Grabbing device for truss robot and operation method of grabbing device

Abstract

The invention relates to the technical field of truss robots, in particular to a grabbing device for a truss robot and an operation method of the grabbing device, and solves the defects in the prior art. The grabbing device comprises a truss assembly, a displacement mechanism, an adjusting mechanism and a grabbing mechanism; the cross beam is installed between the tops of the two supporting columns, the displacement mechanism is movably arranged in the length direction of the cross beam, lifting strips which move and are adjusted in the vertical direction are arranged on the two sides of the displacement mechanism so that the grabbing height position and the grabbing horizontal position can be adjusted, and the adjusting mechanism is installed between the bottom ends of the lifting strips on the two sides. And the two sides of the bottom of the adjusting mechanism are each provided with a connecting shaft which moves relatively, so that the grabbing range is adjusted, and compared with the prior art, the grabbing device can conduct self-adaptive grabbing adjustment on cargos packaged with different hardness, and the accident that the cargos slip can be effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of truss robots, and in particular to a grasping device for a truss robot and an operating method thereof. Background Art

[0002] A gantry robot, also known as a rectangular coordinate robot or gantry robot, is an automated device that can perform precise point or trajectory motion on three rectangular coordinate systems: X, Y, and Z. The gantry robot mainly completes various operations through linear motion along the X, Y, and Z axes. These motions are precisely controlled by the control system to ensure that the robot can move and operate according to the predetermined trajectory and speed.

[0003] The Chinese patent with announcement number CN216913872U discloses a truss robot grasping device, which mainly moves the metal trough downward by extending the double-acting cylinder after the gripper grasps the workpiece, so that the support plate is located below the workpiece, and the power supply is disconnected by the first electromagnetic block and the second electromagnetic block, so that the magnetism between the second electromagnetic block and the first electromagnetic block disappears, so that the elastic force of the spring is used to push the slider to reset, so that the support plate extends to the bottom of the workpiece, and moves the double-acting cylinder upward to a suitable stroke, so that the support plate abuts against the workpiece and holds the workpiece, thereby preventing the workpiece from falling. However, in this technical solution, there are still the following deficiencies:

[0004] That is, the grippers used in this patent and most of the grippers of existing products are all performed in a fixed posture. If the goods to be grasped are hard materials such as plates and boxes, most of them will directly adopt a straight plate gripper similar to that used in CN216913872U for clamping grabbing. If the goods to be grasped are soft materials such as cement bags or other curved surfaces, most of them will choose a curved arm gripper for wrapping grabbing. The grasping device currently used for truss robots on the market cannot realize the grasping work of the above two different soft and hard goods on the same device. The corresponding grasping work can only be completed by choosing to replace the grasping device according to the different goods. Moreover, different grasping devices still need to replace different pallets to support the goods according to the specific situation to prevent them from falling when grasping goods.

[0005] Therefore, we propose a grasping device for a truss robot and an operating method thereof to solve the above-mentioned problems. Summary of the invention

[0006] The object of the present invention is to provide a grasping device for a truss robot and an operating method thereof to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A grasping device for a truss robot comprises a truss assembly, a displacement mechanism, an adjustment mechanism and a grasping mechanism, wherein the truss assembly comprises two pillars and a crossbeam, wherein the crossbeam is installed between the tops of the two pillars;

[0009] The displacement mechanism is arranged to move along the length direction of the crossbeam, and lifting bars that can be adjusted to move along the vertical direction are arranged on both sides of the displacement mechanism to adjust the height position and horizontal position of the grab;

[0010] The adjustment mechanism is installed between the bottom ends of the lifting strips on both sides, and connecting shafts for relative movement are arranged on both sides of the bottom of the adjustment mechanism to adjust the grabbing range;

[0011] The grasping mechanism includes a fixed frame, a swing arm, a driving component 1, a driving component 2 and a positioning component. The fixed frame is installed on the bottom end of the connecting shaft, the positioning component is installed in the middle below the fixed frame, and support arms for supporting the bottom of the object are arranged at both ends of the positioning component. One end of the swing arm is rotatably arranged between the inner walls of the fixed frame, and the other end of the swing arm is connected to one end of the driving component 1, and the other end of the driving component 1 is connected to the positioning component. The driving component 2 is arranged on the side wall of the fixed frame facing the positioning component, and one end of the driving component can be slidably adjusted in the vertical direction, and the other end is also connected to one side wall of the positioning component. In combination with the driving component 1 and the driving component 2, the positioning component can complete the wrapping grasping process of different objects.

[0012] In one embodiment, the displacement mechanism further includes a moving seat, an axial gear and a longitudinal gear;

[0013] The moving seat is arranged in a "U"-shaped structure, and "U"-shaped side seats are installed on both vertical side walls of the moving seat, the lifting strip is arranged between the inner wall of the side seat and the outer wall of the moving seat, and the lifting strip is provided with a tooth groove 2 on the side wall facing the side seat, and a rotating motor 1 is installed on both sides of the top surface of the moving seat, and a longitudinal gear is installed on the end of the output shaft of the rotating motor 1, and the longitudinal gear is meshed with the tooth groove 2;

[0014] The axial gear is installed on the inner side wall of the moving seat facing the cross beam, and a second rotating motor connected to the axial gear is installed on the moving seat on one side of the axial gear. Both side walls of the cross beam are provided with convex strips arranged along the length direction thereof, and a tooth groove is provided on the convex strip, and the axial gear is meshed with the tooth groove;

[0015] Two limiting strips arranged opposite to each other are installed on one side of the vertical side wall of the lifting strip, and contact sensors 1 are embedded on the surfaces of the two limiting strips facing the side seats.

[0016] In one embodiment, the adjustment mechanism includes a connecting plate, an adjustment frame and an adjustment gear;

[0017] The connecting plate is fixedly connected to the bottom ends of the lifting strips on both sides, and guide grooves are provided on the side walls of both sides of the connecting plate along the length direction thereof. The adjusting frame is arranged in an "L"-shaped structure, and guide strips are provided on the side walls of the adjusting frame facing the connecting plate, and the guide strips always slide between the inner walls of the guide grooves. Tooth grooves three are provided along the length direction thereof on the opposite side walls of the adjusting frames on both sides, and the adjusting gear is rotatably arranged in the middle of the bottom wall of the connecting plate and is respectively meshed with the tooth grooves three on both sides for transmission. A rotating motor three is installed in the middle of the top surface of the connecting plate, and the adjusting gear is installed on the end of the output shaft of the rotating motor three.

