A barrel picking and placing mechanism applying a truss manipulator

Abstract

The present invention provides a barrel picking and placing mechanism using a truss manipulator, which relates to the technical field of manipulators and includes: a fixed frame body, the fixed frame body is of a rectangular frame structure, and a walking beam is arranged between the short torque rods at the top of the fixed frame body; a moving frame is arranged on the walking beam; an installation frame is arranged below the moving frame. Among them, buffering can reduce the impact force generated when the grasping mechanism suddenly stops or collides with other objects during movement, prevent the barrel from colliding violently with the clamping jaw or other equipment components. At the same time, the positioning process can enable the grasping mechanism to accurately reach the predetermined position each time, avoid deviation in position, ensure more stable stacking of barrels, and solve the problem that the impact force generated when the grasping mechanism suddenly stops or collides with other objects during movement easily causes the barrel to collide violently with the clamping jaw or other equipment components, and there will be a certain deviation when the grasping mechanism reaches the predetermined position, affecting the barrel stacking process.

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, specifically including: a fixed frame body, the fixed frame body is a rectangular frame structure, and a walking beam is provided between the short torque rods at the top of the fixed frame body; a moving frame is provided on the walking beam; an installation frame is provided below the moving frame; four installation seats are provided on the installation frame; four robotic arms are provided below the installation seats, and the four robotic arms are distributed in an annular array; a fixed base is provided between the long torque rods at the bottom of the fixed frame body; an adjusting base frame is provided on the fixed base; four buffer seats are provided on both the left and right sides of the adjusting base frame, and the buffer seats on the left and right sides are symmetrically distributed; a side frame is provided on one side of the buffer seat.

[0006] A first slide rail is provided at the top end of the walking beam, a second slide rail is provided at the bottom position on the front side of the walking beam, a toothed rod is provided at the top position on the front side of the walking beam, a support frame is provided at the position near the left end on the front side of the walking beam, and an adjusting frame is provided on the support frame.

[0007] Furthermore, a cylinder is fixedly installed at the front part of the support frame, a limit post is provided at the bottom end of the telescopic rod of the cylinder, and retaining rings are provided at both the upper and lower ends of the limit post.

[0008] A rotating sleeve is provided on the adjusting frame, and the rotating sleeve is rotationally connected to the support frame through a pin shaft. A through groove is provided at the position near the left end of the adjusting frame, and the limit post slides through the through groove. A limit block is provided at the bottom of the adjusting frame, and a chamfer is provided at the edge of the right end of the adjusting frame.

[0009] Furthermore, two first sliding sleeves are provided at the top position on the rear side of the moving frame, and the first sliding sleeves are slidably connected to the first slide rail. Two second sliding sleeves are provided at the bottom position on the rear side of the moving frame, and the second sliding sleeves are slidably connected to the second slide rail. A first motor is provided at the front part 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 toothed rod. An installation sleeve frame is provided on the moving frame, and the installation sleeve frame is located to the right of the first motor. A support seat is provided at the front part of the moving frame, and the support seat is located to the left of the first motor. A sliding seat is provided on the support seat, and the sliding seat corresponds to the position of the adjusting frame.

[0010] Furthermore, the installation sleeve frame is of a rectangular frame structure, and two third sliding sleeves are provided on both the left and right side walls inside the installation sleeve frame. A fixed seat is provided at the rear part of the installation sleeve frame, 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 inside the fixed seat. Two driven pulleys are rotatably installed inside the fixed seat, and the two driven pulleys are symmetrically distributed up and down.

[0011] Furthermore, a limit sliding groove is provided at the top of the support seat, a baffle is provided on the right side at the top of the support seat, a lifting block is provided at the top end of the baffle, and a chamfer is provided at the edge of the left end of the lifting block.

[0012] The sliding seat is slidably connected to the support seat through a limit chute. A fixed plate is provided at the right end of the sliding seat. A limit slide bar is provided at the right end of the fixed plate. A compression spring is sleeved on the limit slide bar. The limit slide bar slidably penetrates through the baffle, and the compression spring is supported between the baffle and the fixed plate. A positioning groove is provided at the top of the fixed plate.

