Truss manipulator device for automatic feeding and discharging of cylinder block

Abstract

The invention discloses a truss manipulator device for automatic feeding and discharging of an air cylinder body. The truss manipulator device comprises a pair of main longitudinal beams, a main cross beam, a main vertical beam and a manipulator. The pair of main longitudinal beams are parallel to each other and are arranged perpendicular to the running direction of the raceway; the main cross beam and the pair of main longitudinal beams are vertically arranged between the pair of main longitudinal beams, and the main cross beam can move on the pair of main longitudinal beams; the main vertical beam is perpendicular to the main cross beam and the ground and is arranged on the main cross beam, and the main vertical beam can move on the main cross beam along the main cross beam and move up and down in the vertical direction perpendicular to the main cross beam; the manipulator is arranged at the lower end of the main vertical beam, can move along with the movement of the main cross beam and the main vertical beam, and can also rotate by taking the vertical center line of the main vertical beam as an axis; wherein the manipulator is used for grabbing the cylinder body. The truss manipulator device for automatic feeding and discharging of the air cylinder body can well overcome the defects in the prior art, and is easy and convenient to operate, efficient, rapid and high in automation degree.

Description

Technical Field

[0001] The invention relates to the technical field of process equipment, in particular to a truss manipulator device for automatically loading and unloading cylinder bodies. Background Art

[0002] As an important component in the machinery manufacturing industry, the loading and unloading process of the engine cylinder block has a crucial impact on the automation level of the entire production line. The traditional manual loading and unloading method has problems such as high labor intensity, low efficiency, and potential safety hazards. Therefore, in order to improve production efficiency and product quality, the use of automated production equipment has become the first choice. In this context, the development of a transportation device for automatic loading and unloading of cylinder blocks has become an urgent need in the industry.

[0003] Disadvantages of the existing technology and the technical problems to be solved by this application proposal: The cylinder body is transferred from the roller to the processing center for processing by manually operating a crane with a hook. However, this method has two significant problems: First, there are great safety hazards. The cylinder body is easy to fall off during the lifting process, posing a serious threat to personnel safety; second, it is inefficient. The entire transportation process is time-consuming and labor-intensive, which seriously restricts the overall efficiency of the production line. In view of these problems, it is necessary to design a device that can automatically complete the task of loading and unloading the cylinder body.

[0004] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0005] The object of the present invention is to provide a truss manipulator device for automatically loading and unloading cylinder bodies, which can well overcome the defects in the above-mentioned prior art and is easy to operate, efficient and fast, and has a high degree of automation.

[0006] To achieve the above-mentioned purpose, the present invention provides a truss manipulator device for automatic loading and unloading of cylinder bodies, which is arranged at the cylinder body raceway and is used to transfer the cylinder body to be processed from the raceway to the processing equipment, and then transfer the processed cylinder body from the processing equipment back to the raceway, the truss manipulator device includes a pair of main longitudinal beams, a main cross beam, a main vertical beam and a manipulator; the pair of main longitudinal beams are parallel to each other and arranged perpendicularly to the running direction of the raceway; the main cross beam and the pair of main longitudinal beams are arranged perpendicularly between the pair of main longitudinal beams, and the main cross beam can move on the pair of main longitudinal beams; the main vertical beam is arranged perpendicularly to the main cross beam and the ground on the main cross beam, and the main vertical beam can move on the main cross beam along the main cross beam and move up and down in a vertical direction perpendicular to the main cross beam; the manipulator is arranged at the lower end of the main vertical beam, and the manipulator can move with the movement of the main cross beam and the main vertical beam, and the manipulator can also rotate with the vertical center line of the main vertical beam as the axis; wherein the manipulator is used to grasp the cylinder body.

[0007] In a preferred embodiment, the truss robot device for automatic loading and unloading of the cylinder body also includes a rack and a slide rail; the rack is arranged on the main longitudinal beam, and the rack is used to drive the main crossbeam to move by cooperating with the gear; the slide rail is arranged on the main longitudinal beam, and the two ends of the main crossbeam cooperate with the slide rail and can move along the slide rail.