[0018] In one embodiment, the fixing frame is arranged in a "U"-shaped structure, and a through hole 1 and a through hole 2 are respectively opened on the fixing frame along its vertical direction, two through holes 2 are arranged and symmetrically distributed on both sides of the through hole 1, a sub-controller is arranged at a position near the bottom end of the side wall of the fixing frame, and a positioning piece with an arc structure is installed on the side wall of the fixing frame between the through hole 1 and the through hole 2, and a contact sensor 2 is embedded on the arc surface of the positioning piece, and the contact sensor 2 is connected to the sub-controller through an electrical signal;

[0019] A rotating motor 4 is installed on the side wall of the fixed frame, one end of the swing arm is synchronously connected with the output shaft end of the rotating motor 4, and a through hole 3 is opened on the swing arm along its length direction.

[0020] In one embodiment, the positioning assembly further includes a fixed arm, an adjustment arm 1, an adjustment arm 2 and a pressure plate;

[0021] The fixed arm is installed in the middle of the bottom wall of the fixed frame, and the adjusting arm 1 is rotatably arranged at both ends of the fixed arm through an axis connection, one end of the adjusting arm 2 is also connected to the other end of the adjusting arm 1 through an axis connection, and a rotating seat is rotatably arranged on the other end of the adjusting arm 2, one end of the supporting arm is arranged on the rotating seat, and a connecting seat 2 is also installed on one side wall of the adjusting arm 2, and the adjusting arm 1 and the adjusting arm 2 located on the same side always move symmetrically about the horizontal plane where the axis connection center is located;

[0022] The pressure plate has a "U"-shaped structure and is located below the fixed arm. A lifting motor is installed in the fixed frame, and the output shaft end of the lifting motor is connected and fixed to the pressure plate. In addition, a contact sensor three is embedded on the lower surface of the pressure plate, and the contact sensor three is also connected to the sub-controller through an electrical signal.

[0023] In one embodiment, the driving assembly 1 includes a sliding seat 1, a connecting seat 1, a moving shaft, a limiting shaft 1 and a limiting shaft 2;

[0024] The cross section of through hole one is set in a "cross" shape, and slide seat one slides between the inner walls of through hole one. One end of limit shaft one is fixed in the middle of the top surface of slide seat one, and the other end thereof passes through and slides between the inner walls of the fixed frame. The movable shaft passes through slide seat one and is in sliding contact with it, and the movable shaft is always in a horizontal direction. A connecting seat one with a "U"-shaped structure is installed on the end of the movable shaft close to the positioning component. One end of the adjusting arm one connected to the adjusting arm two is rotatably set between the inner walls of the connecting seat one by a coaxial connection. The limit shaft two passes through the other end of the movable shaft and is fixed thereto as a whole, and the two ends of the limit shaft two are respectively slidably set between the inner walls of through hole three of the swing arms on both sides.

[0025] In one embodiment, the second driving assembly includes a second slide seat, a connecting frame, a connecting block and a screw rod;

[0026] A vertical slot is also provided on the vertical side wall of the fixing frame, a screw is arranged between the inner walls of the vertical slot for rotation in the vertical direction, and a rotating motor 5 is connected to the top of the screw, the rotating motor 5 is installed between the inner walls of the fixing frame, the slide seat 2 slides between the inner walls of the vertical slot, the screw passes through the slide seat 2 and cooperates with it by thread transmission, the connecting frame is a "U"-shaped structure and is installed between the two slide seats 2 located on the same side;

[0027] Two electric push rods are installed on the side wall of the connecting frame facing the positioning component, and the connecting block is installed on the end of the output shaft of the electric push rod. The two connecting blocks arranged on the same connecting frame are respectively located on both sides of the connecting seat two close thereto, and a synchronous shaft three is installed between the two connecting blocks on the same side, and the synchronous shaft three passes through the connecting seat two and is rotatably arranged therewith.

[0028] In one embodiment, an adjustment component is further provided between the adjustment arm 2 and the support arm, and the adjustment component includes an output component 1, an output component 2, a bevel gear 1, a bevel gear 2, a synchronous shaft sleeve and a synchronous gear;

[0029] A cavity is opened in the end of the second adjusting arm close to the rotating seat, and a bearing seat is installed on the inner wall of one side of the cavity. The output component 1 includes a worm 1 and a worm wheel 1 of meshing transmission, and the output component 2 includes a worm 2 and a worm wheel 2 of meshing transmission. The worm 1 and the worm 2 are both rotatably arranged between the inner walls of the cavity, and a rotating shaft 1 is connected between the worm wheel 1 and the bevel gear 1. A limiting ring 1 is arranged on the outer surface of the rotating shaft 1. A rotating shaft 2 is connected to the end of the rotating seat facing the second adjusting arm, and a limiting ring 2 is arranged on the outer surface of the rotating shaft 2. The rotating shaft 2 penetrates the bearing seat and is in rotational contact with it. The limiting ring 2 is rotatably arranged between the inner walls of the bearing seat, and the other end of the rotating shaft 2 is connected to the worm wheel 2 as a whole. The rotating shaft 1 penetrates and is rotatably arranged between the inner walls of the rotating shaft 2, and the limiting ring 2 is rotatably arranged between the inner walls of the rotating shaft 1;

[0030] The rotating seat is arranged in a "U"-shaped structure, and a synchronous shaft 1 and a synchronous shaft 2 are rotatably arranged between the inner walls thereof, the synchronous shaft 1 and the synchronous shaft 2 are both installed with the synchronous gears, the two synchronous gears are meshed for transmission, and the synchronous shaft 1 is also installed with the bevel gear 2 which rotates synchronously therewith, the bevel gear 1 and the bevel gear 2 are meshed for transmission, and the synchronous shaft sleeve which rotates synchronously therewith is installed at the middle position of the synchronous shaft 2, and one end of the support arm is fixed to the synchronous shaft sleeve as a whole through an axis connection.

[0031] In one embodiment, when the end wall of the connecting seat 1 connected to the moving shaft contacts the vertical side wall of the fixing frame, at this time, the angle between the adjusting arm 1 and the adjusting arm 2 is the smallest, and the sliding seat 1 is located at the highest position in its vertical movement direction, and at this time, the two supporting arms on the same side are in a horizontally opposite state;

[0032] When the limit shaft 2 moves to contact the arc surface of the positioning member, at this time, the adjusting arm 1 and the adjusting arm 2 are in the same vertical direction, and the slide seat 1 is located at the lowest position in its vertical movement direction, and the support arm is horizontally perpendicular to the vertical plane where the central axis of the connecting plate along its length is located.

