Truss manipulator equipment with automatic feeding and discharging functions

Abstract

The invention discloses automatic feeding and discharging truss manipulator equipment, and relates to the technical field of feeding and discharging equipment.The automatic feeding and discharging truss manipulator equipment comprises a rack, two trays are mounted on the rack, a stand column is mounted on the rack, a Z-axis mounting plate is arranged on the stand column, a Z-axis sliding block is mounted on the Z-axis mounting plate, and a Z-axis sliding block is mounted on the Z-axis sliding block; a Z-axis sliding block is installed on the Z-axis mounting plate, a lifting column is installed on the Z-axis sliding block in a sliding mode, a gripper assembly is arranged at the lower end of the lifting column, a lifting speed reducer is installed on the Z-axis mounting plate, a lifting driving gear is installed on the lifting speed reducer, and the lifting driving gear is meshed with a Z-axis inclined chain. The lifting driving gear drives the lifting column to slide along the Z-axis sliding rail through the Z-axis mounting plate, the lifting column can drive the gripper assembly to grab materials on the material disc to achieve automatic feeding and discharging when sliding, and automation and production efficiency of the production line are improved.

Description

Technical Field

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

[0002] Automated processing uses computer, mechanical and electronic technology to replace manual operation with automated equipment to achieve intelligent and efficient production processes. Its core is to automatically complete processing, assembly, testing and other tasks through programmed control systems (such as PLC, CNC) and sensors, reduce human intervention, and improve production efficiency and product quality. Automated processing is widely used in mechanical manufacturing, electronics, automobiles, aerospace and other fields. It has the characteristics of high precision, high speed and high consistency, and can reduce labor costs and production errors. With the advancement of Industry 4.0 and intelligent manufacturing, automated processing is developing towards intelligence, flexibility and integration, and has become an important pillar of modern manufacturing.

[0003] Under the existing technology, the transportation of materials between different processing steps still needs to be completed by manpower, which cannot give full play to the advantages of automation and affects production efficiency. An automatic loading and unloading equipment is needed to clamp and place the workpieces produced by the previous process and proceed to the next processing step to further realize automated production and improve production efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a truss manipulator device for automatic loading and unloading to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: the truss manipulator device for automatic loading and unloading comprises a frame, two material trays are installed on the frame, a column is installed on the frame, a horizontal moving component is arranged on the column, a Z-axis mounting plate is installed on the horizontal moving component, a Z-axis slider is installed on the Z-axis mounting plate, a Z-axis slide rail is slidably installed on the Z-axis slider, a lifting column is installed on the Z-axis slide rail, a hand claw assembly is arranged at the lower end of the lifting column, a Z-axis diagonal chain is installed on the lifting column, a lifting reducer is installed on the Z-axis mounting plate, a lifting drive gear is installed on the output shaft of the lifting reducer, and the lifting drive gear is meshed with the Z-axis diagonal chain.

[0006] As a preferred technical solution, the horizontal moving assembly includes an X-axis support plate, a Z-axis slide rail, an X-axis gear bar, an X-axis slider, an X-axis base plate, an X-axis reducer, an X-axis drive gear and an X-axis anti-collision block;

[0007] An X-axis support plate is installed on the column, an X-axis slide rail and an X-axis gear bar are installed on the X-axis support plate, an X-axis slider is slidably installed on the X-axis slide rail, an X-axis base plate is installed on the X-axis slider, an X-axis reducer is installed on the X-axis base plate, an X-axis drive gear is installed on the output shaft of the X-axis reducer, the X-axis drive gear is meshed with the X-axis gear bar, and a Z-axis mounting plate is arranged on the X-axis base plate.