[0013] Furthermore, a fixed vertical frame is provided at the middle position of the top of the mounting frame. Third slide rails are provided on the left and right sides of the fixed vertical frame, and the two third slide rails are distributed symmetrically. 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 in transmission connection with 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 driving bevel gears are provided on the rotating rod, and the driving bevel gears are located inside the mounting seat.

[0014] Furthermore, a rotating shaft is rotatably installed at the middle position of the mounting seat. Two second straight gears are provided at the bottom end of the rotating shaft. A driven bevel gear is provided at the top end of the rotating shaft, and the driven bevel gear is meshed with the driving bevel gear. Four guiding grooves are provided at the bottom of the mounting seat, and the four guiding grooves are distributed in an annular array.

[0015] Furthermore, a clamping jaw is provided at one end of the robotic arm. A guiding block is provided at the top of the robotic arm, and the guiding block is slidably connected to the mounting seat through the guiding groove. A toothed plate is provided at the other end of the robotic arm, and the toothed plate is meshed with the second straight gear.

[0016] Furthermore, a floating plate is provided above the buffer seat. Two limit insertion rods are provided at the bottom of the floating plate, and the two limit insertion rods are distributed vertically and parallelly. A buffer spring is sleeved on the limit insertion rods. The limit insertion rods are slidably inserted into the buffer seat, and the buffer spring is supported between the buffer seat and the floating plate.

[0017] Furthermore, a connecting frame is provided at one end of the side frame. A limit ring is provided at the top end of the connecting frame, and the limit ring is located above the floating plate.

[0018] The present invention provides a barrel picking and placing mechanism applying a truss robot arm, which has the following beneficial effects:

[0019] In the present invention, when the sliding seat comes into contact with the limit post, the sliding seat and the support 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 when the grasping mechanism suddenly stops or collides with other objects during the movement process, prevent the barrel from colliding violently with the clamping jaw or other equipment components. At the same time, the lifting block and the adjusting frame cooperate with each other, and the adjusting frame can be deflected around the pin shaft of the rotating sleeve, enabling the limit post to be engaged with the positioning groove, completing the positioning of the moving frame. The positioning process can enable the grasping mechanism to accurately reach the predetermined position each time, avoid position deviation, and ensure that the stacking of barrels is more stable.

[0020] In addition, in the present invention, the rotating rod is driven to rotate by the third motor. By the meshing transmission of the driving bevel gear and the driven bevel gear, the rotating shaft and the second straight gear can be driven to rotate. And through the meshing transmission of the second straight gear and the toothed plate, the four mechanical arms can be driven to expand around the guide groove, completing the grasping process of the barrel. Through the transmission cooperation of the rotating rod and the four rotating shafts, a relatively large number of barrels can be grasped at one time, and the efficiency of the handling and stacking process is relatively high, which better meets the production requirements of batch processing.

[0021] In addition, in the present invention, there are a buffer seat and a side frame. The floating plate supports the bottom of the barrel. Through the sliding insertion fit of the limit insertion rod and the buffer seat, and by the elastic action of the buffer spring, the grasping process of the barrel can be buffered. At the same time, the barrel is positioned by the limit ring, preventing the barrel from shifting during grasping, thus avoiding damage such as scratches and cracks on the surface of the barrel, and also protecting the components of the grasping mechanism itself and extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0023] The drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0024] In the drawings:

[0025] Figure 1 The overall structural schematic diagram of the present application is shown;

[0026] Figure 2 The structural schematic diagram of a part of the walking beam of the present application is shown;

[0027] Figure 3 The structural schematic diagram of the moving frame, mounting frame, mounting seat and mechanical arm of the present application is shown;

[0028] Figure 4 The structural schematic diagram of the moving frame of the present application is shown;

[0029] Figure 5 Shows a schematic structural diagram of the support frame, adjustment frame, support base and sliding seat of the present application;