[0033] A method for operating a gripping device for a truss robot comprises the following steps:

[0034] S1. First, adjust the gripping state of the positioning component according to the hardness or softness of the packaging of the grabbed goods. By controlling the swing arm to rotate, the drive component 1 and the drive component 2 cooperate to control the angle change between the adjustment arm 1 and the adjustment arm 2, so that the positioning component can present two different gripping states. When the adjustment arm 1 and the adjustment arm 2 are both in a vertical state and the angle between them is 180 degrees, the gripping mechanisms on both sides can grip the hard-packaged goods in a clamping manner. When the angle between the adjustment arm 1 and the adjustment arm 2 is less than 180 degrees, the gripping mechanisms on both sides can grip the soft-packaged goods in a covering manner.

[0035] S2. After the gripping state of the positioning component is adjusted, the gripping range is adjusted by the adjusting mechanism according to the length of the gripped goods, and the state is kept unchanged after the adjustment;

[0036] S3. Then, the running route distance is set by the displacement mechanism, and the picking position and the lowering position are respectively set at the two ends of the running route. At the picking position, the goods are grabbed by the lowering grabbing mechanism. After grabbing, the state of the support arm is adjusted immediately so that the support arm can always be horizontally supported at the bottom of the grabbed goods. Then the pressure plate is controlled to assist in pressing on the goods, and then the goods are moved to the lowering position following the displacement mechanism. When in the lowering position, the goods are lowered to the designated position by the lowering grabbing mechanism. The picking and lowering process of the goods on the truss assembly is repeated in this way.

[0037] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0038] 1. By arranging structures such as a driving component 1, a driving component 2, a positioning component and an adjusting component on a fixed frame, and utilizing the synchronous movement of the driving component 1 and the driving component 2, the end portion of the adjusting arm 1 connected to the adjusting arm 2 can be synchronously moved with the movement of the connecting seat 1 on the driving component 1, and the angle of the adjusting arm 2 can always be kept symmetrical with the adjusting arm 1 during the movement under the drive of the driving component 2, so that different grasping states can be adjusted by changing the angle between the adjusting arm 1 and the adjusting arm 2. When the angle between the adjusting arm 1 and the adjusting arm 2 is less than 180 degrees, the soft-packaged goods can be grasped and transported, and when the angle between the adjusting arm and the adjusting arm 2 is 180 degrees, the hard-packaged goods can be grasped and transported.

[0039] 2. By respectively arranging a rotating seat, an adjusting assembly, a supporting arm and other structures at the two ends of the positioning assembly, and utilizing the output control of worm gear 1 and worm gear 2 on the adjusting assembly, it is possible to adaptively adjust the state of the rotating seat and the state of the supporting arm respectively to meet the support requirements required under different grasping states, thereby providing a good supporting effect for the bottom of the goods after they are grasped, and avoiding the phenomenon of goods slipping during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0041] In the attached picture:

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 It is a structural schematic diagram of the displacement mechanism of the present invention;

[0044] Figure 3 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the grabbing mechanism of the present invention;

[0046] Figure 5 yes Figure 4 Schematic diagram of the main structure;

[0047] Figure 6 It is a structural schematic diagram of a driving component 1 of the present invention;

[0048] Figure 7 It is a structural schematic diagram of the driving component 2 of the present invention;

[0049] Figure 8 It is a schematic diagram of the structure of the regulating assembly of the present invention;

[0050] Fig. 9 It is a cross-sectional schematic diagram of the installation position of the adjustment component of the present invention in the adjustment arm 2 and the rotating seat.

[0051] In the figure: 1, truss assembly; 11, pillar; 12, crossbeam; 121, convex strip; 122, guide rod; 2, displacement mechanism; 21, moving seat; 211, side seat; 22, axial gear; 23, longitudinal gear; 24, lifting strip; 241, limit strip; 3, adjustment mechanism; 31, connecting plate; 32, adjustment frame; 321, connecting shaft; 33, adjustment gear; 4, grabbing mechanism; 41, fixing frame; 411, positioning member; 412, sub-controller; 42, swing arm; 43, driving assembly 1; 431, sliding seat 1; 432, connecting seat 1; 433, moving shaft; 434, limit shaft 1; 435, limit shaft 2; 4 4. Driving assembly 2; 441. Slide 2; 442. Connecting frame; 443. Electric push rod; 444. Connecting block; 445. Screw; 45. Positioning assembly; 451. Fixed arm; 452. Adjusting arm 1; 453. Adjusting arm 2; 454. Support arm; 455. Rotating seat; 456. Connecting seat 2; 46. Press plate; 47. Adjusting assembly; 471. Output assembly 1; 4711. Rotating shaft 1; 472. Output assembly 2; 4721. Rotating shaft 2; 473. Bevel gear 1; 474. Bevel gear 2; 475. Synchronous shaft 1; 476. Synchronous shaft 2; 477. Synchronous sleeve; 478. Synchronous gear. DETAILED DESCRIPTION

[0052] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0053] like Figure 1 As shown, the present invention provides a technical solution: a grasping device for a truss robot, comprising a truss assembly 1, a displacement mechanism 2, an adjustment mechanism 3 and a grasping mechanism 4, a control console (not shown in the figure) is arranged on one side of the truss assembly 1, the control console is provided with a PLC controller, the displacement mechanism 2 is slidably arranged along the length direction of the truss assembly 1, the displacement mechanism 2 can realize bidirectional movement adjustment in the horizontal direction and the vertical direction, the adjustment mechanism 3 is installed at the bottom of the displacement mechanism 2, and grasping mechanisms 4 are arranged on both sides of the bottom of the adjustment mechanism 3, and the distance between the grasping mechanisms 4 on both sides can be controlled and adjusted through the adjustment mechanism 3.

[0054] The truss assembly 1 includes a support 11 and a crossbeam 12. Two support columns 11 are provided. The crossbeam 12 is installed between the top ends of the support columns 11 on both sides by bolts. Raised strips 121 are installed on the side walls of the crossbeam 12 by screws. The raised strips 121 are arranged along the length direction of the crossbeam 12, and tooth grooves are evenly opened on the raised strips 121. Axle seats are installed on both sides of the top surface of the crossbeam 12 by screws, and a guide rod 122 is installed between the axle seats on both sides by clamping.

[0055] like Figure 2 As shown, the displacement mechanism 2 includes a moving seat 21, an axial gear 22, a longitudinal gear 23 and a lifting bar 24;

[0056] The moving seat 21 is arranged in a "U"-shaped structure, and side seats 211 connected and fixed to the moving seat 21 are installed on the vertical side walls on both sides of the moving seat 21. The side seat 211 is also arranged in a "U"-shaped structure. A raised portion with a strip structure is arranged in the middle of the top surface of the moving seat 21. The guide rod 122 passes through the raised portion and slides in contact with it. Rotating motor 1 is installed on both sides of the top surface of the moving seat 21 by bolts, and rotating motor 2 is also installed on the vertical side walls on both sides of the moving seat 21 by bolts.

