Barrel body taking and placing mechanism applying truss manipulator

Abstract

The invention provides a barrel taking and placing mechanism applying a truss manipulator, and relates to the technical field of manipulators, the barrel taking and placing mechanism comprises a fixed frame body, the fixed frame body is of a rectangular frame structure, and a walking beam is arranged between short rectangular rods at the top of the fixed frame body; a moving frame is arranged on the walking beam; a mounting frame is arranged below the moving frame, impact force generated due to sudden stop or collision with other objects in the moving process of the grabbing mechanism can be reduced through buffering, a barrel body is prevented from violently colliding with a clamping jaw or other equipment parts, meanwhile, the grabbing mechanism can accurately reach the preset position every time in the positioning process, and the grabbing efficiency is improved. Position deviation is avoided, it is guaranteed that barrel bodies are stacked more stably, and the problems that impact force is generated due to sudden stop or collision with other objects in the movement process of a grabbing mechanism, the barrel bodies are prone to violently colliding with clamping jaws or other equipment parts, certain deviation occurs when the grabbing mechanism reaches the preset position, and the grabbing efficiency is improved are solved. And the stacking process of the barrel bodies is affected.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a barrel picking and placing mechanism using a truss manipulator. Background Art

[0002] The PM barrel collection positioning mechanism and the feeding and discharging line are used for the product feeding and discharging of the curved printing machine; they include the barrel feeding belt line, the barrel discharging flexible chain plate line, the diversion mechanism, the visual inspection, the truss manipulator barrel picking and placing mechanism, and the barrel lifting and stacking mechanism. The main components of the truss manipulator barrel picking and placing mechanism are the truss manipulator and the barrel grabbing fixture. The truss manipulator grabs the barrel behind the visual positioning handle in the barrel picking waiting area and transports it to the stacking position. During the transportation process, the truss manipulator rotates the handle angle to compensate for it, and the barrels are stacked after reaching the stacking position.

[0003] When the existing barrel picking and placing mechanism using a truss manipulator is in use, the impact force generated by the sudden stop of the grasping mechanism or the collision with other objects during the movement can easily cause the barrel to collide violently with the clamp or other equipment parts, and there will be a certain deviation when the grasping mechanism reaches the predetermined position, affecting the stacking process of the barrel. Moreover, the traditional single-time grasping method has low efficiency in the transportation to stacking process and cannot be well adapted to the production needs of batch processing. In addition, the barrel is prone to offset during grasping, causing the clamp to collide with the barrel, and scratches, cracks and other damages on its surface, which will also affect the service life of the grasping mechanism's own parts. Summary of the invention

[0004] The present invention relates to a barrel picking and placing mechanism using a truss manipulator, which uses a sliding seat and a supporting seat to slide together, and utilizes the elastic effect of a compression spring to buffer the running inertia of a moving frame. The buffer can reduce the impact force generated by a sudden stop or collision with other objects during the movement of the grabbing mechanism, and prevent the barrel from colliding violently with the clamping claw or other equipment parts. At the same time, the lifting block and the adjusting frame cooperate with each other, and the adjusting frame can be deflected with the pin shaft of the rotating sleeve as the axis, so that the limit column and the positioning groove can be clamped to complete the positioning of the moving frame. The positioning process can enable the grabbing mechanism to accurately reach the predetermined position every time, avoid position deviation, and ensure that the barrels are stacked more smoothly.

[0005] The present invention provides a barrel picking and placing mechanism using a truss manipulator, which specifically comprises: a fixed frame, the fixed frame is a rectangular frame structure, and a walking beam is arranged between the short moment bars on the top of the fixed frame; a mobile frame is arranged on the walking beam; a mounting frame is arranged below the mobile frame; four mounting seats are arranged on the mounting frame; four mechanical arms are arranged below the mounting seat, and the four mechanical arms are distributed in a circular array; a fixed base is arranged between the long moment bars at the bottom of the fixed frame; an adjusting base is arranged on the fixed base; four buffer seats are arranged on the left and right sides of the adjusting base, and the buffer seats on the left and right sides are distributed in a symmetrical manner; a side frame is arranged on one side of the buffer seat; The top of the walking beam is provided with a first slide rail, the bottom position of the front side of the walking beam is provided with a second slide rail, the top position of the front side of the walking beam is provided with a gear rod, the left end position of the front side of the walking beam is provided with a support frame, and the support frame is provided with an adjustment frame.