[0030] Figure 6 Shows the Figure 5 Schematic structural diagram of the clamping state of the led limiting block and the positioning groove;

[0031] Figure 7 Shows a schematic structural diagram of the mounting frame, mounting seat and robotic arm of the present application;

[0032] Figure 8 Shows a schematic structural diagram of the mounting seat from a sectional view perspective;

[0033] Figure 9 Shows the Figure 8 Enlarged schematic structural diagram of part A;

[0034] Figure 10 Shows a schematic structural diagram of the mounting seat and the robotic arm in a disassembled state;

[0035] Figure 11 Shows a schematic structural diagram of the fixed base, adjustment chassis, buffer seat and side frame of the present application;

[0036] Figure 12 Shows a schematic structural diagram of the buffer seat and the side frame of the present application.

[0037] List of reference numerals:

[0038] 1. Fixed frame; 2. Walking beam; 201. First slide rail; 202. Second slide rail; 203. Rack; 204. Support frame; 2041. Cylinder; 2042. Limit post; 205. Adjusting frame; 2051. Rotating sleeve; 2052. Through groove; 2053. Limit block; 3. Moving frame; 301. First sliding sleeve; 302. Second sliding sleeve; 303. First motor; 304. First spur gear; 305. Mounting sleeve frame; 3051. Third sliding sleeve; 3052. Fixed seat; 3053. Second motor; 3054. Driving pulley; 3055. Driven pulley; 306. Support seat; 3061. Limit sliding groove; 3062. Baffle; 3063. Lifting block; 307. Sliding seat; 3071. Fixed plate; 3072. Limit sliding 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. Driving bevel gear; 5. Mounting seat; 501. Rotating shaft; 502. Second spur gear; 503. Driven bevel gear; 504. Guide groove; 6. Manipulator; 601. Claw; 602. Guide block; 603. Tooth plate; 7. Fixed base; 8. Adjusting base frame; 9. Buffer seat; 901. Floating plate; 902. Limit insertion rod; 903. Buffer spring; 10. Side frame; 1001. Connecting frame; 1002. Limit ring. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0040] Embodiment 1: Please refer to Figures 1 to 12 :

[0041] The present invention provides a barrel picking and placing mechanism using a truss manipulator, including: a fixed frame 1, the fixed frame 1 is a rectangular frame structure, and a walking beam 2 is provided between the short torque rods at the top of the fixed frame 1; a moving frame 3 is provided on the walking beam 2; an installation frame 4 is provided below the moving frame 3; four installation seats 5 are provided on the installation frame 4; four manipulators 6 are provided below the installation seats 5, and the four manipulators 6 are distributed in an annular array; a fixed base 7 is provided between the long torque rods at the bottom of the fixed frame 1; an adjusting base frame 8 is provided on the fixed base 7; four buffer seats 9 are provided on both the left and right sides of the adjusting base frame 8, and the buffer seats 9 on the left and right sides are symmetrically distributed; a side frame 10 is provided on one side of the buffer seat 9;

[0042] The top of the walking beam 2 is provided with a first slide rail 201, the bottom position on the front side of the walking beam 2 is provided with a second slide rail 202, the top position on the front side of the walking beam 2 is provided with a rack 203, the position on the front side of the walking beam 2 near the left end is provided with a support frame 204, and an adjusting frame 205 is arranged on the support frame 204;

[0043] There are two first sliding sleeves 301 at the top position on the rear side of the moving frame 3, and the first sliding sleeves 301 are slidably connected with the first slide rail 201. There are two second sliding sleeves 302 at the bottom position on the rear side of the moving frame 3, and the second sliding sleeves 302 are slidably connected with the second slide rail 202. A first motor 303 is arranged at the front part of the moving frame 3. A first straight gear 304 is arranged at the end of the rotating shaft of the first motor 303, and the first straight gear 304 is meshed and connected with the rack 203. An installation sleeve frame 305 is arranged on the moving frame 3, and the installation sleeve frame 305 is located on the right side of the first motor 303. A support seat 306 is arranged at the front part 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 arranged on the support seat 306, and the sliding seat 307 corresponds to the position of the adjusting frame 205;