[0057] There are two axial gears 22 and two longitudinal gears 23. The axial gear 22 is installed on the end of the output shaft of the rotating motor 2, and the axial gear 22 is located on the inner wall of the movable seat 21. The axial gear 22 is meshed with the tooth groove 1 of the convex strip 121 on the same side as the axial gear 22, and the longitudinal gear 23 is installed on the end of the output shaft of the rotating motor 1.

[0058] Two lifting bars 24 are provided, and the two lifting bars 24 slide in the vertical direction between the inner wall of the side seat 211 and the outer wall of the moving seat 21 on the same side thereof, and a vertical groove is provided on the side wall of the lifting bar 24 facing the moving seat 21, and tooth grooves 2 are evenly provided on the vertical side wall on one side of the vertical groove, and the longitudinal gear 23 is meshed with the tooth grooves 2 for transmission, and two limit bars 241 are installed on the vertical side wall of the lifting bar 24 facing away from the moving seat 21 by screws, and the two limit bars 241 are embedded with contact sensors 1 (not shown in the figure) on the opposite surfaces thereof, and the contact sensor 1 is connected to the PLC controller on the control console through electrical signals.

[0059] It should be further explained that by starting the rotating motor 2, the axial gear 22 is driven to rotate, so that the axial gear 22 rolls to one side along the convex strip 121, and synchronously drives the entire displacement mechanism 2 to move and adjust along the length direction of the beam 12. After moving to a certain position, the rotating motor 2 is stopped, and the rotating motor 1 is started to drive the longitudinal gear 23 to rotate, so that the longitudinal gear 23 rotates in the vertical plane, and controls the movement and adjustment of the lifting bar 24 in the vertical direction. It can stop after moving to the required height position. When the lifting bar 24 is in motion, the limit bar 241 contacts the side seat 211 to trigger the contact sensor 1. At this time, the lifting bar 24 moves to the extreme position in this direction, and then the lifting bar 24 starts to move in the opposite direction under control.

[0060] like Figure 3 As shown, the adjustment mechanism 3 includes a connecting plate 31, an adjustment frame 32 and an adjustment gear 33;

[0061] The connecting plate 31 is fixed between the bottom ends of the lifting strips 24 on both sides by bolts, and a rotating motor 3 is installed in the middle of the top surface of the connecting plate 31 by bolts, and an adjusting gear 33 is rotatably arranged in the middle of the bottom surface of the connecting plate 31, and the adjusting gear 33 is installed on the output shaft end of the rotating motor 3, and guide grooves are provided on the side walls of both sides of the connecting plate 31. The adjusting frame 32 has an "L"-shaped structure, and a guide bar connected as an integral whole is fixed on its side wall. The guide bar is arranged in a dovetail structure, and the guide bar slides between the inner walls of the guide groove, and the adjusting gear 33 is meshed and arranged between the side walls of the adjusting frames 32 on both sides, that is, three tooth grooves matching the adjusting gear 33 are evenly provided on one side side wall of the adjusting frame 32 along its length direction, and a connecting shaft 321 is installed on the bottom end of the adjusting frame 32 by threaded connection, and a grabbing mechanism 4 is fixedly connected below the connecting shaft 321.

[0062] It should be further explained that by starting the rotating motor 3, it controls the adjusting gear 33 to rotate, thereby making the adjusting frames 32 on both sides move relative to or away from each other, and make linear motion along the length direction of the connecting plate 31, thereby synchronously driving the grabbing mechanisms 4 on both sides below to adjust the spacing.

[0063] like Figure 4-9 As shown, the grabbing mechanism 4 includes a fixing frame 41, a swing arm 42, a driving assembly 1 43, a driving assembly 2 44, a positioning assembly 45, a pressing plate 46 and an adjusting assembly 47;

[0064] The fixing frame 41 is arranged in a "U"-shaped structure, and a through hole 1 is opened on the fixing frame 41. The cross section of the through hole 1 is a "cross" shape. Through holes 2 are opened on both sides of the through hole 1. Both through holes 1 and 2 are arranged along the vertical direction of the fixing frame 41, and an arc-shaped positioning member 411 is installed on the side wall of the fixing frame 41 by screws. A contact sensor 2 (not shown in the figure) is embedded on the arc surface of the positioning member 411. The contact sensor 2 is connected to the sub-controller 412 through an electrical signal. The positioning member 411 is arranged between the through hole 1 and the through hole 2, and a sub-controller 412 is also embedded near the bottom of the fixing frame 41. The sub-controller 412 is used to control the electrical components on the entire grasping mechanism 4, and the sub-controller 412 is connected to the PLC controller on the control console through electrical signals.

[0065] A swing arm 42 is rotatably arranged between the inner walls of the through hole 2, and a rotating motor 4 is installed on the side wall of the fixing frame 41 by bolts. The output shaft end of the rotating motor 4 passes through one end of the swing arm 42 and is fixed synchronously therewith. A through hole 3 is opened on the swing arm 42 along its length direction.

[0066] The driving assembly 1 43 includes a sliding seat 1 431 , a connecting seat 1 432 , a moving shaft 433 , a limiting shaft 1 434 and a limiting shaft 2 435 ;

[0067] The slide 431 is arranged in a "cross" shape, and the slide 431 slides and adjusts along the inner wall of the through hole 1. A vertically arranged limit shaft 434 is fixed by screws in the middle of the top surface of the slide 431. The limit shaft 434 passes through and slides between the inner walls of the fixed frame 41. The movable shaft 433 passes through the slide 431 and is in sliding contact with it. The connecting seat 432 is in a "U" shape and is fixed on one end of the movable shaft 433 by screws. A limit shaft 2 435 fixed thereto as a whole passes through the other end of the movable shaft 433. The two ends of the limit shaft 2 435 are respectively slidably adjusted along the inner walls of the through hole 3 of the swing arms 42 on both sides. When the limit shaft 2 435 moves to contact the arc surface of the positioning member 411, the downward rotation angle of the swing arm 42 reaches a maximum value.