[0008] As a preferred technical solution, the horizontal moving assembly also includes a Y-axis support plate, a Y-axis gear bar, a Y-axis slide rail, a Y-axis reducer mounting seat, a Y-axis reducer, a Y-axis driving gear, a Y-axis bottom plate base and a Y-axis slider;

[0009] A Y-axis support plate is installed on the X-axis bottom plate, a Y-axis gear bar and a Y-axis slide rail are installed on the Y-axis support plate, a Y-axis slider is slidably installed on the Y-axis slide rail, a Y-axis bottom plate base is installed on the Y-axis slider, the Z-axis mounting plate is installed on the Y-axis bottom plate base, a Y-axis reducer mounting seat is installed on the Z-axis mounting plate, a Y-axis reducer is installed on the Y-axis reducer mounting seat, a Y-axis drive gear is installed on the output shaft of the Y-axis reducer, and the Y-axis drive gear is meshed with the Y-axis gear bar.

[0010] As a preferred technical solution, the interiors of the Y-axis support plate and the lifting column are hollowed out.

[0011] As a preferred technical solution, the gripper assembly includes a connecting seat, a gripper slide seat, a drive shaft, a gripper slide block, a rotary cylinder connecting plate, a rotary cylinder, a gripper cylinder connecting plate and a gripper cylinder;

[0012] A connecting seat is installed at the end of the lifting column, a hand claw slide seat is installed on the connecting seat, a driving shaft is installed on the hand claw slide seat, a hand claw slider is slidably installed on the driving shaft, a rotating cylinder connecting plate is installed on the hand claw slider, a rotating cylinder is installed on the rotating cylinder connecting plate, a hand claw cylinder connecting plate is installed on the rotating cylinder, and a hand claw cylinder is installed on the hand claw cylinder connecting plate.

[0013] As a preferred technical solution, a fine-tuning motor is installed on the gripper slide, and the output shaft of the fine-tuning motor is connected to the driving shaft.

[0014] As a preferred technical solution, a Z-axis anti-collision block is installed at one end of the lifting column away from the gripper assembly, and X-axis anti-collision blocks are installed at both ends of the X-axis support plate.

[0015] As a preferred technical solution, the automatic loading and unloading truss manipulator device includes a protective assembly, which includes an X-axis upper cover, an X-axis side cover, a Z-axis front cover, a Z-axis upper cover, a support rod, a protective flat plate and a protective side plate;

[0016] An X-axis upper cover shell and an X-axis side cover shell are installed on the X-axis bottom plate, a Z-axis front cover shell and a Z-axis upper cover shell are installed on the Z-axis mounting plate, a plurality of support rods are installed on the frame, and adjacent support rods are connected by protective plates and protective side plates.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The up and down movement of the lifting column drives the gripper assembly to complete the loading and unloading of materials, realize automatic loading and unloading, and improve the automation and production efficiency of the production line.

[0019] 2. The gripper assembly is driven in the X-axis and Y-axis directions to accurately grab and place materials, ensuring the accuracy of loading and unloading.

[0020] 3. By setting protective components on different driving parts and outside the entire equipment, it is possible to effectively prevent foreign objects from causing damage to the driving parts and protect the normal operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0022] Figure 2 It is a schematic diagram of the structure of the second viewing angle of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the unprotected component of the present invention from a first perspective;

[0024] Figure 4 This is a schematic diagram of the structure of the unprotected component of the present invention from a second viewing angle;

[0025] Figure 5 It is a schematic diagram of the cutaway structure of the present invention;

[0026] Figure 6 For the present invention Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0027] Figure 7 For the present invention Figure 4 A schematic diagram of the enlarged structure at B in the middle;

[0028] Figure 8 For the present invention Figure 4 Schematic diagram of the enlarged structure at C in the middle;

[0029] Fig. 9 For the present invention Figure 5 Schematic diagram of the enlarged structure at D in the middle.