[0008] In a preferred embodiment, the truss manipulator device for automatic loading and unloading of the cylinder body also includes an X-direction drive motor, a Y-direction drive motor and a Z-direction drive motor; the X-direction drive motor is arranged at the main crossbeam, and the X-direction drive motor is used to drive the gear and the rack to cooperate and drive the main crossbeam to perform reciprocating movement in the X direction along the slide rail; the Y-direction drive motor is arranged at the main crossbeam, and the Y-direction drive motor is used to drive the main vertical beam to perform reciprocating movement in the Y direction along the main crossbeam through a motion mechanism; the Z-direction drive motor is arranged at the main crossbeam, and the Z-direction drive motor is used to drive the main vertical beam to perform reciprocating movement in the Z direction on the main crossbeam through a motion mechanism.

[0009] In a preferred embodiment, the truss robot device for automatic loading and unloading of the cylinder body also includes a slewing support mechanism and a Z-axis rotation motor; the robot is pivotally connected to the lower end of the main vertical beam through the slewing support mechanism; the Z-axis rotation motor is arranged at the slewing support mechanism, and the Z-axis rotation motor is used to drive the robot to perform Z-axis rotation motion through the slewing mechanism.

[0010] In a preferred embodiment, the truss manipulator device for automatic loading and unloading of the cylinder body also includes a Z-direction drive cylinder and a clamp cylinder; the Z-direction drive cylinder is arranged between the main crossbeam and the main vertical beam perpendicular to the main crossbeam and parallel to the main vertical beam, and the Z-direction drive cylinder is used to assist the main vertical beam in making Z-direction reciprocating movement on the main crossbeam to ensure stability and accurate direction; the clamp cylinder is arranged at the manipulator, and the clamp cylinder is used to drive the manipulator to grasp or release.

[0011] In a preferred embodiment, the truss manipulator device for automatic loading and unloading of the cylinder body also includes truss columns, transverse connecting beams, on-site steel structures and reinforced columns; the truss columns are arranged on one side of the raceway and are located on the outside of the processing equipment, and the truss columns are used to support one end of the main longitudinal beam; the transverse connecting beam is arranged between the top ends of adjacent truss columns; the on-site steel structure is arranged on the other side of the raceway and is located on the outside of the processing equipment, and the on-site steel structure includes steel columns and steel beams, the steel beams are arranged between the top ends of the steel columns, and the steel beams are used to support the other end of the main longitudinal beams; the reinforced columns are arranged between the steel beams and the foundation, and are located below the other end of the main longitudinal beam.

[0012] In a preferred embodiment, the truss manipulator device for automatic loading and unloading of the cylinder body further includes a truss leveling mechanism, which is arranged at both ends of the main longitudinal beam and is used for the horizontal leveling operation of the main longitudinal beam.

[0013] In a preferred embodiment, the truss robot device for automatic loading and unloading of cylinder bodies further includes a column connecting portion, which is arranged between the truss column and the factory building column.

[0014] In a preferred embodiment, the processing equipment is a multi-axis machining center arranged on both sides of the raceway, and the truss manipulator device also includes an equipment working mode limiting mechanism, which is arranged on the side of the main longitudinal beam away from the manipulator. The equipment working mode limiting mechanism can realize the restriction and control of the truss manipulator device. In a specific working mode, the equipment working mode limiting mechanism can ensure that the truss manipulator device moves within a specified range.

[0015] In a preferred embodiment, the truss manipulator device for automatic loading and unloading of the cylinder body also includes a touch screen operation box, which is arranged on the side of the main longitudinal beam away from the manipulator through the operation box mounting portion, and the touch screen operation box is used for the operation of the truss manipulator device.

[0016] Compared with the prior art, the truss manipulator device for automatic loading and unloading of the cylinder body of the present invention has the following beneficial effects: the stability and leveling optimization design of the truss structure of the present application and the design of the slide rail, rack and leveling mechanism ensure the stability and accuracy of the truss during movement and processing, providing a strong guarantee for efficient and precise processing; the multi-axis drive and rotation integration technology of the truss manipulator can realize the full range of flexible operation of the manipulator by integrating X, Y, and Z three-axis drive motors, Z-axis drive cylinders, Z-axis rotation motors and slewing supports, thereby improving processing efficiency and accuracy; this solution can transport workpieces, and through precise programming and control, it can achieve fast and stable loading and unloading operations, and is compatible with different processing requirements and workpiece specifications, greatly improving production efficiency; it is highly automated and can detect the status of each workstation in real time, and automatically perform corresponding operations according to signals, reducing errors caused by manual intervention; and the use of multi-axis drive and rotation integration technology can achieve high-precision positioning and operation, and has good stability, can avoid unnecessary collisions and damage, and protect the safety of equipment and workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the front structural view of a truss manipulator device according to an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a top view of a truss manipulator device according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the three-dimensional structure of a truss manipulator device according to an embodiment of the present invention;

