectional view of .

[0019] Figure 5 It is a structural schematic diagram of the truss moving mechanism.

[0020] Figure 6 for Figure 5 Schematic diagram from another perspective.

[0021] 1-truss moving mechanism; 2-grabbing manipulator; 3-AGV material cart; 4-heavy truck tire cart; 5-conveyor line; 6-heavy truck tire tray; 21-rotating motor; 22-reducer; 23-connecting plate; 24-side plate; 25-connecting plate body; 26-radial slider; 27-radial guide rail; 28-grabbing arm; 29-connecting block 1; 210-connecting block 2; 211-connecting rod 2; 212-guide hole seat; 213-movable seat; 214-screw; 215-grabbing Motor; 216-connecting rod 1; 11-column; 12-X-axis crossbeam; 13-X-axis guide rail; 14-X-axis slider; 15-Y-axis crossbeam; 16-Y-axis guide rail; 17-Y-axis rack; 18-Y-axis seat; 19-Y-axis motor; 110-Z-axis motor; 111-Z-axis rack; 112-Z-axis arm; 113-Z-axis guide rail; 114-Z-axis slider; 115-X-axis rack; 116-X-axis transmission shaft; 117-gear box; 118-X-axis motor. DETAILED DESCRIPTION

[0022] like Figure 1As shown, this specific embodiment adopts the following technical scheme: a truss robot for handling heavy-duty truck tire blanks, comprising a truss moving mechanism 1, a grabbing manipulator 2, an AGV trolley 3, a heavy-duty truck tire trolley 4, a conveyor line 5 and a heavy-duty truck tire pallet 6; the grabbing manipulator 2 is fixedly connected to the lower moving end of the truss moving mechanism 1; there are several conveyor lines 5, and the several conveyor lines 5 are all located on one side of the inner side of the truss moving mechanism 1; there are several heavy-duty truck tire trolleys 4, and the several heavy-duty truck tire trolleys 4 are respectively arranged on one side of the corresponding conveyor line 5; the AGV trolley 3 is located on the side of the heavy-duty truck tire trolley 4; there are several heavy-duty truck tire pallets 6, and the several heavy-duty truck tire pallets 6 are respectively located on the corresponding conveyor lines 5.

[0023] like Figures 2 to 4 As shown, the specific structure of the grabbing manipulator 2 includes a rotating motor 21, a reducer 22, a connecting plate 23, a side plate 24, a connecting disc body 25, a radial slider 26, a radial guide rail 27, a grabbing arm 28, a connecting block 1 29, a connecting block 210, a connecting rod 211, a guide hole seat 212, a movable seat 213, a screw 214, a grabbing motor 215 and a connecting rod 1 216; the reducer 22 is fixedly connected with the rotating motor 21, and the output shaft of the rotating motor 21 is connected to the upper input shaft of the reducer 22, and the connecting plate 23 is fixedly connected to the lower output shaft of the reducer 22; the side plates 24 are fixedly connected to both sides of the bottom of the connecting plate 23, and the bottom of the side plate 24 is fixedly connected to the top of the connecting disc body 25; the bottom of the connecting disc body 25 is fixedly connected with several radial guide rails 27, and the radial guide rails 27 are movably connected with radial sliders 26, and the bottom of the radial sliders 26 are fixed A grabbing arm 28 is connected, and a vertical guide hole seat 212 is fixedly connected to the center of the bottom of the connecting disk body 25; a connecting block 29 and a connecting block 210 are fixedly connected to the upper and lower positions of the inner side of the grabbing arm 28 respectively; the grabbing motor 215 is fixedly connected to the center of the top of the connecting disk body 25; a screw rod 214 is movably connected to the center of the inner side of the guide hole seat 212, and the upper side of the screw rod 214 is fixedly connected to the output shaft of the lower side of the grabbing motor 215; the outer side of the movable seat 213 is vertically movably connected to the inner side of the guide hole seat 212, and the threaded hole arranged in the center of the movable seat 213 is connected to the screw rod 214, and several connecting rods 1 216 are movably connected to the upper side of the outer side of the movable seat 213, and the outer sides of the connecting rods 1 216 are respectively hinged to the corresponding connecting blocks 1 29, and several connecting rods 211 are movably connected to the lower side of the movable seat 213, and the outer sides of the connecting rods 211 are respectively hinged to the corresponding connecting blocks 2 210.

