Gantry type truss for material clamping jaw

Abstract

The invention provides a gantry type truss for a material clamping jaw, and the gantry type truss structurally comprises a power-on main machine, supporting structures, a parallel plate, auxiliary sliding blocks and a traction rail, the power-on main machine is mounted on the surface layer part of the supporting structures, and the supporting structures are arranged on the left side and the right side of the lower end of the parallel plate respectively; the upper end of the parallel plate coincides with the lower end of the auxiliary sliding block, and the surface layer of the auxiliary sliding block is provided with a restraining rail. After the supporting structure is further improved, on the basis of a height adjuster at the upper end of a supporting rod and a height detection plate on a supporting rod, the height detection plate judges the height of a material and then imports height data into an information receiving module through a data line shaft; and then the information receiving module drives movers on the two sides to drive a balance block and a sliding rod to be adjusted up and down, so that the height of a material clamping jaw on an auxiliary sliding block can be adjusted, and the situation that the material cannot be clamped due to the fact that the height of the material exceeds the clamping area of the material clamping jaw is prevented.

Description

Technical Field

[0001] The invention relates to the field of gantry trusses, and more particularly to a gantry truss for material clamping claws. Background Art

[0002] The material gripper is a mechanical clamping structure, which is widely used in industrial robots. It is mainly used to grab and carry materials. Therefore, the material gripper needs to be equipped with a special gantry truss when in use, so that the gripper can grip and displace the relevant materials in a stable state according to the cooperation of the gantry truss. Therefore, the gantry truss can effectively improve the operation stability and accuracy of the material gripper. In summary, the inventors have found that the existing gantry trusses mainly have the following defects: because when the current gantry truss is connected with the material clamp, the length of the material clamp and the height of the gantry truss are both fixed, so that it can only clamp and move materials of corresponding height. Therefore, when facing other materials with higher heights, the gantry truss cannot perform secondary adjustment on the height of the material clamp, which will cause the side of the clamp and the side of the material to hinder and collide with each other, thus causing clamping failure. At the same time, it will reflect that the structure of the current gantry truss is relatively simple and can only assist the material clamp to move horizontally. It cannot perform secondary adjustment on its height, which reduces its own usage intensity. Summary of the invention

[0003] The technical solution adopted by the present invention to achieve the technical purpose is: a gantry truss for material clamps, whose structure includes: a powered main machine, a supporting structure, a parallel plate, an auxiliary slider, and a restraining rail. The powered main machine is installed on the surface of the supporting structure and the supporting structure is provided with a group on each side of the lower end of the parallel plate. The upper end of the parallel plate and the lower end of the auxiliary slider overlap with each other and a restraining rail is opened on the surface of the auxiliary slider.

[0004] As a further improvement of the present invention, the right side supporting structure is provided with a height adjuster, the lower end of the height adjuster is arranged at the inner center of the support rod and the lower end of the support rod is also connected to a fixed base, the upper end of the height adjuster is connected to the lower end of the support rod and coincides with the center point of the support rod, a power-on groove is opened on the surface of the support rod to electrically connect with the power-on host, a power-on electric shaft is arranged at the upper end of the support rod and a height detection plate is carried on the side.

[0005] As a further improvement of the present invention, the height adjuster is provided with a mover, which is installed on the left and right sides of the balance block and carries an information receiving module in the center of the balance block. The center of the upper end of the balance block is fixedly connected to the lower end of the sliding rod and the sliding rod will pass through the center of the bottom plate, and the bottom plate is installed parallel to the upper end of the support rod. The upper end of the sliding rod is also connected to a covering plate to cover and fix the lower end of the support rod. The covering plate and the center of the sliding rod will be penetrated by the data cable shaft, so that the lower end of the data cable shaft is electrically connected to the information receiving module inside the balance block and the other end is electrically connected to the height detection board.