[0006] Furthermore, a cylinder is fixedly installed at the front of the support frame, a limit column is provided at the bottom end of the telescopic rod of the cylinder, and retaining rings are provided at the upper and lower ends of the limit column; The adjusting frame is provided with a rotating sleeve, and the rotating sleeve is rotatably connected to the supporting frame through a pin shaft, a through slot is provided at the left end of the adjusting frame, and a limiting column slides through the through slot, a limiting block is provided at the bottom of the adjusting frame, and a chamfer is provided on the right end edge of the adjusting frame.

[0007] Furthermore, two first sliding sleeves are provided at the top position of the rear side of the moving frame, and the first sliding sleeves are slidably connected to the first sliding rail, two second sliding sleeves are provided at the bottom position of the rear side of the moving frame, and the second sliding sleeves are slidably connected to the second sliding rail, a first motor is provided at the front of the moving frame, a first spur gear is provided at the end of the rotating shaft of the first motor, and the first spur gear is meshed with the gear rod, a mounting sleeve is provided on the moving frame, and the mounting sleeve is located on the right side of the first motor, a support seat is provided at the front of the moving frame, and the support seat is located on the left side of the first motor, a sliding seat is provided on the support seat, and the sliding seat corresponds to the position of the adjustment frame.

[0008] Furthermore, the mounting sleeve is located in a rectangular frame structure, and two third sliding sleeves are provided on the left and right side walls of the mounting sleeve, a fixed seat is provided at the rear of the mounting sleeve, a second motor is provided on the left side of the fixed seat, a driving pulley is provided on the rotating shaft of the second motor, and the driving pulley is located in the fixed seat, two driven pulleys are rotatably installed in the fixed seat, and the two driven pulleys are distributed in an upper and lower symmetrical manner.

[0009] Furthermore, a limiting slide groove is provided on the top of the support seat, a baffle is provided on the right side of the top of the support seat, a lifting block is provided on the top of the baffle, and a chamfer is provided on the left edge of the lifting block; The sliding seat is slidably connected to the supporting seat through a limiting sliding groove. A fixed plate is provided at the right end of the sliding seat, and a limiting sliding rod is provided at the right end of the fixed plate. A compression spring is mounted on the limiting sliding rod. The limiting sliding rod slides through the baffle plate, and the compression spring is supported between the baffle plate and the fixed plate. A positioning groove is provided on the top of the fixed plate.

[0010] Furthermore, a fixed vertical frame is provided in the middle position of the top of the mounting frame, and a third slide rail is provided on the left and right sides of the fixed vertical frame, and the two third slide rails are distributed in a symmetrical manner, and the third slide sleeve is slidably connected to the third slide rail, a belt is provided at the rear of the fixed vertical frame, and the upper and lower ends of the belt are fixedly connected to the fixed vertical frame, and the belt is transmission-connected to the driving pulley and the driven pulley, a third motor is provided at the front end of the mounting frame, a rotating rod is provided at the end of the rotating shaft of the third motor, and the rotating rod is rotatably connected to the mounting frame through a bearing, four active bevel gears are provided on the rotating rod, and the active bevel gear is located in the mounting seat.

[0011] Furthermore, a rotating shaft is rotatably installed in the middle position of the mounting seat, two second spur gears are provided at the bottom of the rotating shaft, a driven bevel gear is provided at the top of the rotating shaft, and the driven bevel gear is meshed and connected with the driving bevel gear, and four guide grooves are provided at the bottom of the mounting seat, and the four guide grooves are distributed in a circular array.

[0012] Furthermore, a clamping claw is provided at one end of the mechanical arm, a guide block is provided at the top of the mechanical arm, and the guide block is slidably connected to the mounting seat through a guide groove, and a toothed plate is provided at the other end of the mechanical arm, and the toothed plate is meshingly connected to the second spur gear.

[0013] Furthermore, a floating plate is provided above the buffer seat, and two limit rods are provided at the bottom of the floating plate, and the two limit rods are distributed in a vertical and parallel manner. A buffer spring is mounted on the limit rod, and the limit rod is slidably inserted in the buffer seat, and the buffer spring is supported between the buffer seat and the floating plate.

[0014] Furthermore, a connecting frame is provided at one end of the side frame, a limiting ring is provided at the top end of the connecting frame, and the limiting ring is located above the floating plate.