[0068] It should be further explained that the rotating motor 4 is started by the sub-controller 412, so that its output shaft drives the top end of the swing arm 42 to rotate, so that the other end thereof synchronously drives the limit shaft 2 435 to slide and adjust between the inner walls of the through hole 3. At the same time, due to the structural limitation of the positioning component 45, during the rotation of the swing arm 42, it is equivalent to the limit shaft 2 435 making a circular motion around the rotation center of the swing arm 42, so that during this movement, the slide 1 431 synchronously makes a vertical linear motion along the inner wall of the through hole 1, and then cooperates with the driving component 2 44 to complete the synchronous adjustment of the positioning component 45, and And during the rotation of the swing arm 42, as the height position and horizontal position of the limit shaft 2 435 continue to change, the slide 1 431 moves downward and the moving shaft 433 also moves and adjusts inside the slide 1 431 toward the side where the positioning component 45 is located. When the limit shaft 2 435 moves to the position in contact with the positioning member 411, the contact sensor 2 is triggered and the swing arm 42 can no longer continue to rotate and adjust to that side. During this whole process, when the swing arm 42 moves to the state position required for adjustment, the sub-controller 412 stops the rotating motor 4, so that the swing arm 42 stops at this state position.

[0069] The positioning assembly 45 includes a fixed arm 451, an adjusting arm 1 452, an adjusting arm 2 453, a supporting arm 454 and a pressing plate 46;

[0070] The fixed arm 451 is installed in the middle of the bottom wall of the fixed frame 41 by screws, and a pressure plate 46 that moves in the vertical direction is arranged below the fixed arm 451 through a lifting motor. The pressure plate 46 is arranged in a "U" shape, and a contact sensor three (not shown in the figure) is embedded on the lower surface of the pressure plate 46. The contact sensor three is connected to the sub-controller 412 through an electrical signal, and the lifting motor is built between the inner walls of the fixed frame 41 (not shown in the figure).

[0071] There are two adjusting arms 1 452 and 2 453, and the adjusting arms 1 452 and 2 453 always move symmetrically. One end of the adjusting arm 1 452 is rotatably connected to the end of the fixed arm 451 by an axial connection, and the other end of the adjusting arm 1 452 and one end of the adjusting arm 2 453 are rotatably set between the inner walls of the connecting seat 1 432 by a coaxial connection. A rotating seat 455 is rotatably set on the other end of the adjusting arm 2 453, and a support arm 454 capable of adjusting the direction and position is set on one side of the rotating seat 455. An inclination sensor (not shown in the figure) is installed between the inner walls of the support arm 454. The inclination sensor is connected to the sub-controller 412 by an electrical signal. The inclination sensor is used to detect the horizontal state of the support arm 454, and the adjustment drive is immediately stopped when the support arm 454 is adjusted to a horizontal state. A connecting seat 2 456 is also installed on one side wall of the adjusting arm 2 453 by screws.

[0072] It should be further explained that the end at which the adjusting arm 1 452 and the adjusting arm 2 453 are connected synchronizes with the movement of the connecting seat 1 432. When the sliding seat 1 431 drives the moving shaft 433 and the connecting seat 1 432 to move, the end at which the adjusting arm 1 452 and the adjusting arm 2 453 are connected also changes the height position and the horizontal position synchronously. State 1: When the end wall on the connecting seat 1 432 connected to the moving shaft 433 is in contact with the vertical side wall of the fixing frame 41, the sliding seat 1 431 is at the highest position on its movement path, and the angle between the adjusting arm 1 452 and the adjusting arm 2 453 is the smallest, and the angle between the central axis of the swing arm 42 and the vertical direction is 78 degrees. State 2: When the limiting shaft 435 moves to the position in contact with the arc surface of the positioning member 411, the slide seat 431 is at the lowest position on its movement path, and the adjusting arm 452 and the adjusting arm 453 are in the same vertical direction (that is, the angle between the two is 180 degrees), and the angle between the central axis of the swing arm 42 and the vertical direction is 8 degrees; wherein, when in state 2, the support arms 454 on both sides of the grasping mechanism 4 need to be adjusted to a relative state position, that is, the support arms 454 are perpendicular to the connecting plate 31 in the direction of the central axis of its length, and in the process of changing from state 1 to state 2, the support arms 454 on the same side are always in a relative state position.

[0073] The second driving assembly 44 includes a second slide 441, a connecting frame 442, an electric push rod 443, a connecting block 444 and a screw 445;

[0074] A vertical groove is also provided on the vertical side wall of the fixed frame 41, in which a screw rod 445 is rotatably arranged, and a rotating motor five (not shown in the figure) is connected to the top end of the screw rod 445. The rotating motor five is installed between the inner walls of the fixed frame 41, and a slide seat 2 441 is slidably arranged between the inner walls of the vertical groove. The screw rod 445 penetrates the slide seat 2 441 and cooperates with it in threaded transmission. A "U"-shaped connecting frame 442 is fixed between the slide seats 2 441 on both sides of the same side by bolts.

[0075] Two electric push rods 443 are installed on the side wall of the connecting frame 442 facing the adjusting arm 2 453 by screws, and a connecting block 444 is fixedly installed on the end of the output shaft of the electric push rod 443. The two connecting blocks 444 on the same connecting frame 442 are respectively located on both sides of the connecting seat 2 456 opposite thereto, and a synchronous shaft 3 is fixedly connected between the two connecting blocks 444, and the synchronous shaft 3 passes through the connecting seat 2 456 and is in rotational contact therewith.

[0076] It should be further explained that the rotating motor five is started by the sub-controller 412, so that it drives the screw 445 to rotate and control its output direction, so that the slide seat 2 441 moves up and down along the vertical slot for adjustment, thereby driving the vertical movement of the connecting frame 442. At the same time, the sub-controller 412 also starts the electric push rod 443, so that the connecting block 444 synchronously moves horizontally and cooperates with the vertical movement of the slide seat 2 441 to jointly control the state of the adjusting arm 2 453, thereby controlling the adjusting arm 1 452 and the adjusting arm 2 453 to always be symmetrical about the horizontal plane where their connection points are located.

[0077] The adjustment component 47 includes an output component 1 471, an output component 2 472, a bevel gear 1 473, a bevel gear 2 474, a synchronous sleeve 477 and a synchronous gear 478;

[0078] A cavity is opened in the end of the adjusting arm 453 close to the rotating seat 455, and a bearing seat is fixedly installed on one inner wall of the cavity. A rotating shaft 4721 is penetrated and rotatably arranged between the inner walls of the bearing seat. A limiting ring 2 connected as an integral body is arranged on the rotating shaft 4721. The limiting ring 2 rotates between the inner walls of the bearing seat, and an output component 472 is arranged on one end of the rotating shaft 4721. The output component 472 includes a worm wheel 2 and a worm gear 2 which are meshed and matched with each other. The worm gear 2 is rotated between the inner walls of the cavity by a rotating motor 7. The worm wheel 2 is installed on the end of the rotating shaft 4721 and is synchronized therewith, and the other end of the rotating shaft 4721 is fixed to the end wall of the rotating seat 455 by screws.