[0044] The installation sleeve frame 305 is of a rectangular frame structure, and there are two third sliding sleeves 3051 on both the left and right side walls inside the installation sleeve frame 305. A fixed seat 3052 is arranged at the rear part of the installation sleeve frame 305. A second motor 3053 is arranged on the left side of the fixed seat 3052. A driving pulley 3054 is arranged on the rotating shaft of the second motor 3053, and the driving pulley 3054 is located inside the fixed seat 3052. Two driven pulleys 3055 are rotatably installed inside the fixed seat 3052, and the two driven pulleys 3055 are distributed in a vertically symmetrical manner.

[0045] In this embodiment, as Figure 2 、 Figure 4 、 Figure 5 and Figure 6 shown, a cylinder 2041 is fixedly installed at the front part of the support frame 204. A limit post 2042 is arranged at the bottom end of the telescopic rod of the cylinder 2041, and retaining rings are arranged at both the upper and lower ends of the limit post 2042;

[0046] A rotating sleeve 2051 is arranged on the adjusting frame 205, and the rotating sleeve 2051 is rotatably connected with the support frame 204 through a pin shaft. A through groove 2052 is arranged at the position on the left end of the adjusting frame 205, and the limit post 2042 slidably penetrates through the through groove 2052. A limit block 2053 is arranged at the bottom of the adjusting frame 205, and a chamfer is arranged at the edge of the right end of the adjusting frame 205;

[0047] A limit sliding groove 3061 is arranged at the top of the support seat 306. A baffle 3062 is arranged on the right side at the top of the support seat 306. A lifting block 3063 is arranged at the top end of the baffle 3062, and a chamfer is arranged at the edge of the left end of the lifting block 3063;

[0048] The sliding seat 307 is slidably connected to the support seat 306 through the limit chute 3061. A fixed plate 3071 is provided at the right end of the sliding seat 307. A limit slide bar 3072 is provided at the right end of the fixed plate 3071. A compression spring 3073 is sleeved on the limit slide bar 3072. The limit slide bar 3072 slidably penetrates through the baffle 3062, and the compression spring 3073 is supported between the baffle 3062 and the fixed plate 3071. A positioning groove 3074 is provided at the top of the fixed plate 3071. In the present invention, power is provided by the first motor 303. By meshing and driving the first spur gear 304 and the toothed rod 203, the moving frame 3 can be driven to slide leftward along the walking beam 2. When the sliding seat 307 contacts the limit post 2042, through the sliding fit between the sliding seat 307 and the support seat 306, and by using the elastic action of the compression spring 3073, the running inertia of the moving frame 3 is buffered. The buffering can reduce the impact force generated when the grasping mechanism suddenly stops or collides with other objects during the movement process. At the same time, the lifting block 3063 and the adjusting frame 205 cooperate with each other, and the adjusting frame 205 can be deflected with the pin shaft of the rotating sleeve 2051 as the axis, enabling the limit post 2042 to be engaged with the positioning groove 3074 to complete the positioning of the moving frame 3. The positioning process can enable the grasping mechanism to accurately reach the predetermined position each time.

[0049] In this embodiment, as Figures 7 to 10 shown, a fixed vertical frame 401 is provided at the middle position of the top of the mounting frame 4. 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 distributed symmetrically. And the third slide 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 in transmission connection with 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. Four driving bevel gears 406 are provided on the rotating rod 405, and the driving bevel gears 406 are located inside the mounting seat 5;

[0050] A rotating shaft 501 is rotatably installed at the middle position of the mounting seat 5. Two second spur gears 502 are provided at the bottom end of the rotating shaft 501. A driven bevel gear 503 is provided at the top end of the rotating shaft 501, and the driven bevel gear 503 is engaged with the driving bevel gear 406. Four guiding grooves 504 are provided at the bottom of the mounting seat 5, and the four guiding grooves 504 are distributed in an annular array;