[0030] In the figure: 1. Frame; 2. Tray; 3. Column; 4. Horizontal movement component; 5. Z-axis mounting plate; 6. Z-axis slider; 7. Z-axis slide rail; 8. Lifting column; 9. Z-axis inclined chain; 10. Lifting speed reducer; 11. Lifting drive gear; 12. Z-axis anti-collision block;

[0031] 4. Horizontal movement component; 401. X-axis support plate; 402. X-axis slide rail; 403. X-axis gear rack; 404. X-axis slider; 405. X-axis bottom plate; 406. X-axis speed reducer; 407. X-axis drive gear; 408. X-axis anti-collision block; 409. Y-axis support plate; 410. Y-axis gear rack; 411. Y-axis slide rail; 412. Y-axis speed reducer mounting seat; 413. Y-axis speed reducer; 414. Y-axis drive gear; 415. Y-axis bottom plate base; 416. Y-axis slider;

[0032] 13. Gripper assembly; 1301. Connecting seat; 1302. Gripper slide seat; 1303. Drive shaft; 1304. Gripper slider; 1305. Rotary cylinder connecting plate; 1306. Rotary cylinder; 1307. Gripper cylinder connecting plate; 1308. Gripper cylinder; 1309. Fine-tuning motor;

[0033] 14. Protection assembly; 1401. X-axis upper cover; 1402. X-axis side cover; 1403. Z-axis front cover; 1404. Z-axis upper cover; 1405. Support rod; 1406. Protection flat plate; 1407. Protection side plate. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment: As Figure 1-Figure 6As shown, the present invention provides a technical solution for a truss manipulator device for automatic loading and unloading, characterized in that: the truss manipulator device for automatic loading and unloading comprises a frame 1, two material trays 2 are installed on the frame 1, a column 3 is installed on the frame 1, a horizontal moving component 4 is arranged on the column 3, a Z-axis mounting plate 5 is installed on the horizontal moving component 4, a Z-axis sliding block 6 is installed on the Z-axis mounting plate 5, a Z-axis slide rail 7 is slidably installed on the Z-axis sliding block 6, a lifting column 8 is installed on the Z-axis slide rail 7, a hand claw assembly 13 is arranged at the lower end of the lifting column 8, a Z-axis oblique chain 9 is installed on the lifting column 8, a lifting reducer 10 is installed on the Z-axis mounting plate 5, a lifting drive gear 11 is installed on the output shaft of the lifting reducer 10, and the lifting drive gear 11 is meshed with the Z-axis oblique chain 9.

[0036] The truss manipulator device for automatic loading and unloading is used in conjunction with other equipment during production and is uniformly controlled by a numerical control system. When in use, the lifting reducer 10 is controlled to operate, and the lifting reducer 10 drives the lifting drive gear 11 to rotate. Since the lifting drive gear 11 is meshed with the Z-axis oblique chain 9, the lifting drive gear 11 will drive the lifting column 8 to slide along the Z-axis slide rail 7 through the Z-axis mounting plate. When the lifting column 8 slides, it will drive the gripper assembly 13 to move synchronously. After the lifting column 8 descends, the gripper assembly 13 grabs the material on the material tray 2, and then the lifting column 8 rises, and moves the material to the top of the placement position through the horizontal moving assembly 4, and then the lifting column 8 descends to complete the loading and unloading of the material, realize automatic loading and unloading, and improve the automation and production efficiency of the production line.

[0037] like Figure 1-Figure 7 and Fig. 9 As shown, the horizontal moving assembly 4 includes an X-axis support plate 401, a Z-axis slide rail 7, an X-axis gear bar 403, an X-axis slider 404, an X-axis bottom plate 405, an X-axis reducer 406, an X-axis driving gear 407 and an X-axis anti-collision block 408;

[0038] An X-axis support plate 401 is installed on the column 3, an X-axis slide rail 402 and an X-axis gear bar 403 are installed on the X-axis support plate 401, an X-axis slider 404 is slidably installed on the X-axis slide rail 402, an X-axis base plate 405 is installed on the X-axis slider 404, an X-axis reducer 406 is installed on the X-axis base plate 405, an X-axis drive gear 407 is installed on the output shaft of the X-axis reducer 406, the X-axis drive gear 407 is meshed with the X-axis gear bar 403, and a Z-axis mounting plate 5 is provided on the X-axis base plate 405.