[0020] Figure 4is a partial three-dimensional structural schematic diagram of a truss manipulator device according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of a three-dimensional structure of a main truss according to an embodiment of the present invention from a one-view perspective;

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the main truss from another perspective according to an embodiment of the present invention.

[0023] Description of main reference numerals:

[0024] 10-truss manipulator device, 101-X drive motor, 102-Y drive motor, 103-Z drive motor, 104-Z rotation motor, 105-slewing bearing mechanism, 106-Z drive cylinder, 107-clamp cylinder, 108-truss column, 109-on-site steel structure, 110-reinforced column, 111-main beam, 112-equipment working mode limit mechanism, 113- Horizontal connecting beam, 114-main longitudinal beam, 115-rack, 116-slide rail, 117-truss leveling mechanism, 118-main vertical beam, 119-manipulator, 20-factory column, 201-column connection part, 30-first processing center, 40-second processing center, 50-power distribution cabinet, 60-touch screen operation box, 601-operation box installation part, 70-roller, 80-fence, 90-cylinder body. DETAILED DESCRIPTION

[0025] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0026] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0027] like Figures 1 to 3As shown, according to a preferred embodiment of the present invention, a truss manipulator device 10 for automatic loading and unloading of cylinder bodies is provided at the cylinder body raceway 70, and is used to transfer the cylinder body 90 to be processed from the raceway 70 to the processing equipment, and then transfer the processed cylinder body 90 from the processing equipment back to the raceway 70. The truss manipulator device 10 includes a pair of main longitudinal beams 114, a main cross beam 111, a main vertical beam 118 and a manipulator 119; the pair of main longitudinal beams 114 are parallel to each other and are arranged perpendicularly to the running direction of the raceway 70; the main cross beam 111 and the pair of main longitudinal beams 114 are arranged perpendicularly to a pair of Between the main longitudinal beams 114, the main cross beam 111 can move on a pair of main longitudinal beams 114; the main vertical beam 118 is arranged on the main cross beam 111 perpendicularly to the main cross beam 111 and the ground, and the main vertical beam 118 can move on the main cross beam 111 along the main cross beam 111 and move up and down in a vertical direction perpendicular to the main cross beam 111; the manipulator 119 is arranged at the lower end of the main vertical beam 118, and the manipulator 119 can move with the movement of the main cross beam 111 and the main vertical beam 118, and the manipulator 119 can also rotate with the vertical center line of the main vertical beam 118 as the axis; wherein the manipulator 119 is used to grasp the cylinder body 90.

[0028] like Figures 4 to 6 As shown, in some embodiments, the truss robot device for automatic loading and unloading of the cylinder body also includes a rack 115 and a slide rail 116; the rack 115 is arranged on the main longitudinal beam 114, and the rack 115 is used to drive the main cross beam 111 to move by cooperating with the gear; the slide rail 116 is arranged on the main longitudinal beam 114, and both ends of the main cross beam 111 cooperate with the slide rail 116 and can move along the slide rail 116.

[0029] In some implementations, the combination of the gear rack 115 and the slide rail 116 used in this embodiment is merely illustrative, but other drive mechanisms capable of performing linear reciprocating motion are still applicable to this application.

[0030] See also Figure 4 In some embodiments, the truss manipulator device for automatic loading and unloading of the cylinder body also includes an X-axis drive motor 101, a Y-axis drive motor 102 and a Z-axis drive motor 103; the X-axis drive motor 101 is arranged at the main beam 111, and the X-axis drive motor 101 is used to drive the gear to cooperate with the rack 115 and drive the main beam 111 to reciprocate in the X direction along the slide rail 116; the Y-axis drive motor 102 is arranged at the main beam 111, and the Y-axis drive motor 102 is used to drive the main vertical beam 118 to reciprocate in the Y direction along the main beam 111 through a motion mechanism; the Z-axis drive motor 103 is arranged at the main beam 111, and the Z-axis drive motor 103 is used to drive the main vertical beam 118 to reciprocate in the Z direction on the main beam 111 through a motion mechanism.