[0015] The present invention provides a barrel picking and placing mechanism using a truss manipulator, which has the following beneficial effects: When the sliding seat contacts the limiting column in the present invention, the sliding seat and the supporting seat are slidably matched, and the elastic action of the compression spring is used to buffer the running inertia of the moving frame. The buffering can reduce the impact force generated by the sudden stop or collision with other objects of the grabbing mechanism during movement, and prevent the barrel body from colliding violently with the clamping claw or other equipment parts. At the same time, the lifting block and the adjusting frame cooperate with each other, and the adjusting frame can be deflected with the pin shaft of the rotating sleeve as the axis, so that the limiting column and the positioning groove can be engaged to complete the positioning of the moving frame. The positioning process can enable the grabbing mechanism to accurately reach the predetermined position every time, avoid position deviation, and ensure that the barrel body is stacked more smoothly.

[0016] In addition, the present invention drives the rotating rod to rotate by the third motor, and utilizes the meshing transmission of the active bevel gear and the driven bevel gear to drive the rotating shaft and the second spur gear to rotate, and through the meshing transmission of the second spur gear and the toothed plate, it can drive the four mechanical arms to spread out to the four sides along the guide groove to complete the grabbing process of the barrel body, and through the transmission cooperation of the rotating rod and the four rotating shafts, a large number of barrel bodies can be grabbed at one time, and the transportation to stacking process is highly efficient, which is better suitable for the production needs of batch processing.

[0017] In addition, the present invention is provided with a buffer seat and a side frame, and the floating plate is supported on the bottom of the barrel body. The limiting plug rod is slidably inserted with the buffer seat, and the elastic effect of the buffer spring can be used to buffer the barrel body grabbing process. At the same time, the barrel body is positioned by the limiting ring to prevent the barrel body from shifting during grabbing, thereby avoiding scratches, cracks and other damages on the barrel body surface, and can also protect the components of the grabbing mechanism itself and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0019] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0020] In the attached picture: Figure 1 The overall structural diagram of the present application is shown; Figure 2 A schematic diagram showing the structure of part of the walking beam of the present application is shown; Figure 3 A schematic diagram of the structure of the mobile frame, mounting frame, mounting seat and mechanical arm of the present application is shown; Figure 4 A schematic diagram of the structure of the mobile rack of the present application is shown; Figure 5 A schematic diagram of the structure of the support frame, the adjustment frame, the support seat and the sliding seat of the present application is shown; Figure 6 This application shows Figure 5 A schematic diagram of the structure of the extended limit block and the positioning groove in a state of being engaged with each other; Figure 7 A schematic diagram of the structure of the mounting frame, mounting base and mechanical arm of the present application is shown; Figure 8 A schematic structural diagram of the mounting base of the present application from a cross-sectional perspective is shown; Fig. 9 This application shows Figure 8 The enlarged structural diagram of the middle A part; Fig.10 A schematic diagram showing the structure of the mounting base and the mechanical arm of the present application in a disassembled state; Fig.11 A schematic diagram of the structure of the fixed base, the adjustable base frame, the buffer seat and the side frame of the present application is shown; Fig.12 A schematic structural diagram of the buffer seat and the side frame of the present application is shown.