[0039] After the gripper assembly 13 grabs the material, the control system sends a signal according to the position of the material tray 2 to control the operation of the X-axis reducer 406, and the X-axis reducer 406 drives the X-axis drive gear 407 to rotate. Since the X-axis drive gear 407 is meshed with the X-axis gear bar 403, the X-axis reducer 406 will drive the Z-axis mounting plate 5 to move along the X-axis slide rail 402 through the X-axis bottom plate 405, thereby realizing the movement of the material in the X-axis direction, ensuring that the material can be placed accurately, and ensuring the accuracy of loading and unloading.

[0040] The horizontal moving assembly 4 also includes a Y-axis support plate 409, a Y-axis gear bar 410, a Y-axis slide rail 411, a Y-axis reducer mounting seat 412, a Y-axis reducer 413, a Y-axis driving gear 414, a Y-axis bottom plate base 415 and a Y-axis slider 416;

[0041] A Y-axis support plate 409 is installed on the X-axis bottom plate 405, a Y-axis gear bar 410 and a Y-axis slide rail 411 are installed on the Y-axis support plate 409, a Y-axis slider 416 is slidably installed on the Y-axis slide rail 411, a Y-axis bottom plate base 415 is installed on the Y-axis slider 416, the Z-axis mounting plate 5 is installed on the Y-axis bottom plate base 415, a Y-axis reducer mounting seat 412 is installed on the Z-axis mounting plate 5, a Y-axis reducer 413 is installed on the Y-axis reducer mounting seat 412, a Y-axis drive gear 414 is installed on the output shaft of the Y-axis reducer 413, and the Y-axis drive gear 414 is meshed with the Y-axis gear bar 410.

[0042] After the gripper assembly 13 grabs the material, the control system sends a signal according to the position of the material tray 2 to control the operation of the Y-axis reducer 413, and the Y-axis reducer 413 drives the Y-axis drive gear 414 to rotate. Since the Y-axis drive gear 414 is meshed with the Y-axis gear bar 410, the Y-axis reducer 413 drives the Z-axis mounting plate to slide along the Y-axis slide rail 416 through the Y-axis reducer mounting seat 412 and the Y-axis bottom plate base 415, thereby realizing the movement of the material in the Y-axis direction, ensuring that the material can be placed accurately, and ensuring the accuracy of loading and unloading.

[0043] The interiors of the Y-axis support plate 409 and the lifting column 8 are both hollowed out.

[0044] The X-axis support plate 401 is fixed on the column 3, and the Y-axis support plate 409 and the lifting column 8 are connected to the frame 1 through the X-axis support plate 401. The weight is reduced by hollowing out, and the friction between the X-axis slider 404 and the X-axis slide rail and the Y-axis slider 416 and the Y-axis slide rail 411 is reduced, so that the sliding in the X-axis and Y-axis directions is smoother, the loss of the equipment is reduced, and the service life of the equipment is extended.

[0045] like Figure 1 - Such as 5 and Figure 8As shown, the gripper assembly 13 includes a connecting seat 1301, a gripper slide seat 1302, a drive shaft 1303, a gripper slide 1304, a rotary cylinder connecting plate 1305, a rotary cylinder 1306, a gripper cylinder connecting plate 1307 and a gripper cylinder 1308;

[0046] A connecting seat 1301 is installed at the end of the lifting column 8, a hand claw slide seat 1302 is installed on the connecting seat 1301, a driving shaft 1303 is installed on the hand claw slide seat 1302, a hand claw slider 1304 is slidably installed on the driving shaft 1303, a rotating cylinder connecting plate 1305 is installed on the hand claw slider 1304, a rotating cylinder 1306 is installed on the rotating cylinder connecting plate 1305, a hand claw cylinder connecting plate 1307 is installed on the rotating cylinder 1306, and a hand claw cylinder 1308 is installed on the hand claw cylinder connecting plate 1307.