[0006] As a further improvement of the present invention, the height adjuster at the upper end of the support rod of the supporting structure and the height detection plate on the side of the upper end of the support rod cooperate with each other, the height detection plate performs laser detection on the material height, and then uses the data line shaft to input the height information into the information receiving block, so that the information receiving module uses the internal driving module to drive the mover to slide up and down, and the mover drives the sliding rod to adjust up and down through the balance block to perform active adjustment on the height of the support rod and the auxiliary slider.

[0007] As a further improvement of the present invention, the powered host is arranged in the right support structure area and the internal components of the support structures on the left and right sides are generally consistent. The parallel plate is in the shape of a rectangular parallelepiped and completely covers the lower layer of the auxiliary slider. A restraining rail is opened at the center of the upper end of the auxiliary slider and the center of both sides of the edge.

[0008] As a further improvement of the present invention, the fixed base and the support rod are perpendicular to each other and the height adjuster is installed at the connecting part between the support rod and the support rod, the center points of the three overlap with each other, the shape of the power-on slot is consistent with the shape of the power-on host, and the power-on wire axis can extend through one end of the inner side of the support rod to the power-on host area for electrical connection.

[0009] As a further improvement of the present invention, the data line axis electrically connects the covering plate, sliding rod, and bottom plate center through the information receiving module inside the balance block and extends the other end to the height detection plate area for electrical connection, and the movers on the left and right sides of the balance block are set in symmetrical positions.

[0010] As a further improvement of the present invention, the mover is provided with an electric pulley, which is arranged on the side of the vertical block and the other end of the vertical block is connected to an electrical connection module, the upper and lower ends of the electrical connection module are spliced ​​with a balance rod and the front end is provided with an adsorption block.

[0011] As a further improvement of the present invention, the electric pulleys are provided with three in total and are set in a vertical orientation through a vertical block, and the electrical connection module and the balance bar form a "cross" shape.

[0012] As a further improvement of the present invention, a connecting block is provided in the connecting area between the electric pulley and the vertical block. The connecting block is inserted into the vertical block to be electrically connected to the electrical connection module and a transverse block is provided at the other end to position the auxiliary ring so that it coincides with the center of the electric pulley and restrains its center point. A spacing rod is also fixed at the lower end of the transverse block.

[0013] As a further improvement of the present invention, the connecting blocks, transverse blocks and auxiliary rings are each provided with three groups and are set in parallel to match the number of electric pulleys. The spacing rods fix the spacing between the transverse blocks so that there is independent rotation space between the electric pulleys.

[0014] As a further improvement of the present invention, the height detection plate is provided with a conductive block, which is overlapped and fixed on the back area of ​​the loading plate and embedded in the upper end side of the support rod. The surface of the loading plate is connected to a data recognition module and the position of the laser detection component is determined by the data recognition module.

[0015] As a further improvement of the present invention, the conductive block is perpendicular to the loading plate and the loading plate carries three groups of data recognition modules, which are arranged in upper, middle and lower positions to fix the three groups of laser detection components.

[0016] As a further improvement of the present invention, the conductive block is provided with disassembly bolts, which penetrate the four corner areas of the edge of the block and are connected to a central plate at the center of the block to determine the positions of the three sets of data identification modules. A connecting groove is also provided at the outer center of the central plate.

[0017] As a further improvement of the present invention, there are four disassembly and assembly bolts in total and the block area is smaller than the area of ​​the loading plate. The central plate carries three limit frames and has a circuit board as the main body and is electrically connected to three sets of data identification modules at the same time. It is locked and electrically connected to a section of the data cable shaft through a central connecting groove.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is based on a further improvement of the supporting structure, which is based on a height adjuster at the upper end of the supporting rod and a height detection plate on the supporting rod. After the height detection plate determines the height of the material, the height data is imported into the information receiving module through the data line shaft. Then the information receiving module drives the movers on both sides to drive the balance block and the slide bar to adjust up and down, so as to adjust the height of the material clamp on the auxiliary slide block, thereby preventing the material height from exceeding the clamping area of ​​the material clamp and causing the material clamp to be unable to be clamped, and then the height-adjustable truss can effectively improve the stability of the material clamp.