[0024] Among them, a protrusion is provided on the lower side of the grabbing arm 28; the rotating motor 21 and the grabbing motor 215 are both servo motors or stepping motors, so it is convenient to control the rotating motor 21 and the grabbing motor 215 through existing automation technology; and a visual measuring instrument is provided on the side of the connecting disk body 25.

[0025] like Figure 5 and Figure 6 As shown, the specific structure of the truss moving mechanism 1 includes a column 11, an X-axis crossbeam 12, an X-axis guide rail 13, an X-axis slider 14, a Y-axis crossbeam 15, a Y-axis guide rail 16, a Y-axis rack 17, a Y-axis seat 18, a Y-axis motor 19, a Z-axis motor 110, a Z-axis rack 111, a Z-axis arm 112, a Z-axis guide rail 113, a Z-axis slider 114, an X-axis rack 115, an X-axis transmission shaft 116, a gear box 117 and an X-axis motor 118; there are two X-axis crossbeams 12, and both sides of the bottom of the two X-axis crossbeams 12 are fixedly connected with columns 11, the tops of the two X-axis crossbeams 12 are fixedly connected to the X-axis guide rails 13, and the inner sides of the two X-axis crossbeams 12 are fixedly connected to the X-axis racks 115; the bottoms of both sides of the Y-axis crossbeam 15 are fixedly connected to the X-axis sliders 14, and the X-axis sliders 14 are movably connected to the outside of the corresponding X-axis guide rails 13, the Y-axis crossbeam 15 is fixedly connected to the Y-axis guide rails 16, and the Y-axis crossbeam 15 is fixedly connected to one side of the Y-axis rack 17; the Y-axis seat 18 is movably connected to the outside of the Y-axis guide rail 16, and the outer side of the Y-axis seat 18 is fixedly connected to The Y-axis motor 19 is provided with a Y-axis gear fixedly connected to the output shaft of the Y-axis motor 19, and the Y-axis gear is connected to the Y-axis rack 17; the Z-axis slider 114 is fixedly connected to the other side of the outer side of the Y-axis seat 18; the Z-axis rack 111 and the Z-axis guide rail 113 are fixedly connected to the outside of the Z-axis arm 112, and the grabbing robot 2 is fixedly connected to the bottom of the Z-axis arm 112; the Z-axis guide rail 113 is externally movably connected to the inside of the Z-axis slider 114; the Z-axis motor 110 is fixedly connected to the central side of the Y-axis seat 18, and the Z-axis motor 1 A Z-axis gear is fixedly connected to the output shaft 10, and the Z-axis gear is connected to the Z-axis rack 111; the gear box 117 is fixedly connected to the center of the other side of the Y-axis beam 15, and the output shafts on both sides of the gear box 117 are fixedly connected to the X-axis transmission shaft 116, and the outer ends of the X-axis transmission shaft 116 are fixedly connected to the X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks 115, and the outside of the gear box 117 is fixedly connected to the X-axis motor 118, and the output shaft of the X-axis motor 118 is fixedly connected to the input shaft of the gear box 117.

[0026] Among them, the Y-axis motor 19, Z-axis motor 110 and X-axis motor 118 are all servo motors or stepper motors, so it is convenient to control the Y-axis motor 19, Z-axis motor 110 and X-axis motor 118 through existing automation technology; a positioning strip matching the heavy-duty tire trolley 4 is provided on the ground on one side of the conveyor line 5.