[0047] When the lifting column 8 drives the gripper assembly 13 to reach directly above the material, the rotary cylinder 1306 rotates, and drives the gripper cylinder 1308 to grasp the material through the gripper cylinder connecting plate 1307. Then the rotary cylinder 1306 rotates again, so that the other gripper cylinder 1308 grasps the material directly, completing the grasping operation of the material, so as to facilitate the subsequent transfer of the material and place it on the material tray of the next process, thereby reducing the workload of workers and improving production efficiency.

[0048] A fine-tuning motor 1309 is installed on the gripper slide 1302 , and an output shaft of the fine-tuning motor 1309 is connected to the driving shaft 1303 .

[0049] Before the gripper cylinder 1308 grabs the material, the material will be positioned. If there is a position deviation, the fine-tuning motor 1309 will drive the gripper slider 1304 to fine-tune the position along the drive shaft 1303 to ensure that the gripper cylinder 1308 can accurately grab the material and improve accuracy.

[0050] The end of the lifting column 8 away from the gripper assembly 13 is installed with a Z-axis anti-collision block 12 , and both ends of the X-axis support plate 401 are installed with X-axis anti-collision blocks 408 .

[0051] By providing the Z-axis anti-collision block 12 and the X-axis anti-collision block 408, it is possible to effectively prevent the equipment from sliding out of the X-axis or Z-axis when a failure occurs, thereby avoiding loss of production materials or injury to production personnel, and improving the safety of equipment use.

[0052] The automatic loading and unloading truss manipulator device includes a protection component 14, and the protection component 14 includes an X-axis upper cover 1401, an X-axis side cover 1402, a Z-axis front cover 1403, a Z-axis upper cover 1404, a support rod 1405, a protection plate 1406 and a protection side plate 1407;

[0053] The X-axis base plate 405 is installed with an X-axis upper cover shell 1401 and an X-axis side cover shell 1402, the Z-axis front cover shell 1403 and the Z-axis upper cover shell 1404 are installed on the Z-axis mounting plate 5, and a plurality of support rods 1405 are installed on the frame 1, and adjacent support rods 1405 are connected by protective flat plates 1406 and protective side plates 1407.

[0054] By arranging the protection components 14 on different driving components and outside the entire device, it is possible to effectively prevent foreign objects from causing damage to the driving components and protect the normal operation of the device.

[0055] Working principle of the present invention:

[0056] The truss manipulator device for automatic loading and unloading is used in conjunction with other equipment during production and is uniformly controlled by a numerical control system. When in use, the lifting reducer 10 is controlled to operate, and the lifting reducer 10 drives the lifting drive gear 11 to rotate. Since the lifting drive gear 11 is meshed with the Z-axis oblique chain 9, the lifting drive gear 11 will drive the lifting column 8 to slide along the Z-axis slide rail 7 through the Z-axis mounting plate. When the lifting column 8 slides, it will drive the gripper assembly 13 to move synchronously. After the lifting column 8 descends, the gripper assembly 13 grabs the material on the material tray 2, and then the lifting column 8 rises, and moves the material to the top of the placement position through the horizontal moving assembly 4, and then the lifting column 8 descends to complete the loading and unloading of the material, realize automatic loading and unloading, and improve the automation and production efficiency of the production line.

[0057] After the gripper assembly 13 grabs the material, the control system sends a signal according to the position of the material tray 2 to control the operation of the X-axis reducer 406, and the X-axis reducer 406 drives the X-axis drive gear 407 to rotate. Since the X-axis drive gear 407 is meshed with the X-axis gear bar 403, the X-axis reducer 406 will drive the Z-axis mounting plate 5 to move along the X-axis slide rail 402 through the X-axis bottom plate 405, thereby realizing the movement of the material in the X-axis direction, ensuring that the material can be placed accurately, and ensuring the accuracy of loading and unloading.