[0019] 2. After the present invention is further improved by the mover, when the position of the electrical connection module is determined by the balance bar, the movement stability of the three electric pulleys on the side can be effectively improved, so that the unstable tilting situation caused by sliding can be avoided, and the material clamp can be ensured to operate in a stable horizontal orientation. Then, the spacing rods carried by the electric pulley and the vertical block area can determine the spacing between the three horizontal blocks, so as to prevent the electric pulleys from interfering with each other and being unable to rotate due to the small spacing, thereby improving the height adjustment stability of the support structure.

[0020] 3. The present invention is further improved by embedding the conductive block of the loading plate into the side of the support rod. The conductive block can be effectively electrically connected to the data reel through the central concentrating plate and the connecting groove, and then the electrical connection with the information receiving module is completed through the data reel. The three sets of data recognition modules and laser detection components at the front end can be set in the upper, middle and lower positions, so that the accuracy of material height determination can be improved through the three vertical position settings and laser detection effect, thereby ensuring the height adjustment accuracy of the height adjuster. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a structural schematic diagram of a gantry truss for a material gripper.

[0022] Figure 2 The present invention is a schematic diagram of a three-dimensional structure after an improvement of a supporting structure.

[0023] Figure 3 The present invention is a schematic diagram of the structure of a height adjuster after improvement.

[0024] Figure 4 The present invention is a schematic diagram of the structure of a mover after improvement, viewed from the front.

[0025] Figure 5 A schematic structural diagram of a front view of a component disposed in a connection area between an electric pulley and a vertical block.

[0026] Figure 6 The present invention is a schematic diagram of the three-dimensional structure of an improved height detection plate.

[0027] Figure 7 The present invention is a schematic diagram of the cross-sectional structure of an improved conductive block.

[0028] In the figure: powered host-1, supporting structure-2, parallel plate-3, auxiliary slider-4, restraining rail-5; Fixed base 21, support rod 22, height adjuster 23, support rod 24, power supply slot 25, power supply wire shaft 26, height detection plate 27; Data reel-231, cover plate-232, slide bar-233, bottom plate-234, balance block-235, information receiving module-236, mover-237; Adsorption block-2371, electrical connection module-2372, balance bar-2373, vertical block-2374, electric pulley-2375; Connecting block-3751, transverse block-3752, spacing rod-3753, auxiliary ring-3754; Conductive block-271, loading plate-272, data identification module-273, laser detection element-274; Disassemble and assemble bolts-2711, block-2712, central plate-2713, and connecting groove-2714. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings: Example

[0030] Figures 1 to 5 As shown: The present invention provides a gantry truss for material clamping claws. Its structure includes a powered host 1, a supporting structure 2, a parallel plate 3, an auxiliary slider 4, and a restraining rail 5. The powered host 1 is installed on the surface of the supporting structure 2, and the supporting structure 2 is provided with a group of parallel plates 3 on both sides of the lower end of the parallel plate 3. The upper end of the parallel plate 3 and the lower end of the auxiliary slider 4 overlap with each other, and the surface of the auxiliary slider 4 is provided with a restraining rail 5.

[0031] Among them, the right side supporting structure 2 is provided with a height adjuster 23, the lower end of the height adjuster 23 is arranged at the inner center of the support rod 22 and the lower end of the support rod 22 is also connected to the fixed base 21, the upper end of the height adjuster 23 is connected to the lower end of the support rod 24 and coincides with the center point of the support rod 22, the surface of the support rod 24 is opened with a power-on groove 25 to electrically connect with the powered host 1, the upper end of the support rod 24 is provided with a power-on wire shaft 26 and carries a height detection plate 27 on the side.