[0021] List of reference numerals: 1. Fixed frame; 2. Walking beam; 201. First slide rail; 202. Second slide rail; 203. Tooth rod; 204. Support frame; 2041. Cylinder; 2042. Limit column; 205. Adjustment frame; 2051. Rotating sleeve; 2052. Through slot; 2053. Limit block; 3. Moving frame; 301. First sleeve; 302. Second sleeve; 303. First motor; 304. First straight gear; 305. Mounting sleeve; 3051. Third sleeve; 3052. Fixed seat; 3053. Second motor; 3054. Driving pulley; 3055. Driven pulley; 306. Support seat; 3061. Limiting slide slot; 3062. Baffle; 3063. Lifting block; 307. Slide Moving seat; 3071, fixed plate; 3072, limit slide rod; 3073, compression spring; 3074, positioning groove; 4, mounting frame; 401, fixed vertical frame; 402, third slide rail; 403, belt; 404, third motor; 405, rotating rod; 406, active bevel gear; 5, mounting seat; 501, rotating shaft; 502, second spur gear; 503, driven bevel gear; 504, guide groove; 6, mechanical arm; 601, clamping claw; 602, guide block; 603, tooth plate; 7, fixed base; 8, adjusting base; 9, buffer seat; 901, floating plate; 902, limit plug rod; 903, buffer spring; 10, side frame; 1001, connecting frame; 1002, limit ring. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figures 1 to 12 : The present invention proposes a barrel picking and placing mechanism using a truss manipulator, comprising: a fixed frame 1, the fixed frame 1 is a rectangular frame structure, and a walking beam 2 is arranged between short moment bars at the top of the fixed frame 1; a moving frame 3 is arranged on the walking beam 2; a mounting frame 4 is arranged below the moving frame 3; four mounting seats 5 are arranged on the mounting frame 4; four mechanical arms 6 are arranged below the mounting seats 5, and the four mechanical arms 6 are distributed in a circular array; a fixed base 7 is arranged between long moment bars at the bottom of the fixed frame 1; an adjusting base 8 is arranged on the fixed base 7; four buffer seats 9 are arranged on both sides of the adjusting base 8, and the buffer seats 9 on the left and right sides are distributed in a symmetrical manner; a side frame 10 is arranged on one side of the buffer seat 9; A first slide rail 201 is provided at the top of the walking beam 2, a second slide rail 202 is provided at the bottom of the front side of the walking beam 2, a gear rod 203 is provided at the top of the front side of the walking beam 2, a support frame 204 is provided at the left end of the front side of the walking beam 2, and an adjustment frame 205 is provided on the support frame 204; Two first sliding sleeves 301 are provided at the top position of the rear side of the moving frame 3, and the first sliding sleeves 301 are slidably connected to the first slide rail 201, two second sliding sleeves 302 are provided at the bottom position of the rear side of the moving frame 3, and the second sliding sleeves 302 are slidably connected to the second slide rail 202, a first motor 303 is provided at the front of the moving frame 3, a first spur gear 304 is provided at the end of the rotating shaft of the first motor 303, and the first spur gear 304 is meshed and connected with the gear rod 203, a mounting sleeve 305 is provided on the moving frame 3, and the mounting sleeve 305 is located on the right side of the first motor 303, a supporting seat 306 is provided at the front of the moving frame 3, and the supporting seat 306 is located on the left side of the first motor 303, a sliding seat 307 is provided on the supporting seat 306, and the sliding seat 307 corresponds to the position of the adjustment frame 205; The mounting sleeve 305 is located in a rectangular frame structure, and two third sliding sleeves 3051 are provided on the left and right side walls of the mounting sleeve 305. A fixed seat 3052 is provided at the rear of the mounting sleeve 305. A second motor 3053 is provided on the left side of the fixed seat 3052. A driving pulley 3054 is provided on the rotating shaft of the second motor 3053, and the driving pulley 3054 is located in the fixed seat 3052. Two driven pulleys 3055 are rotatably installed in the fixed seat 3052, and the two driven pulleys 3055 are distributed in an upper and lower symmetrical manner.

[0024] In this embodiment, Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, a cylinder 2041 is fixedly installed at the front of the support frame 204, a limit column 2042 is provided at the bottom end of the telescopic rod of the cylinder 2041, and retaining rings are provided at the upper and lower ends of the limit column 2042; The adjusting frame 205 is provided with a rotating sleeve 2051, and the rotating sleeve 2051 is rotatably connected to the supporting frame 204 through a pin shaft. A through slot 2052 is provided at the left end of the adjusting frame 205, and the limiting column 2042 slides through the through slot 2052. A limiting block 2053 is provided at the bottom of the adjusting frame 205, and a chamfer is provided on the right edge of the adjusting frame 205. A limiting slide groove 3061 is provided on the top of the support seat 306, a baffle 3062 is provided on the right side of the top of the support seat 306, a lifting block 3063 is provided on the top of the baffle 3062, and a chamfer is provided on the left edge of the lifting block 3063; The sliding seat 307 is slidably connected to the support seat 306 through the limiting slide groove 3061. A fixing plate 3071 is provided at the right end of the sliding seat 307. A limiting slide bar 3072 is provided at the right end of the fixing plate 3071. A compression spring 3073 is sleeved on the limiting slide bar 3072. The limiting slide bar 3072 slides through the baffle plate 3062, and the compression spring 3073 is supported between the baffle plate 3062 and the fixing plate 3071. A positioning groove 3074 is provided on the top of the fixing plate 3071. In the present invention, the first motor 303 provides power, and the first spur gear 304 and the gear rod 203 are meshed for transmission, so as to drive the moving frame 3 to slide to the left along the walking beam 2. When the sliding seat 307 contacts the limiting column 2042, the sliding seat 307 slides with the supporting seat 306, and the elastic action of the compression spring 3073 is used to buffer the running inertia of the moving frame 3. The buffering can reduce the impact force caused by the sudden stop or collision with other objects during the movement of the grabbing mechanism. At the same time, the lifting block 3063 cooperates with the adjusting frame 205, and the adjusting frame 205 can be deflected with the pin shaft of the rotating sleeve 2051 as the axis, so that the limiting column 2042 can be engaged with the positioning groove 3074 to complete the positioning of the moving frame 3. The positioning process can enable the grabbing mechanism to accurately reach the predetermined position every time.