[0031] In some implementations, this embodiment is driven by an electric motor, but the present application is not limited thereto, and other drive forms, such as but not limited to hydraulic motors, are also applicable to this solution.

[0032] In some embodiments, the truss robot device for automatic loading and unloading of the cylinder body also includes a slewing support mechanism 105 and a Z-axis rotation motor 104; the robot 119 is pivotally connected to the lower end of the main vertical beam 118 through the slewing support mechanism 105; the Z-axis rotation motor 104 is arranged at the slewing support mechanism 105, and the Z-axis rotation motor 104 is used to drive the robot 119 to perform Z-axis rotation motion through the slewing mechanism. This embodiment can complete 360-degree free rotation operations.

[0033] In some embodiments, the truss robot device for automatic loading and unloading of the cylinder body also includes a Z-direction drive cylinder 106 and a clamp cylinder 107; the Z-direction drive cylinder 106 is perpendicular to the main crossbeam 111 and parallel to the main vertical beam 118 and is arranged between the main crossbeam 111 and the main vertical beam 118, and the Z-direction drive cylinder 106 is used to assist the main vertical beam 118 in making a stable and accurate Z-direction reciprocating movement on the main crossbeam 111; the clamp cylinder 107 is arranged at the robot 119, and the clamp cylinder 107 is used to drive the robot 119 to grasp or release.

[0034] In some embodiments, the truss manipulator device for automatic loading and unloading of the cylinder body also includes a truss column 108, a transverse connecting beam 113, an on-site steel structure 109, and a reinforcing column 110; the truss column 108 is arranged on one side of the roller 70 and is located outside the processing equipment, and the truss column 108 is used to support one end of the main longitudinal beam 114; the transverse connecting beam 113 is arranged between the top ends of adjacent truss columns 108; the on-site steel structure 109 is arranged on the other side of the roller 70 and is located outside the processing equipment, and the on-site steel structure 109 includes steel columns and steel beams, and the steel beams are arranged between the top ends of the steel columns, and the steel beams are used to support the other end of the main longitudinal beam 114; the reinforcing column 110 is arranged between the steel beams and the foundation, and is located below the other end of a main longitudinal beam 114. The on-site steel structure 109 of this embodiment can adopt a steel structure built on site, or it can use other steel structure facilities on site.

[0035] In some embodiments, the truss robot device for automatic loading and unloading of the cylinder body further includes a truss leveling mechanism 117 , which is disposed at both ends of the main longitudinal beam 114 and is used for horizontal leveling operations of the main longitudinal beam 114 .

[0036] In some embodiments, the truss robot device for automatic loading and unloading of the cylinder body also includes a column connection part 201, which is arranged between the truss column 108 and the factory column 20. The column connection part 201 is mainly used to fix the truss column and the factory column 20 to enhance the stability of the overall truss.

[0037] In some embodiments, the processing equipment is a multi-axis processing center disposed on both sides of the raceway 70, and the truss manipulator device 10 further includes a device working mode limiting mechanism 112, which is disposed on a side of the main longitudinal beam 114 away from the manipulator 119. The device working mode limiting mechanism 112 can limit and control the truss manipulator device 10. In a specific working mode, the device working mode limiting mechanism 112 can ensure that the truss manipulator device 10 moves within a specified range. The device working mode limiting mechanism 112 can be disposed in multiple locations to be applicable to the operation of multiple processing equipment.

[0038] In some embodiments, the truss robot device for automatic loading and unloading of the cylinder body also includes a touch screen operation box 60, which is arranged on the side of the main longitudinal beam 114 away from the robot 119 through the operation box mounting part 601. The touch screen operation box 60 is used for the operation of the truss robot device 10.