[0032] Among them, the height adjuster 23 is provided with a mover 237, and the mover 237 is installed on the left and right sides of the balance block 235 and the internal center of the balance block 235 carries an information receiving module 236. The upper center of the balance block 236 is fixedly connected to the lower end of the slide bar 233 and the slide bar 233 will pass through the center of the bottom plate 234. The bottom plate 234 is installed parallel to the upper end of the support rod 22. The upper end of the slide bar 233 is also connected to a covering plate 232 to cover and fix the lower end of the support rod 24. The covering plate 232 and the center of the slide bar 233 will be penetrated by the data line shaft 231, so that the lower end of the data line shaft 231 is electrically connected to the information receiving module 236 inside the balance block 235, and the other end is electrically connected to the height detection plate 27.

[0033] Among them, the height adjuster 23 at the upper end of the support rod 22 of the supporting structure 2 and the height detection plate 27 on the side of the upper end of the support rod 24 cooperate with each other, the height detection plate 27 performs laser detection on the material height, and then uses the data line shaft 231 to input the height information into the information receiving block 236, so that the information receiving module 236 uses the internal driving module to drive the mover 237 to slide up and down, and the mover 237 drives the slide bar 233 to adjust up and down through the balance block 235 to adjust the height of the support rod 24 and the auxiliary slider 4.

[0034] Among them, the powered host 1 is arranged in the right support structure 2 area and the internal components of the left and right support structures 2 are generally consistent. The parallel plate 3 is a rectangular parallelepiped that completely covers the lower layer of the auxiliary slider 4. The restraining rail 5 is opened at the center of the upper end of the auxiliary slider 4 and the center of both sides of the edge.

[0035] Among them, the fixed base 21 and the support rod 22 are perpendicular to each other and the height adjuster 23 is installed in the connecting part of the support rod 24 and the support rod 22, the center points of the three overlap with each other, the shape of the power-on slot 25 is consistent with the shape of the power-on host 1, and the power-on wire axis 26 can extend through one end of the inner side of the support rod 24 to the power-on host 1 area for electrical connection.

[0036] Among them, the data line axis 231 electrically connects the information receiving module 236 that passes through the center of the covering plate 232, the sliding rod 233, and the bottom plate 234 inside the balance block 235, and the other end extends to the height detection plate 27 area for electrical connection. The movers 237 on the left and right sides of the balance block 235 are set in symmetrical positions.

[0037] Among them, the mover 237 is provided with an electric pulley 2375, and the electric pulley 2375 is arranged on the side of the vertical block 2374 and the other end of the vertical block 2374 is connected to an electrical connection module 2372, and the upper and lower ends of the electrical connection module 2372 are spliced ​​with a balance rod 2373 and an adsorption block 2371 is arranged at the front end.

[0038] There are three electric pulleys 2375 and they are set in a vertical position through a vertical block 2374. The electrical connection module 2372 and the balance bar 2373 form a "cross" shape.

[0039] Among them, a connecting block 3751 is set in the connecting area between the electric pulley 2375 and the vertical block 2374. The connecting block 3751 is inserted into the vertical block 2374 and electrically connected to the electrical connection module 2372. A transverse block 3752 is set at the other end to position the auxiliary ring 3754 so that it coincides with the center of the electric pulley 2375 and restrains its center point. A spacing rod 3753 is also fixed at the lower end of the transverse block 3752.

[0040] Among them, the connecting blocks 3751, the transverse blocks 3752 and the auxiliary rings 3754 are each provided with three groups and are set in parallel to match the number of the electric pulleys 2375. The spacing rods 3753 fix the spacing between the transverse blocks 3752, so that there is independent rotation space between the electric pulleys 2375.