[0025] In this embodiment, Figures 7 to 10 As shown, a fixed vertical frame 401 is provided at the middle position of the top of the mounting frame 4, and a third slide rail 402 is provided on the left and right sides of the fixed vertical frame 401, and the two third slide rails 402 are distributed in a symmetrical manner, and the third sliding sleeve 3051 is slidably connected to the third slide rail 402, a belt 403 is provided at the rear of the fixed vertical frame 401, and the upper and lower ends of the belt 403 are fixedly connected to the fixed vertical frame 401, and the belt 403 is transmission-connected to the driving pulley 3054 and the driven pulley 3055, a third motor 404 is provided at the front end of the mounting frame 4, a rotating rod 405 is provided at the end of the rotating shaft of the third motor 404, and the rotating rod 405 is rotatably connected to the mounting frame 4 through a bearing, and four driving bevel gears 406 are provided on the rotating rod 405, and the driving bevel gear 406 is located in the mounting seat 5; A rotating shaft 501 is rotatably mounted in the middle of the mounting seat 5, two second spur gears 502 are arranged at the bottom of the rotating shaft 501, a driven bevel gear 503 is arranged at the top of the rotating shaft 501, and the driven bevel gear 503 is meshed and connected with the driving bevel gear 406, and four guide grooves 504 are arranged at the bottom of the mounting seat 5, and the four guide grooves 504 are distributed in a circular array; A clamping claw 601 is provided at one end of the mechanical arm 6, and a guide block 602 is provided at the top of the mechanical arm 6, and the guide block 602 is slidably connected to the mounting seat 5 through a guide groove 504, and a tooth plate 603 is provided at the other end of the mechanical arm 6, and the tooth plate 603 is meshingly connected with the second spur gear 502. In the present invention, the third motor 404 drives the rotating rod 405 to rotate, and the active bevel gear 406 and the driven bevel gear 503 are meshed to drive the rotating shaft 501 and the second spur gear 502 to rotate, and through the meshing transmission of the second spur gear 502 and the tooth plate 603, the mechanical arms 6 at four locations can be driven to spread out to the four locations along the guide groove 504 to complete the process of grabbing the barrel body, and a large number of barrel bodies can be grabbed at one time through the transmission cooperation between the rotating rod 405 and the four rotating shafts 501.

[0026] Embodiment 2, based on embodiment 1, as Fig.11 and Fig.12 As shown, a floating plate 901 is provided above the buffer seat 9, and two limiting rods 902 are provided at the bottom of the floating plate 901, and the two limiting rods 902 are distributed in a vertically parallel manner, and a buffer spring 903 is sleeved on the limiting rod 902. The limiting rod 902 is slidably inserted in the buffer seat 9, and the buffer spring 903 is supported between the buffer seat 9 and the floating plate 901; A connecting frame 1001 is provided at one end of the side frame 10, and a limiting ring 1002 is provided at the top of the connecting frame 1001, and the limiting ring 1002 is located above the floating plate 901. In the present invention, a buffer seat 9 and a side frame 10 are provided, and the floating plate 901 is supported on the bottom of the barrel body. The limiting rod 902 is slidably inserted with the buffer seat 9, and the elastic effect of the buffer spring 903 can be used to buffer the barrel body grabbing process. At the same time, the limiting ring 1002 positions the barrel body to prevent the barrel body from shifting during grabbing.