[0079] A rotating shaft 1 4711 is passed through the inner walls of the rotating shaft 2 4721 and is in rotational contact therewith. A limiting ring 1 connected to the rotating shaft 1 4711 is provided on the rotating shaft 1 4711. The limiting ring 1 rotates between the inner walls of the rotating shaft 2 4721, and an output component 1 471 is provided on one end of the rotating shaft 1 4711. The output component 1 471 includes a worm wheel 1 and a worm gear 1 that are meshed and matched with each other. The worm gear 1 is rotated by a rotating motor 6 and is arranged between the inner walls of the cavity. The worm wheel 1 is installed on one end of the rotating shaft 2 4721 and is synchronized with it. A bevel gear 1 473 synchronized with it is installed on the other end of the rotating shaft 2 4721.

[0080] The rotating seat 455 is arranged in a "U"-shaped structure, and a synchronous shaft 1 475 and a synchronous shaft 2 476 are rotatably arranged between the inner walls of the rotating seat 455, and a bevel gear 2 474 and a synchronous gear 478 that rotate synchronously therewith are installed on the synchronous shaft 1 475. The bevel gear 2 474 is meshed with the bevel gear 1 473 for transmission cooperation, and a synchronous gear 478 that rotates synchronously therewith is also installed on the synchronous shaft 2 476. The two synchronous gears 478 are meshed with each other, and a synchronous shaft sleeve 477 that rotates synchronously therewith is also installed at the middle position of the synchronous shaft 2 476. The synchronous shaft sleeve 477 and the support arm 454 are fixed as a whole by an axial connection, and the adjustment cooperation of the support arm 454 is driven by the synchronous shaft sleeve 477.

[0081] It should be further explained that, by starting the rotating motor six through the sub-controller 412, it drives the worm one to rotate, thereby driving the worm wheel one to rotate. As the worm wheel one rotates, the rotating shaft one 4711 synchronously drives the bevel gear one 473 to rotate, so that the bevel gear two 474 synchronously meshes and rotates, thereby driving the synchronous shaft one 475 to rotate. Under the action of the two synchronous gears 478, the synchronous shaft two 476 rotates and adjusts synchronously, and then the angle adjustment of the support arm 454 is achieved by controlling the angle adjustment of the synchronous sleeve 477; in addition, when the positioning assembly 45 is adjusted to state 2, the rotating motor seven is started through the sub-controller 412, so that it drives the worm two to rotate, and controls the rotation of the synchronous shaft two 476 through the worm wheel two, thereby driving the rotating seat 455 to adjust the angle at the end of the adjusting arm two 453, and stop after adjusting to the required position.

[0082] Working principle:

[0083] First, the gripping state of the positioning assembly 45 is adjusted according to the softness or hardness of the package of the gripped goods, and the swing arm 42 is controlled to rotate so that the driving assembly 1 43 moves synchronously therewith, and at the same time, the movement of the driving assembly 2 44 is controlled so that the driving assembly 1 43 and the driving assembly 2 44 cooperate with the control of the angle change between the adjusting arm 1 452 and the adjusting arm 2 453, so that it can present two different gripping states. The swing arm 42 is adjusted according to the rotation of the swing arm 42. Figure 5The first slide 431 makes a circular swing in the direction shown, the sliding seat 431 moves up and down in the vertical direction, and the moving shaft 433 drives the connecting seat 1 432 to make a linear motion in the horizontal direction. At the same time, the second slide 441 drives the connecting frame 442 to cooperate with the movement adjustment synchronously. The electric push rod 443 also controls the horizontal position of the connecting block 444 and synchronously controls the inclination degree of the adjusting arm 2 453, so that it always maintains a state of symmetrical movement with the adjusting arm 1 452 during the adjustment process. When the adjusting arm 1 452 and the adjusting arm 2 453 are both in a vertical state and the angle between them is 180 degrees, the grabbing mechanisms 4 on both sides can perform a clamping grabbing of the hard-packaged goods. When the angle between the adjusting arm 1 452 and the adjusting arm 2 453 is less than 180 degrees, the grabbing mechanisms 4 on both sides can perform a covering grabbing of the soft-packaged goods.

[0084] Next, after the gripping state of the positioning assembly 45 is adjusted, the gripping range is adjusted by the adjusting mechanism 3 according to the length of the gripped goods. During the adjustment, the adjusting gear 33 is controlled to rotate so that the adjusting frames 32 on both sides move toward or away from each other at the same time, thereby driving the gripping mechanisms 4 on both sides to be adjusted to a suitable position, and the state remains unchanged after the adjustment;

[0085] Then, the running route distance is set by the displacement mechanism 2, and the picking position and the lowering position are respectively set at the two ends of the running route. At the picking position, the goods are grabbed by the lowering grabbing mechanism 4, and the state of the support arm 454 is adjusted immediately after grabbing. During adjustment, the rotation of the worm gear 1 is controlled to synchronously drive the bevel gear 1 473 to rotate through the rotating shaft 1 4711, and then the bevel gear 1 473 drives the bevel gear 2 474, and the synchronous shaft 1 475 rotates synchronously with the bevel gear 2 474, and under the action of the two synchronous gears 478, the synchronous shaft 2 476 and the synchronous shaft sleeve 477 on the synchronous shaft 2 476 are driven to rotate and adjust together, thereby controlling the angle adjustment process of the support arm 454, and the support arm 454 stops when it is adjusted to a horizontal state. Stop, and when the adjustment arm 1 452 and the adjustment arm 2 453 are in a vertical state with an angle of 180 degrees, it is necessary to first control the rotation of the worm gear 2 so that it can synchronously drive the rotating seat 455 to adjust the angle through the rotating shaft 2 4721, so that the support arm 454 is driven to adjust to another direction at this time, and then continue to adjust the angle position of the support arm 454, so that the support arm 454 can always be horizontally supported at the bottom of the grabbed goods, and then control the pressure plate 46 to assist in pressing on the goods, and then let the goods follow the displacement mechanism 2 to move to the lowering position. When it is in the lowering position, the goods are lowered to the specified position through the lowering grabbing mechanism 4, and the picking and lowering process of the goods on the truss assembly 1 is repeated in this way.

[0086] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, internal communication between two elements, or an interaction relationship between two elements. For ordinary technicians in this field, the meanings of the above terms in this application can be understood according to specific circumstances.