[0039] See also Figures 1 to 6 In some embodiments, the multi-axis machining center of this embodiment adopts two symmetrically arranged on both sides of the cylinder raceway 70. The working principle and working method of the truss manipulator device for automatic loading and unloading of the cylinder body of the present invention are roughly as follows:

[0040] See also Figure 1 , Figure 2 As shown, the roller 70 automatically separates the materials and delivers them to the right place. The presence of parts in each workstation (loading position, unloading position, multi-axis machining center) is detected. After the processing completion signal of the first machining center 30 is sent, the truss manipulator 119 moves the workpiece that has been processed from the multi-axis machining center to the unloading position, and then grabs the new workpiece from the loading position and moves it to the machining tooling of the multi-axis machining center. After the detection is in place, the multi-axis machining center is notified to start processing. It moves to the top of the second machining center 40, waits for the processing completion signal of the second machining center 40, repeats the unloading and loading operations, and moves to the top of the first machining center 30 to wait for the next cycle operation call.

[0041] See also Figure 3 As shown, the specific structure of the truss manipulator 119 includes: an X-axis drive motor 101, a Y-axis drive motor 102, a Z-axis drive motor 103, a Z-axis drive cylinder 106, a slewing support, a Z-axis rotation motor, and a clamp cylinder 107.

[0042] See also Figure 1 As shown, the X-direction drive motor 101, the Y-direction drive motor 102 and the Z-direction drive motor 103 are responsible for controlling the movement of the manipulator 119 in the three directions of X, Y and Z, respectively, to ensure that the manipulator 119 can move freely in these three directions.

[0043] The Z-axis driving cylinder 106 controls the movement of the manipulator 119 in the Z-axis direction, and can realize the precise movement and positioning of the manipulator 119. The Z-axis rotary motor enables the manipulator 119 to realize the rotation in the Z-axis direction, which greatly enhances the operational flexibility of the manipulator 119. In addition, the slewing support design allows the manipulator 119 to operate at different angles, realizing complex tasks such as rotating the workpiece and adjusting the workpiece angle.

[0044] The clamp cylinder 107 controls the clamping force of the workpiece, and the manipulator 119 can stably grasp and place the object, ensuring a smooth operation.

[0045] See also Figure 4 As shown, the specific structure of the truss includes: a truss leveling mechanism 117, a slide rail 116, a rack 115, and a single device working mode limiting mechanism 112.

[0046] The slide rail 116 serves as the basic structure of the truss, bearing the weight of the entire system and ensuring the stability and accuracy of the system. The free movement of the slider on the slide rail 116 provides a flexible and reliable movement foundation for the truss.

[0047] The truss leveling mechanism 117 realizes the horizontal leveling of the truss, ensuring that the truss can maintain a stable working state in different working environments and avoiding errors caused by tilting or shaking. The movement trajectory of the rack 115 matches the leveling direction of the truss, ensuring the stability and accuracy of the truss during movement.

[0048] The equipment working mode limiting mechanism 112 realizes the restriction and control of the movement of the truss. In a specific working mode, the mechanism can ensure that the truss moves within a specified range, avoiding unnecessary collision and damage, thereby protecting the safety of the truss and the surrounding equipment.

[0049] In summary, the truss manipulator device for automatic loading and unloading of the cylinder body of the present invention has the following advantages: the stability and leveling optimization design of the truss structure of the present application, as well as the design of the slide rail, rack and leveling mechanism, ensure the stability and accuracy of the truss during movement and processing, and provide a strong guarantee for efficient and precise processing; the multi-axis drive and rotation integration technology of the truss manipulator can realize the all-round flexible operation of the manipulator by integrating the X, Y, and Z three-axis drive motors, the Z-axis drive cylinder, the Z-axis rotation motor and the slewing support, thereby improving the processing efficiency and accuracy; this scheme can transport workpieces, and through precise programming and control, it can realize fast and stable loading and unloading operations, and is compatible with different processing requirements and workpiece specifications, greatly improving production efficiency; it is highly automated, can detect the status of each workstation in real time, and automatically perform corresponding operations according to the signal, reducing errors caused by manual intervention; and the use of multi-axis drive and rotation integration technology can achieve high-precision positioning and operation, and has good stability, can avoid unnecessary collisions and damage, and protect the safety of equipment and workpieces.