[0027] The working principle of this embodiment is as follows: when in use, the first motor 303 provides power, and the first spur gear 304 and the gear rod 203 are meshed for transmission, which can drive the moving frame 3 to slide to the left along the walking beam 2. When the sliding seat 307 contacts the limiting column 2042, the sliding seat 307 and the supporting seat 306 are slidably matched, and the elastic effect of the compression spring 3073 is used to buffer the running inertia of the moving frame 3. The buffering can reduce the impact force generated by the sudden stop or collision with other objects during the movement of the grabbing mechanism. At the same time, the lifting block 3063 cooperates with the adjusting frame 205, and the adjusting frame 205 can be deflected with the pin shaft of the rotating sleeve 2051 as the axis, so that the limiting column 2042 can be engaged with the positioning groove 3074. The positioning process can enable the grabbing mechanism to accurately reach the predetermined position every time. 404 drives the rotating rod 405 to rotate, and the active bevel gear 406 and the driven bevel gear 503 are meshed to drive the rotating shaft 501 and the second spur gear 502 to rotate, and through the meshing transmission of the second spur gear 502 and the toothed plate 603, the mechanical arms 6 at four locations can be driven to spread out to the four sides along the guide groove 504 to complete the grabbing process of the barrel body. Through the transmission cooperation of the rotating rod 405 and the rotating shafts 501 at four locations, a large number of barrel bodies can be grabbed at one time, and the above-mentioned transportation and stacking processes can be carried out; a buffer seat 9 and a side frame 10 are provided, and a floating plate 901 is supported on the bottom of the barrel body. Through the sliding cooperation of the limiting plug rod 902 and the buffer seat 9, the elastic action of the buffer spring 903 can be used to buffer the barrel body grabbing process, and at the same time, the limiting ring 1002 positions the barrel body to prevent the barrel body from shifting during grabbing.

[0028] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A barrel picking and placing mechanism using a truss manipulator, characterized in that: include: A fixed frame (1) is a rectangular frame structure, wherein a walking beam (2) is provided between short moment bars at the top of the fixed frame (1); a moving frame (3) is provided on the walking beam (2); a mounting frame (4) is provided below the moving frame (3); four mounting seats (5) are provided on the mounting frame (4); four mechanical arms (6) are provided below the mounting seats (5), and the four mechanical arms (6) are distributed in a circular array; a fixed base (7) is provided between long moment bars at the bottom of the fixed frame (1); an adjusting base (8) is provided on the fixed base (7); four buffer seats (9) are provided on both left and right sides of the adjusting base (8), and the buffer seats (9) on the left and right sides are distributed in a symmetrical manner; a side frame (10) is provided on one side of the buffer seat (9); The top of the walking beam (2) is provided with a first slide rail (201), the bottom of the front side of the walking beam (2) is provided with a second slide rail (202), the top of the front side of the walking beam (2) is provided with a gear rod (203), the left end of the front side of the walking beam (2) is provided with a support frame (204), and the support frame (204) is provided with an adjustment frame (205).

2. The barrel picking and placing mechanism using a truss manipulator according to claim 1 is characterized in that: A cylinder (2041) is fixedly mounted on the front of the support frame (204), a limit column (2042) is provided at the bottom end of the telescopic rod of the cylinder (2041), and retaining rings are provided at the upper and lower ends of the limit column (2042); The adjusting frame (205) is provided with a rotating sleeve (2051), and the rotating sleeve (2051) is rotatably connected to the supporting frame (204) via a pin shaft; a through slot (2052) is provided at the left end of the adjusting frame (205), and a limiting column (2042) slides through the through slot (2052); a limiting block (2053) is provided at the bottom of the adjusting frame (205), and a chamfer is provided on the right edge of the adjusting frame (205).

3. The barrel picking and placing mechanism using a truss manipulator according to claim 1 is characterized in that: Two first sliding sleeves (301) are provided at the top position of the rear side of the moving frame (3), and the first sliding sleeves (301) are slidably connected to the first sliding rail (201); two second sliding sleeves (302) are provided at the bottom position of the rear side of the moving frame (3), and the second sliding sleeves (302) are slidably connected to the second sliding rail (202); a first motor (303) is provided at the front of the moving frame (3); a first spur gear (304) is provided at the end of the rotating shaft of the first motor (303), and the first spur gear (304) is meshedly connected to the gear rod (203); a mounting sleeve (305) is provided on the moving frame (3), and the mounting sleeve (305) is located on the right side of the first motor (303); a support seat (306) is provided at the front of the moving frame (3), and the support seat (306) is located on the left side of the first motor (303); a sliding seat (307) is provided on the support seat (306), and the position of the sliding seat (307) corresponds to that of the adjustment frame (205).