[0041] Specific functions and operation procedures of this embodiment: In the present invention, the gantry truss for the material clamp can determine the position of the parallel plate 3 through the left and right two groups of support structures 2, and then use the parallel plate 3 to set the auxiliary slider 4 in a horizontal straight line orientation, and then the auxiliary slider 4 can make the material clamp slide in a straight line through the linear restraining rail 5. During the process, the power-on main machine 1 of the right support structure 2 uses the power-on slot 25 and the power-on wire shaft 26 of the support rod 24 to provide power support to the material clamp. At the same time, the support structure 2 can use the fixed base 21 to determine the position of the support rod 22, and then the support rod 22 is connected to the support rod 24 in combination with the height adjuster 23, and at the same time cooperates with the height detection plate 27 on the upper side of the support rod 24 to perform laser detection on the material height. , so that when the height detection plate 27 determines the material height through laser, it can use the effect of the electrical connection between the other end of the data line shaft 231 and the information receiving module 236 to drive the mover 237 to slide vertically inside the support rod 22. Therefore, the information receiving module 236 can control the sliding up or sliding down length of the mover 237 according to the height data input by the height detection plate 27, and at the same time use the balance block 235 to push the slide bar 233 to slide out from the center of the bottom plate 234 installed at the upper end of the support rod 22. For this reason, when the slide bar 233 slides up, the cover plate 232 can be used to push the support rod 24 for height adjustment, so that it can achieve the setting of the height of the auxiliary slide block 4 and the material clamping claw, avoiding the material height exceeding the material. The height of the clamping area of ​​the material clamping claw causes the inability to clamp, and then the overall internal structure of the support structure 2 on the left and right sides is consistent, so that it can achieve parallel height adjustment of the auxiliary slider 4 to prevent the tilting caused by adjusting only one end. Then the electrical connection module 2372 of the mover 237 can be combined with the adsorption block 2371 to stably insert into the balance block 235 and electrically connect with the information receiving module 236, and then the upper and lower ends of the electrical connection module 2372 are connected with the balance bar 2373, so that its own center line can coincide with the center line of the balance block 235, ensuring that the electric pulley 2375 of the vertical block 2374 can smoothly drive the balance block 235 and the slide bar 233 as a whole when sliding. The body slides, and then the three groups of auxiliary rings 3754 and the transverse block 3752 set in the connection area between the electric pulley 2375 and the vertical block 2374 fix the three electric pulleys 2375 one by one, and at the same time, the spacing rod 3753 at the lower end of the transverse block 3752 is used to maintain the movable spacing, thereby preventing the three electric pulleys 2375 from automatically falling due to centrifugal force and weight, resulting in mutual obstruction and inability to rotate. Then, the transverse block 3752 can be inserted into the vertical block 2374 area through the side connecting block 3751 to achieve stable electrical connection with the electrical connection module 2372, so that it can effectively improve the overall support structure 2 The stability of the height adjustment change of the auxiliary slider 4 can be effectively improved. Example

[0042] Figure 6 to Figure 7 As shown: The present invention provides a gantry truss for material clamping claws. Its structure includes: the height detection plate 27 is provided with a conductive block 271, the conductive block 271 is overlapped and fixed on the back area of ​​the loading plate 272 and embedded in the upper end side of the support rod 24, and the surface of the loading plate 272 is connected to a data recognition module 273 and the position of the laser detection component 274 is determined by the data recognition module 273.

[0043] The conductive block 271 and the loading plate 272 are perpendicular to each other and the loading plate 272 carries three sets of data identification modules 273 , which are arranged at upper, middle and lower positions to fix three sets of laser detection components 274 .

[0044] Among them, the conductive block 271 is provided with a disassembly bolt 2711, and the disassembly bolt 2711 passes through the four corner areas of the edge of the block 2712, and a central plate 2713 is connected to the center of the block 2712 to determine the positions of the three sets of data identification modules 273. A connecting groove 2714 is also provided in the outer center of the central plate 2713.