[0027] The use state of the present invention is as follows: the present invention has a reasonable and simple structure, low production cost, and convenient installation. When in use, the heavy-duty truck tire blank is first transported to the conveyor line 5 position through the AGV material cart 3 and the heavy-duty truck tire cart 4, and then the Y-axis motor 19, the Z-axis motor 110 and the X-axis motor 118 work in conjunction, so that the grasping manipulator 2 can be accurately moved to the required position as needed, which also improves the need for rapid transportation of heavy-duty truck tire blanks. The grasping manipulator 2 set here can drive the screw 214 to rotate through the grasping motor 215, and the rotation of the screw 214 makes the movable seat 213 move up and down. The movable seat 213 moves up and down through the corresponding connecting rod 211 and the connecting rod 1 216, so that all the grabbing arms 28 move along the corresponding radial guide rail 27, so that the heavy truck tire blank can be grabbed together by all the grabbing arms 28, thereby improving the reliability and stability of grabbing. The rotating motor 21 is capable of driving the connecting disc body 25 to rotate as a whole, and at the same time forms a four-axis linkage mechanism with the Y-axis motor 19, the Z-axis motor 110 and the X-axis motor 118, thereby meeting the needs of product handling, product QR code scanning and angular positioning, and also meeting the needs of unmanned production.

[0028] The control method in the present invention is to start manually or control through existing automation technology. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and wiring layout in detail.

[0029] In the description of the invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0030] In the invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; 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. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the invention according to the specific circumstances.

[0031] The above shows and describes the basic principles, main features and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the invention. Without departing from the spirit and scope of the invention, the invention may have various changes and improvements, which shall fall within the scope of the invention to be protected. The scope of protection of the invention shall be defined by the attached claims and their equivalents.

Claims

1. A heavy truck tire blank handling truss robot, characterized in that: It includes a truss moving mechanism (1), a grabbing manipulator (2), an AGV material cart (3), a heavy-duty truck tire cart (4), a conveyor line (5) and a heavy-duty truck tire pallet (6); The grabbing manipulator (2) is fixedly connected to the lower moving end of the truss moving mechanism (1); There are a plurality of conveyor lines (5), and the plurality of conveyor lines (5) are all located on one side of the inner side of the truss moving mechanism (1); There are a plurality of heavy-duty truck tire trolleys (4), and the plurality of heavy-duty truck tire trolleys (4) are respectively arranged on one side of a corresponding conveyor line (5); The AGV material vehicle (3) is located on the side of the heavy-duty truck tire vehicle (4); There are a plurality of heavy truck tire pallets (6), and the plurality of heavy truck tire pallets (6) are respectively located on corresponding conveyor lines (5).

2. The heavy truck tire blank handling truss robot according to claim 1, characterized in that: The specific structure of the grabbing manipulator (2) includes a rotating motor (21), a reducer (22), a connecting plate (23), a side plate (24), a connecting disc body (25), a radial slider (26), a radial guide rail (27), a grabbing arm (28), a connecting block 1 (29), a connecting block 2 (210), a connecting rod 2 (211), a guide hole seat (212), a movable seat (213), a screw rod (214), a grabbing motor (215) and a connecting rod 1 (216); The reducer (22) is fixedly connected to a rotating motor (21), and the output shaft of the rotating motor (21) is connected to the upper input shaft of the reducer (22), and a connecting plate (23) is fixedly connected to the lower output shaft of the reducer (22); Both sides of the bottom of the connecting plate (23) are fixedly connected to side plates (24), and the bottom of the side plates (24) is fixedly connected to the top of the connecting plate body (25); The bottom of the connecting disc body (25) is fixedly connected to a plurality of radial guide rails (27), and the radial guide rails (27) are movably connected to radial sliders (26), and the bottoms of the radial sliders (26) are fixedly connected to grab arms (28), and the center of the bottom of the connecting disc body (25) is fixedly connected to a vertical guide hole seat (212); A connecting block 1 (29) and a connecting block 2 (210) are fixedly connected at upper and lower positions on the inner side of the grabbing arm (28) respectively; The grabbing motor (215) is fixedly connected to the top center of the connecting disk body (25); A screw rod (214) is movably connected to the center of the guide hole seat (212), and the upper side of the screw rod (214) is fixedly connected to the output shaft at the lower side of the grabbing motor (215); The outside of the movable seat (213) is vertically movably connected to the inside of the guide hole seat (212); a threaded hole arranged in the center of the movable seat (213) is connected to a screw rod (214); a plurality of connecting rods (216) are movably connected to the upper outer side of the movable seat (213); and the outer sides of the connecting rods (216) are respectively hinged to the corresponding connecting blocks (29); and a plurality of connecting rods (211) are movably connected to the lower outer side of the movable seat (213); and the outer sides of the connecting rods (211) are respectively hinged to the corresponding connecting blocks (210).