4. The barrel picking and placing mechanism using a truss manipulator according to claim 3 is characterized in that: The mounting sleeve (305) is located in a rectangular frame structure, and two third sliding sleeves (3051) are provided on the left and right side walls of the mounting sleeve (305), a fixed seat (3052) is provided at the rear of the mounting sleeve (305), a second motor (3053) is provided on the left side of the fixed seat (3052), a driving pulley (3054) is provided on the rotating shaft of the second motor (3053), and the driving pulley (3054) is located in the fixed seat (3052), and two driven pulleys (3055) are rotatably installed in the fixed seat (3052), and the two driven pulleys (3055) are distributed in an upper and lower symmetrical manner.

5. The barrel picking and placing mechanism using a truss manipulator according to claim 3 is characterized in that: The support seat (306) is provided with a limiting slide groove (3061) on the top, a baffle (3062) is provided on the right side of the top of the support seat (306), a lifting block (3063) is provided on the top of the baffle (3062), and a chamfer is provided on the left edge of the lifting block (3063); The sliding seat (307) is slidably connected to the support seat (306) via a limiting sliding groove (3061); a fixing plate (3071) is provided at the right end of the sliding seat (307); a limiting sliding rod (3072) is provided at the right end of the fixing plate (3071); a compression spring (3073) is sleeved on the limiting sliding rod (3072); the limiting sliding rod (3072) slides through the baffle plate (3062); the compression spring (3073) is supported between the baffle plate (3062) and the fixing plate (3071); and a positioning groove (3074) is provided at the top of the fixing plate (3071).

6. The barrel picking and placing mechanism using a truss manipulator according to claim 1 is characterized in that: A fixed vertical frame (401) is provided at the middle position of the top of the mounting frame (4), and third slide rails (402) are provided on the left and right sides of the fixed vertical frame (401), and the two third slide rails (402) are symmetrically distributed, and the third sliding sleeve (3051) is slidably connected to the third slide rail (402), a belt (403) is provided at the rear of the fixed vertical frame (401), and the upper and lower ends of the belt (403) are fixedly connected to the fixed vertical frame (401), and the belt (403) is transmission-connected to the driving pulley (3054) and the driven pulley (3055), a third motor (404) is provided at the front end of the mounting frame (4), a rotating rod (405) is provided at the end of the rotating shaft of the third motor (404), and the rotating rod (405) is rotationally connected to the mounting frame (4) through a bearing, and four driving bevel gears (406) are provided on the rotating rod (405), and the driving bevel gears (406) are located in the mounting seat (5).

7. The barrel picking and placing mechanism using a truss manipulator according to claim 1 is characterized in that: A rotating shaft (501) is rotatably mounted in the middle of the mounting seat (5), two second spur gears (502) are arranged at the bottom end of the rotating shaft (501), a driven bevel gear (503) is arranged at the top end of the rotating shaft (501), and the driven bevel gear (503) is meshedly connected with the driving bevel gear (406), and four guide grooves (504) are arranged at the bottom of the mounting seat (5), and the four guide grooves (504) are distributed in a ring array.

8. The barrel picking and placing mechanism using a truss manipulator according to claim 1 is characterized in that: A clamping claw (601) is provided at one end of the mechanical arm (6), a guide block (602) is provided at the top of the mechanical arm (6), and the guide block (602) is slidably connected to the mounting seat (5) via a guide groove (504), and a toothed plate (603) is provided at the other end of the mechanical arm (6), and the toothed plate (603) is meshingly connected to the second spur gear (502).

9. The barrel picking and placing mechanism using a truss manipulator according to claim 1, characterized in that: A floating plate (901) is provided above the buffer seat (9), two limiting rods (902) are provided at the bottom of the floating plate (901), and the two limiting rods (902) are distributed in a vertically parallel manner, and a buffer spring (903) is sleeved on the limiting rod (902), the limiting rod (902) is slidably inserted into the buffer seat (9), and the buffer spring (903) is supported between the buffer seat (9) and the floating plate (901).

10. The barrel picking and placing mechanism using a truss manipulator according to claim 1, characterized in that , A connecting frame (1001) is provided at one end of the side frame (10), a limiting ring (1002) is provided at the top end of the connecting frame (1001), and the limiting ring (1002) is located above the floating plate (901).

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