[0058] At the same time, after the gripper assembly 13 grabs the material, the control system sends a signal according to the position of the material tray 2 to control the operation of the Y-axis reducer 413, and the Y-axis reducer 413 drives the Y-axis driving gear 414 to rotate. Since the Y-axis driving gear 414 is meshed with the Y-axis gear bar 410, the Y-axis reducer 413 drives the Z-axis mounting plate to slide along the Y-axis slide rail 416 through the Y-axis reducer mounting seat 412 and the Y-axis bottom plate base 415, thereby realizing the movement of the material in the Y-axis direction, ensuring that the material can be placed accurately, and ensuring the accuracy of loading and unloading.

[0059] The X-axis support plate 401 is fixed on the column 3, and the Y-axis support plate 409 and the lifting column 8 are connected to the frame 1 through the X-axis support plate 401. The weight is reduced by hollowing out, and the friction between the X-axis slider 404 and the X-axis slide rail and the Y-axis slider 416 and the Y-axis slide rail 411 is reduced, so that the sliding in the X-axis and Y-axis directions is smoother, the loss of the equipment is reduced, and the service life of the equipment is extended.

[0060] When the lifting column 8 drives the gripper assembly 13 to reach directly above the material, the rotary cylinder 1306 rotates, and drives the gripper cylinder 1308 to grasp the material through the gripper cylinder connecting plate 1307. Then the rotary cylinder 1306 rotates again, so that the other gripper cylinder 1308 grasps the material directly, completing the grasping operation of the material, so as to facilitate the subsequent transfer of the material and place it on the material tray of the next process, thereby reducing the workload of workers and improving production efficiency.

[0061] Before the gripper cylinder 1308 grabs the material, it will position it. If there is a position deviation, the fine-tuning motor 1309 will drive the gripper slider 1304 to fine-tune the position along the drive shaft 1303 to ensure that the gripper cylinder 1308 can accurately grab the material and improve accuracy.

[0062] By providing the Z-axis anti-collision block 12 and the X-axis anti-collision block 408, it is possible to effectively prevent the equipment from sliding out of the X-axis or Z-axis when a failure occurs, thereby avoiding loss of production materials or injury to production personnel, and improving the safety of equipment use.

[0063] By arranging the protection components 14 on different driving components and outside the entire device, it is possible to effectively prevent foreign objects from causing damage to the driving components and protect the normal operation of the device.

[0064] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A truss manipulator device for automatic loading and unloading, characterized in that: The truss manipulator device for automatic loading and unloading comprises a frame (1), two material trays (2) are mounted on the frame (1), a column (3) is mounted on the frame (1), a horizontal moving assembly (4) is arranged on the column (3), a Z-axis mounting plate (5) is mounted on the horizontal moving assembly (4), a Z-axis slider (6) is mounted on the Z-axis mounting plate (5), a Z-axis slide rail (7) is slidably mounted on the Z-axis slider (6), a lifting column (8) is mounted on the Z-axis slide rail (7), a hand claw assembly (13) is arranged at the lower end of the lifting column (8), a Z-axis inclined chain (9) is mounted on the lifting column (8), a lifting reducer (10) is mounted on the Z-axis mounting plate (5), a lifting drive gear (11) is mounted on the output shaft of the lifting reducer (10), and the lifting drive gear (11) is meshed with the Z-axis inclined chain (9).

2. The automatic loading and unloading truss manipulator device according to claim 1 is characterized in that: The horizontal moving assembly (4) comprises an X-axis support plate (401), a Z-axis slide rail (7), an X-axis gear bar (403), an X-axis slider (404), an X-axis base plate (405), an X-axis reducer (406), an X-axis driving gear (407) and an X-axis anti-collision block (408); An X-axis support plate (401) is installed on the column (3), an X-axis slide rail (402) and an X-axis gear bar (403) are installed on the X-axis support plate (401), an X-axis slider (404) is slidably installed on the X-axis slide rail (402), an X-axis base plate (405) is installed on the X-axis slider (404), an X-axis reducer (406) is installed on the X-axis base plate (405), an X-axis drive gear (407) is installed on the output shaft of the X-axis reducer (406), the X-axis drive gear (407) is meshed with the X-axis gear bar (403), and a Z-axis mounting plate (5) is provided on the X-axis base plate (405).