[0045] Among them, there are four disassembly and assembly bolts 2711 in total and the area of ​​the block 2712 is smaller than the area of ​​the loading plate 272. The central plate 2713 carries three limit frames and is mainly composed of a circuit board. It is electrically connected to three sets of data identification modules 273 at the same time, and is locked and electrically connected to a section of the data line shaft 231 through the central connecting groove 2714.

[0046] Specific functions and operation procedures of this embodiment: In the present invention, the loading plate 272 of the height detection plate 27 can be inserted into the support rod 24 for positioning through the conductive block 271, and then the conductive block 271 can be easily disassembled with the loading plate 272 through the four disassembly bolts 2711 at the corners of the block body 2712, and then the centralizing plate 2713 at the center of the block body 2712 can use three limit frames to accurately fix the positions of the three groups of data recognition modules 273 of the loading plate 272 in the upper, middle and lower positions, thereby ensuring that the three groups of laser detection parts 274 can stably and accurately determine the material height, and then the centralizing plate 2713 can be through the base with the circuit board as the main body The connection groove 2714 is used to complete the electrical connection with one end of the data reel 231, so that when the data recognition module 273 receives the material height determination data from the laser detection component 274, the data recognition module 273 can transmit the material height data to the information receiving module 236 through the connection groove 2714 of the central plate 2713 using the data reel 231, so that the information receiving module 236 can control the mover 237 through the internal driving structure combined with the material height data, so as to achieve accurate adjustment of the height of the auxiliary slider 4, and ensure that the height of the material clamp can match the material height for stable clamping.

[0047] Utilizing the technical solution of the present invention, or those skilled in the art designing similar technical solutions inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A gantry truss for material grippers, the structure of which includes: A powered host (1), a support structure (2), a parallel plate (3), an auxiliary slider (4), and a check rail (5), wherein the powered host (1) is mounted on the surface of the support structure (2) and the support structure (2) is provided with a group of parallel plates (3) on both sides of the lower end thereof, the upper end of the parallel plate (3) and the lower end of the auxiliary slider (4) overlap each other, and the surface of the auxiliary slider (4) is provided with a check rail (5), characterized in that: The right support structure (2) is provided with a height adjuster (23), the lower end of the height adjuster (23) is arranged at the inner center of the support rod (22), and the lower end of the support rod (22) is also connected to a fixed base (21), the upper end of the height adjuster (23) is connected to the lower end of the support rod (24) and coincides with the center point of the support rod (22), the surface of the support rod (24) is provided with a power supply groove (25) for electrically connecting to the power supply host (1), the upper end of the support rod (24) is provided with a power supply wire shaft (26), and a height detection plate (27) is carried on the side; The height adjuster (23) is provided with a mover (237), the mover (237) is installed on the left and right sides of the balance block (235), and the balance block (235) carries an information receiving module (236) in the center. The center of the upper end of the balance block (236) is fixedly connected to the lower end of the slide bar (233), and the slide bar (233) will pass through the center of the bottom plate (234). The bottom plate (234) is installed parallel to the upper end of the support rod (22). The upper end of the slide bar (233) is also connected to a covering plate (232) to cover and fix the lower end of the support rod (24). The covering plate (232) and the center of the slide bar (233) will be penetrated by the data line shaft (231), so that the lower end of the data line shaft (231) is electrically connected to the information receiving module (236) inside the balance block (235), and the other end is electrically connected to the height detection plate (27); The height adjuster (23) at the upper end of the support rod (22) of the support structure (2) and the height detection plate (27) at the upper side of the support rod (24) cooperate with each other, the height detection plate (27) performs laser detection on the height of the material, and then uses the data line shaft (231) to input the height information into the information receiving block (236), so that the information receiving module (236) drives the mover (237) to slide up and down using the internal driving module, and the mover (237) drives the slide bar (233) to adjust up and down through the balance block (235) to adjust the height of the support rod (24) and the auxiliary slide block (4) movably.