[0050] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A truss manipulator device for automatic loading and unloading of cylinder bodies, which is arranged at the cylinder body raceway and used to transfer the cylinder body to be processed from the raceway to the processing equipment, and then transfer the processed cylinder body from the processing equipment back to the raceway, characterized in that: The truss manipulator device comprises: a pair of main longitudinal beams, which are parallel to each other and arranged perpendicular to the running direction of the raceway; a main cross beam, which is arranged between the pair of main longitudinal beams and is perpendicular to the pair of main longitudinal beams, and the main cross beam is movable on the pair of main longitudinal beams; a main vertical beam, which is arranged on the main cross beam perpendicularly to the main cross beam and the ground, and the main vertical beam can move on the main cross beam along the main cross beam and move up and down in a vertical direction perpendicular to the main cross beam; and A manipulator, which is arranged at the lower end of the main vertical beam, and the manipulator can move with the movement of the main cross beam and the main vertical beam, and the manipulator can also rotate with the vertical center line of the main vertical beam as the axis; The manipulator is used to grasp the cylinder body.

2. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 1 is characterized in that: Also includes: A rack, which is arranged on the main longitudinal beam, and is used to drive the main cross beam to move by cooperating with a gear; as well as A slide rail is arranged on the main longitudinal beam, and two ends of the main cross beam cooperate with the slide rail and can move along the slide rail.

3. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 2 is characterized in that: Also includes: An X-direction driving motor is arranged at the main crossbeam, and is used to drive the gear to cooperate with the rack and drive the main crossbeam to reciprocate in the X direction along the slide rail; A Y-direction drive motor, which is arranged at the main crossbeam, and is used to drive the main vertical beam to make a Y-direction reciprocating movement along the main crossbeam through a motion mechanism; as well as A Z-direction drive motor is arranged on the main crossbeam, and is used for driving the main vertical beam to make Z-direction reciprocating movements on the main crossbeam through a motion mechanism.

4. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 2 is characterized in that: Also includes: A slewing support mechanism, through which the manipulator is pivotally connected to the lower end of the main vertical beam; as well as The Z-axis rotary motor is arranged at the slewing support mechanism, and is used to drive the manipulator to perform Z-axis rotary motion through the slewing mechanism.

5. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 2 is characterized in that: Also includes: A Z-direction driving cylinder, which is perpendicular to the main cross beam and parallel to the main vertical beam and is arranged between the main cross beam and the main vertical beam, and the Z-direction driving cylinder is used to assist the main vertical beam in making a stable and accurate Z-direction reciprocating movement on the main cross beam; as well as A clamp cylinder is arranged at the manipulator, and the clamp cylinder is used to drive the manipulator to tighten or loosen.

6. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 2 is characterized in that: Also includes: A truss column, which is arranged on one side of the raceway and located outside the processing equipment, and the truss column is used to support one end of the main longitudinal beam; A transverse connecting beam disposed between the top ends of the adjacent truss columns; An on-site steel structure is arranged on the other side of the raceway and outside the processing equipment, the on-site steel structure comprises steel columns and steel beams, the steel beams are arranged between the top ends of the steel columns, and the steel beams are used to support the other end of the main longitudinal beam; as well as A reinforcing column is arranged between the steel structure cross beam and the foundation and is located below the other end of the main longitudinal beam.

7. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 6 is characterized in that: It also includes a truss leveling mechanism, which is arranged at both ends of the main longitudinal beam and is used for the horizontal leveling operation of the main longitudinal beam.

8. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 6 is characterized in that: It also includes a column connecting portion, which is arranged between the truss column and the factory building column.

9. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 1, characterized in that: The processing equipment is a multi-axis machining center arranged on both sides of the raceway. The truss manipulator device also includes an equipment working mode limiting mechanism, which is arranged on the side of the main longitudinal beam away from the manipulator. The equipment working mode limiting mechanism can realize the restriction and control of the truss manipulator device. In a specific working mode, the equipment working mode limiting mechanism can ensure that the truss manipulator device moves within a specified range.

10. The truss manipulator device for automatic loading and unloading of cylinder bodies as claimed in claim 9, characterized in that: It also includes a touch screen operation box, which is arranged on a side of the main longitudinal beam away from the manipulator through an operation box installation portion, and the touch screen operation box is used for operating the truss manipulator device.

Images