3. The automatic loading and unloading truss manipulator device according to claim 2 is characterized in that: The horizontal moving assembly (4) further comprises a Y-axis support plate (409), a Y-axis gear bar (410), a Y-axis slide rail (411), a Y-axis reducer mounting seat (412), a Y-axis reducer (413), a Y-axis driving gear (414), a Y-axis bottom plate base (415) and a Y-axis slide block (416); The X-axis bottom plate (405) is mounted with a Y-axis support plate (409), the Y-axis support plate (409) is mounted with a Y-axis gear bar (410) and a Y-axis slide rail (411), the Y-axis slide rail (411) is slidably mounted with a Y-axis slider (416), the Y-axis bottom plate base (415) is mounted on the Y-axis slider (416), the Z-axis mounting plate (5) is mounted on the Y-axis bottom plate base (415), the Z-axis mounting plate (5) is mounted with a Y-axis reducer mounting seat (412), the Y-axis reducer (413) is mounted on the Y-axis reducer mounting seat (412), the Y-axis drive gear (414) is mounted on the output shaft of the Y-axis reducer (413), and the Y-axis drive gear (414) is meshed with the Y-axis gear bar (410).

4. The automatic loading and unloading truss manipulator device according to claim 3 is characterized in that: The interiors of the Y-axis support plate (409) and the lifting column (8) are both hollowed out.

5. The automatic loading and unloading truss manipulator device according to claim 1 is characterized in that: The gripper assembly (13) comprises a connecting seat (1301), a gripper sliding seat (1302), a driving shaft (1303), a gripper sliding block (1304), a rotary cylinder connecting plate (1305), a rotary cylinder (1306), a gripper cylinder connecting plate (1307) and a gripper cylinder (1308); A connecting seat (1301) is installed at the end of the lifting column (8), a hand claw slide seat (1302) is installed on the connecting seat (1301), a driving shaft (1303) is installed on the hand claw slide seat (1302), a hand claw slider (1304) is slidably installed on the driving shaft (1303), a rotating cylinder connecting plate (1305) is installed on the hand claw slider (1304), a rotating cylinder (1306) is installed on the rotating cylinder connecting plate (1305), a hand claw cylinder connecting plate (1307) is installed on the rotating cylinder (1306), and a hand claw cylinder (1308) is installed on the hand claw cylinder connecting plate (1307).

6. The automatic loading and unloading truss manipulator device according to claim 5 is characterized in that: A fine-tuning motor (1309) is installed on the gripper slide seat (1302), and an output shaft of the fine-tuning motor (1309) is connected to the driving shaft (1303).

7. The automatic loading and unloading truss manipulator device according to claim 6 is characterized in that: A Z-axis anti-collision block (12) is installed at one end of the lifting column (8) away from the gripper assembly (13), and X-axis anti-collision blocks (408) are installed at both ends of the X-axis support plate (401).

8. The automatic loading and unloading truss manipulator device according to claim 7 is characterized in that: The automatic loading and unloading truss manipulator device comprises a protection component (14), wherein the protection component (14) comprises an X-axis upper cover (1401), an X-axis side cover (1402), a Z-axis front cover (1403), a Z-axis upper cover (1404), a support rod (1405), a protection plate (1406) and a protection side plate (1407); The X-axis bottom plate (405) is provided with an X-axis upper cover shell (1401) and an X-axis side cover shell (1402), the Z-axis front cover shell (1403) and a Z-axis upper cover shell (1404) are provided on the Z-axis mounting plate (5), and a plurality of support rods (1405) are provided on the frame (1), and adjacent support rods (1405) are connected via a protective plate (1406) and a protective side plate (1407).

Images