3. The heavy truck tire blank handling truss robot according to claim 2, characterized in that: A protrusion is provided on the lower side of the grabbing arm (28).

4. The heavy truck tire blank handling truss robot according to claim 2, characterized in that: The rotating motor (21) and the grabbing motor (215) are both servo motors or stepping motors.

5. The heavy truck tire blank handling truss robot according to claim 2, characterized in that: A visual measuring instrument is provided on the side of the connecting disc body (25).

6. The heavy truck tire blank handling truss robot according to claim 1, characterized in that: The specific structure of the truss moving mechanism (1) includes a column (11), an X-axis crossbeam (12), an X-axis guide rail (13), an X-axis slider (14), a Y-axis crossbeam (15), a Y-axis guide rail (16), a Y-axis rack (17), a Y-axis seat (18), a Y-axis motor (19), a Z-axis motor (110), a Z-axis rack (111), a Z-axis arm (112), a Z-axis guide rail (113), a Z-axis slider (114), an X-axis rack (115), an X-axis transmission shaft (116), a gear box (117) and an X-axis motor (118); There are two X-axis crossbeams (12), both sides of the bottom of the two X-axis crossbeams (12) are fixedly connected to the columns (11), the tops of the two X-axis crossbeams (12) are fixedly connected to the X-axis guide rails (13), and the inner sides of the two X-axis crossbeams (12) are fixedly connected to the X-axis racks (115); The bottoms of both sides of the Y-axis crossbeam (15) are fixedly connected to X-axis sliders (14), and the X-axis sliders (14) are movably connected to the outside of the corresponding X-axis guide rails (13), the Y-axis crossbeam (15) is fixedly connected to the Y-axis guide rail (16), and a Y-axis rack (17) is fixedly connected to one side of the Y-axis crossbeam (15); The Y-axis seat (18) is movably connected to the outside of the Y-axis guide rail (16); a Y-axis motor (19) is fixedly connected to one side of the outside of the Y-axis seat (18); a Y-axis gear is fixedly connected to the output shaft of the Y-axis motor (19); and the Y-axis gear is connected to the Y-axis rack (17); and a Z-axis slider (114) is fixedly connected to the inside of the other side of the outside of the Y-axis seat (18); The Z-axis arm (112) is fixedly connected to a Z-axis rack (111) and a Z-axis guide rail (113) on the outside, and a grabbing robot (2) is fixedly connected to the bottom of the Z-axis arm (112); The Z-axis guide rail (113) is externally movably connected to the interior of the Z-axis slider (114); The Z-axis motor (110) is fixedly connected to the central side of the Y-axis seat (18); a Z-axis gear is fixedly connected to the output shaft of the Z-axis motor (110), and the Z-axis gear is connected to the Z-axis rack (111); The gear box (117) is fixedly connected to the center of the other side of the Y-axis crossbeam (15); the output shafts on both sides of the gear box (117) are fixedly connected to the X-axis transmission shafts (116); the outer ends of the X-axis transmission shafts (116) are fixedly connected to the X-axis gears, and the X-axis gears are respectively connected to the corresponding X-axis racks (115); the gear box (117) is fixedly connected to the outside of the X-axis motor (118), and the output shaft of the X-axis motor (118) is fixedly connected to the input shaft of the gear box (117).

7. The heavy truck tire blank handling truss robot according to claim 6, characterized in that: The Y-axis motor (19), the Z-axis motor (110) and the X-axis motor (118) are all servo motors or stepper motors.

8. The heavy truck tire blank handling truss robot according to claim 1, characterized in that: A positioning clip strip matching the heavy-duty truck trolley (4) is provided on the ground at one side of the conveyor line (5).

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