[0087] The above is a detailed introduction to a grasping device for a truss robot and an operating method thereof provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solution and core idea of ​​the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A grasping device for a truss robot, characterized in that: include: A truss assembly (1), the truss assembly (1) comprising two pillars (11) and a crossbeam (12), wherein the crossbeam (12) is installed between the tops of the two pillars (11); A displacement mechanism (2), wherein the displacement mechanism (2) is arranged to move along the length direction of the crossbeam (12), and lifting bars (24) that can be adjusted to move along the vertical direction are arranged on both sides of the displacement mechanism (2), so as to adjust the height position and horizontal position of the grasping; An adjusting mechanism (3), the adjusting mechanism (3) being installed between the bottom ends of the lifting bars (24) on both sides, and connecting shafts (321) that can move relative to each other are arranged on both sides of the bottom of the adjusting mechanism (3), so as to adjust the grabbing range; The grabbing mechanism (4) comprises a fixing frame (41), a swing arm (42), a driving assembly (43), a driving assembly (44) and a positioning assembly (45), wherein the fixing frame (41) is mounted on the bottom end of the connecting shaft (321), the positioning assembly (45) is mounted in the middle below the fixing frame (41), and support arms (454) for supporting the bottom of the object are arranged at both ends of the positioning assembly (45), and one end of the swing arm (42) is rotatably arranged between the inner walls of the fixing frame (41), The other end of the driving assembly (43) is connected to one end of the driving assembly (43), the other end of the driving assembly (43) is connected to the positioning assembly (45), and the driving assembly (44) is arranged on the side wall of the fixing frame (41) facing the positioning assembly (45), and one end of the driving assembly (44) can be slidably adjusted in the vertical direction, and the other end is also connected to one side wall of the positioning assembly (45). The driving assembly (43) and the driving assembly (44) can cooperate to enable the positioning assembly (45) to complete the wrapping and grabbing process of different objects.

2. A gripping device for a truss robot according to claim 1, characterized in that: The displacement mechanism (2) further comprises a moving seat (21), an axial gear (22) and a longitudinal gear (23); The movable seat (21) is arranged in a "U"-shaped structure, and "U"-shaped side seats (211) are installed on both vertical side walls of the movable seat (21), the lifting bar (24) is arranged between the inner wall of the side seat (211) and the outer wall of the movable seat (21), and the lifting bar (24) is provided with two tooth grooves on the side wall facing the side seat (211), and a rotating motor (1) is installed on both sides of the top surface of the movable seat (21), and a longitudinal gear (23) is installed on the end of the output shaft of the rotating motor (1), and the longitudinal gear (23) is meshed with the two tooth grooves; The axial gear (22) is installed on the inner side wall of the moving seat (21) facing the cross beam (12), and a second rotating motor connected to and driven by the axial gear (22) is installed on the moving seat (21) on one side of the axial gear (22). Both side walls of the cross beam (12) are provided with convex strips (121) arranged along the length direction thereof, and a tooth groove (1) is provided on the convex strip (121), and the axial gear (22) is meshed with the tooth groove (1); Two limiting strips (241) arranged opposite to each other are installed on one side of the vertical side wall of the lifting strip (24), and contact sensors 1 are embedded on the surfaces of the two limiting strips (241) facing the side seat (211).

3. A gripping device for a truss robot according to claim 2, characterized in that: The adjusting mechanism (3) comprises a connecting plate (31), an adjusting frame (32) and an adjusting gear (33); The connecting plate (31) is fixedly connected to the bottom ends of the lifting bars (24) on both sides, and guide grooves are provided on the side walls of the connecting plate (31) along the length direction thereof. The adjusting frame (32) is arranged in an "L"-shaped structure, and guide bars are provided on the side walls of the adjusting frame (32) facing the connecting plate (31), and the guide bars always slide between the inner walls of the guide grooves. Three tooth grooves are provided along the length direction thereof on the opposite side walls of the adjusting frames (32) on both sides, and the adjusting gear (33) is rotatably arranged in the middle of the bottom wall of the connecting plate (31) and is respectively meshed with the three tooth grooves on both sides for transmission. A rotating motor (3) is installed in the middle of the top surface of the connecting plate (31), and the adjusting gear (33) is installed on the end of the output shaft of the rotating motor (3).

4. The grasping device for a truss robot according to claim 3, characterized in that: The fixing frame (41) is arranged in a "U"-shaped structure, and the fixing frame (41) is provided with a first through hole and a second through hole along its vertical direction, two through holes are arranged and symmetrically distributed on both sides of the first through hole, a sub-controller (412) is arranged at a position close to the bottom end of the side wall of the fixing frame (41), and a positioning piece (411) with an arc-shaped structure is installed on the side wall of the fixing frame (41) between the first through hole and the second through hole, and a second contact sensor is embedded on the arc surface of the positioning piece (411), and the second contact sensor is connected to the sub-controller (412) through an electrical signal; A rotating motor 4 is mounted on the side wall of the fixing frame (41), one end of a swing arm (42) is synchronously connected to the end of the output shaft of the rotating motor 4, and a through hole 3 is opened on the swing arm (42) along its length direction.

5. The grasping device for a truss robot according to claim 4, characterized in that: The positioning assembly (45) further comprises a fixed arm (451), an adjusting arm 1 (452), an adjusting arm 2 (453) and a pressing plate (46); The fixed arm (451) is installed in the middle of the bottom wall of the fixed frame (41), and the adjusting arm 1 (452) is rotatably arranged at both ends of the fixed arm (451) through an axis connection, and one end of the adjusting arm 2 (453) is also connected to the other end of the adjusting arm 1 (452) through an axis connection. A rotating seat (455) is rotatably arranged on the other end of the adjusting arm 2 (453), and one end of the supporting arm (454) is arranged on the rotating seat (455). A connecting seat 2 (456) is also installed on one side wall of the adjusting arm 2 (453), and the adjusting arm 1 (452) and the adjusting arm 2 (453) located on the same side always move symmetrically about the horizontal plane where the axis connection center is located; The pressing plate (46) has a "U"-shaped structure, and the pressing plate (46) is located below the fixed arm (451), and a lifting motor is installed in the fixed frame (41), and the output shaft end of the lifting motor is connected and fixed to the pressing plate (46). In addition, a contact sensor three is embedded on the lower surface of the pressing plate (46), and the contact sensor three is also connected to the sub-controller (412) through an electrical signal.

6. The grasping device for a truss robot according to claim 5, characterized in that: The driving assembly 1 (43) includes a sliding seat 1 (431), a connecting seat 1 (432), a moving shaft (433), a limiting shaft 1 (434) and a limiting shaft 2 (435); The cross section of the through hole 1 is in a "cross" shape. The slide seat 1 (431) slides between the inner walls of the through hole 1. One end of the limit shaft 1 (434) is fixed in the middle of the top surface of the slide seat 1 (431), and the other end thereof penetrates and slides between the inner walls of the fixed frame (41). The moving shaft (433) penetrates the slide seat 1 (431) and is in sliding contact with it, and the moving shaft (433) is always in a horizontal direction. A "U"-shaped connecting seat 1 (432) is installed on one end of the moving shaft (433) close to the positioning component (45). One end of the adjusting arm 1 (452) connected to the adjusting arm 2 (453) is rotatably arranged between the inner walls of the connecting seat 1 (432) in a coaxial connection manner. The limit shaft 2 (435) penetrates the other end of the moving shaft (433) and is fixed thereto as a whole, and the two ends of the limit shaft 2 (435) are respectively slidably arranged between the inner walls of the through hole 3 of the swing arms (42) on both sides.