2. The gantry truss for material grippers according to claim 1, characterized in that: The powered host (1) is arranged in the right support structure (2) area and the internal parts of the support structures (2) on the left and right sides are consistent as a whole. The parallel plate (3) is in the shape of a rectangular parallelepiped and completely covers the lower layer of the auxiliary slider (4). The restraining rail (5) is opened at the center of the upper end and the center of both sides of the edge of the auxiliary slider (4).

3. The gantry truss for material grippers according to claim 1, characterized in that: The fixed base (21) and the support rod (22) are perpendicular to each other and the height adjuster (23) is installed at the connection position between the support rod (24) and the support rod (22). The center points of the three overlap each other. The shape of the power supply slot (25) matches the shape of the power supply host (1). The power supply wire axis (26) can extend through one end of the inner side of the support rod (24) to the power supply host (1) area for electrical connection.

4. The gantry truss for material grippers according to claim 1, characterized in that: The data line axis (231) electrically connects the cover plate (232), the slide bar (233), and the center of the bottom plate (234) to the information receiving module (236) inside the balance block (235), and the other end extends to the height detection plate (27) area to be electrically connected. The movers (237) on the left and right sides of the balance block (235) are set in mutually symmetrical positions.

5. The gantry truss for material grippers according to claim 1, characterized in that: The mover (237) is provided with an electric pulley (2375), the electric pulley (2375) is arranged on the side of the vertical block (2374), and the other end of the vertical block (2374) is connected to an electric connection module (2372), the upper and lower ends of the electric connection module (2372) are spliced ​​with a balance rod (2373) and the front end is provided with an adsorption block (2371); The electric pulleys (2375) are provided with three in total and are set in a vertical orientation through a vertical block (2374), and the electrical connection module (2372) and the balance bar (2373) form a "cross" shape.

6. A gantry truss for material grippers according to claim 5, characterized in that: A connecting block (3751) is provided in the connection area between the electric pulley (2375) and the vertical block (2374). The connecting block (3751) is inserted into the vertical block (2374) to be electrically connected to the electrical connection module (2372), and a transverse block (3752) is provided at the other end to position the auxiliary ring (3754) so ​​that the center of the circle coincides with the center of the electric pulley (2375) and to restrain the center of the circle. A spacing rod (3753) is also fixed at the lower end of the transverse block (3752); The connecting blocks (3751), the transverse blocks (3752) and the auxiliary rings (3754) are each provided with three groups and are set in parallel to match the number of the electric pulleys (2375). The spacing rods (3753) fix the spacing between the transverse blocks (3752) so that there is an independent rotation space between the electric pulleys (2375).

7. The gantry truss for material grippers according to claim 1, characterized in that: The height detection plate (27) is provided with a conductive block (271), the conductive block (271) is overlapped and fixed to the back area of ​​the loading plate (272) and embedded in the upper end side of the support rod (24), the surface of the loading plate (272) is connected to a data recognition module (273) and the position of the laser detection component (274) is determined by the data recognition module (273); The conductive block (271) and the loading plate (272) are perpendicular to each other and the loading plate (272) carries three groups of data identification modules (273) arranged in upper, middle and lower positions to fix the three groups of laser detection components (274).

8. The gantry truss for material grippers according to claim 7, characterized in that: The conductive block (271) is provided with disassembly bolts (2711), the disassembly bolts (2711) penetrate through the four corner areas of the edge of the block (2712), and the center of the block (2712) is connected to a central plate (2713) to determine the positions of the three sets of data identification modules (273), and a connection groove (2714) is also provided at the center of the outer side of the central plate (2713); There are four disassembly and assembly bolts (2711) in total and the area of ​​the block (2712) is smaller than the area of ​​the loading plate (272). The central plate (2713) carries three limit frames and is mainly composed of a circuit board and is electrically connected to three groups of data identification modules (273) at the same time. It is locked and electrically connected to a section of the data line shaft (231) through a central connection groove (2714).

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