7. The grasping device for a truss robot according to claim 6, characterized in that: The second driving assembly (44) comprises a second sliding seat (441), a connecting frame (442), a connecting block (444) and a screw rod (445); A vertical groove is also provided on the vertical side wall of the fixing frame (41), a screw rod (445) is arranged between the inner walls of the vertical groove for rotation in the vertical direction, and a rotating motor (5) is connected to the top of the screw rod (445), the rotating motor (5) is installed between the inner walls of the fixing frame (41), the second slide seat (441) slides between the inner walls of the vertical groove, the screw rod (445) penetrates the second slide seat (441) and cooperates with it by thread transmission, and the connecting frame (442) is in a "U"-shaped structure and is installed between two second slide seats (441) located on the same side; Two electric push rods (443) are installed on the side wall of the connecting frame (442) facing the positioning assembly (45), and the connecting block (444) is installed on the end of the output shaft of the electric push rod (443). The two connecting blocks (444) arranged on the same connecting frame (442) are respectively located on both sides of the connecting seat 2 (456) adjacent thereto, and a synchronous shaft 3 is installed between the two connecting blocks (444) on the same side, and the synchronous shaft 3 passes through the connecting seat 2 (456) and is rotatably arranged therewith.

8. The grasping device for a truss robot according to claim 7, characterized in that: An adjustment component (47) is also provided between the adjustment arm 2 (453) and the support arm (454), and the adjustment component (47) includes an output component 1 (471), an output component 2 (472), a bevel gear 1 (473), a bevel gear 2 (474), a synchronous shaft sleeve (477) and a synchronous gear (478); A cavity is provided in the end of the second regulating arm (453) close to the rotating seat (455), and a bearing seat is installed on the inner wall of one side of the cavity. The output assembly (471) includes a worm (1) and a worm wheel (1) for meshing transmission. The output assembly (472) includes a worm (2) and a worm wheel (2) for meshing transmission. The worm (1) and the worm wheel (2) are both rotatably arranged between the inner walls of the cavity. A rotating shaft (4711) is connected between the worm wheel (1) and the bevel gear (473). A limiting ring (1) is arranged on the outer surface of the rotating shaft (4711). The rotating seat (455) A second rotating shaft (4721) is connected to one end of the second adjusting arm (453), a second limiting ring is arranged on the outer surface of the second rotating shaft (4721), the second rotating shaft (4721) passes through the bearing seat and is in rotational contact with the bearing seat, the second limiting ring is rotatably arranged between the inner walls of the bearing seat, and the other end of the second rotating shaft (4721) is connected to the second worm gear as a whole, the first rotating shaft (4711) passes through and is rotatably arranged between the inner walls of the second rotating shaft (4721), and the second limiting ring is rotatably arranged between the inner walls of the first rotating shaft (4711); The rotating seat (455) is arranged in a "U"-shaped structure, and a synchronous shaft (475) and a synchronous shaft (476) are rotatably arranged between the inner walls thereof. The synchronous shaft (475) and the synchronous shaft (476) are both installed with the synchronous gear (478), and the two synchronous gears (478) are meshed and transmitted. The synchronous shaft (475) is also installed with the bevel gear (474) that rotates synchronously therewith. The bevel gear (473) and the bevel gear (474) are meshed and transmitted. The synchronous shaft (477) that rotates synchronously therewith is installed at the middle position of the synchronous shaft (476) and is installed with the synchronous shaft sleeve (477) that rotates synchronously therewith. One end of the support arm (454) and the synchronous shaft sleeve (477) are connected and fixed as a whole through an axis.

9. The grasping device for a truss robot according to claim 8, characterized in that: When the end wall of the connecting seat 1 (432) connected to the moving shaft (433) contacts the vertical side wall of the fixing frame (41), at this time, the angle between the adjusting arm 1 (452) and the adjusting arm 2 (453) is the smallest, and the sliding seat 1 (431) is located at the highest position in its vertical movement direction, and at this time, the two supporting arms (454) on the same side are in a horizontally opposite state; When the limiting shaft 2 (435) moves to contact the arc surface of the positioning member (411), at this time, the adjusting arm 1 (452) and the adjusting arm 2 (453) are in the same vertical direction, and the sliding seat 1 (431) is located at the lowest position in its vertical movement direction, and the supporting arm (454) is horizontally perpendicular to the vertical plane where the central axis of the connecting plate (31) along its length is located.

10. The method for operating a gripping device for a truss robot according to claim 9, characterized in that: The following steps are involved: S1. First, the gripping state of the positioning component (45) is adjusted according to the hardness or softness of the packaging of the grasped goods. By controlling the swing arm (42) to rotate, the driving component 1 (43) and the driving component 2 (44) are coordinated to control the angle change between the adjusting arm 1 (452) and the adjusting arm 2 (453), so that the positioning component (45) can present two different gripping states. When the adjusting arm 1 (452) and the adjusting arm 2 (453) are both in a vertical state and the angle between them is 180 degrees, the gripping mechanisms (4) on both sides can perform a clamping gripping on the hard-packaged goods. When the angle between the adjusting arm 1 (452) and the adjusting arm 2 (453) is less than 180 degrees, the gripping mechanisms (4) on both sides can perform a wrapping gripping on the soft-packaged goods. S2, after the gripping state of the positioning component (45) is adjusted, the gripping range is adjusted according to the length of the gripped goods through the adjustment mechanism (3), and the state is kept unchanged after the adjustment; S3. Then, the running route distance is set by the displacement mechanism (2), and the picking position and the lowering position are respectively set at the two ends of the running route. At the picking position, the cargo is grabbed by the lowering grasping mechanism (4). After grabbing, the state of the support arm (454) is immediately adjusted so that the support arm (454) can always be horizontally supported at the bottom of the grabbed cargo. Then, the pressure plate (46) is controlled to assist in pressing on the cargo. Then, the cargo is moved to the lowering position following the displacement mechanism (2). When in the lowering position, the cargo is lowered to the designated position by the lowering grasping mechanism (4). The cargo picking and lowering process on the truss assembly (1) is repeated in this way.

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