[0051] One end of the robotic arm 6 is provided with a gripper 601. A guiding block 602 is provided at the top of the robotic arm 6, and the guiding block 602 is slidably connected to the mounting seat 5 through a guiding groove 504. The other end of the robotic arm 6 is provided with a toothed plate 603, and the toothed plate 603 is meshed and connected with the second straight gear 502. In the present invention, the rotating rod 405 is rotated by the third motor 404. By using the meshing transmission of the driving bevel gear 406 and the driven bevel gear 503, the rotating shaft 501 and the second straight gear 502 can be driven to rotate. And through the meshing transmission of the second straight gear 502 and the toothed plate 603, the four robotic arms 6 can be driven to expand around along the guiding groove 504 to complete the grasping process of the barrel body. Through the transmission cooperation of the rotating rod 405 and the four rotating shafts 501, a relatively large number of barrel bodies can be grasped at one time.

[0052] Embodiment 2, on the basis of Embodiment 1, as Figure 11 and Figure 12 shown, a floating plate 901 is provided above the buffer seat 9. Two limiting insertion rods 902 are provided at the bottom of the floating plate 901, and the two limiting insertion rods 902 are distributed in a vertically parallel manner. A buffer spring 903 is sleeved on the limiting insertion rod 902. The limiting insertion 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;

[0053] One end of the side frame 10 is provided with a connecting frame 1001. 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. In the present invention, a buffer seat 9 and a side frame 10 are provided. The floating plate 901 supports the bottom of the barrel body. Through the sliding insertion cooperation of the limiting insertion rod 902 and the buffer seat 9, by using the elastic action of the buffer spring 903, the grasping process of the barrel body can be buffered. At the same time, the barrel body is positioned by the limiting ring 1002 to prevent the barrel body from shifting during grasping.

[0054] Working principle of this embodiment: During use, power is provided by the first motor 303. By means of the meshing transmission between the first spur gear 304 and the rack 203, the moving frame 3 can be driven to slide leftward along the traveling beam 2. When the sliding seat 307 comes into contact with the limit post 2042, through the sliding fit between the sliding seat 307 and the support seat 306, and by utilizing the elastic action of the compression spring 3073, the running inertia of the moving frame 3 is buffered. The buffering can reduce the impact force generated when the grasping mechanism suddenly stops or collides with other objects during movement. At the same time, the lifting block 3063 and the adjusting frame 205 cooperate with each other, enabling the adjusting frame 205 to deflect with the pin shaft of the rotating sleeve 2051 as the axis, so that the limit post 2042 can be engaged with the positioning groove 3074. The positioning process can enable the grasping mechanism to accurately reach the predetermined position each time; the third motor 404 drives the rotating rod 405 to rotate. By means of the meshing transmission between the driving bevel gear 406 and the driven bevel gear 503, the rotating shaft 501 and the second spur gear 502 can be driven to rotate, and through the meshing transmission between the second spur gear 502 and the toothed plate 603, the four mechanical arms 6 can be driven to expand around along the guide groove 504 to complete the grasping process of the barrel body. Through the transmission cooperation between the rotating rod 405 and the four rotating shafts 501, a relatively large number of barrel bodies can be grasped at one time, and the above-mentioned handling and stacking processes can be carried out; a buffer seat 9 and a side frame 10 are provided therein. The floating plate 901 supports the bottom of the barrel body. Through the sliding insertion fit between the limit insertion rod 902 and the buffer seat 9, and by utilizing the elastic action of the buffer spring 903, the grasping process of the barrel body can be buffered. At the same time, the barrel body is positioned by the limit ring 1002 to prevent the barrel body from shifting during grasping.

[0055] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for specific purposes.

Claims

1. A barrel picking and placing mechanism applying a truss manipulator, characterized in that, Including: A fixed frame body (1), the fixed frame body (1) is of a rectangular frame structure, and a walking beam (2) is arranged between the short moment bars at the top of the fixed frame body (1); a moving frame (3) is arranged on the walking beam (2); an installation frame (4) is arranged below the moving frame (3); four installation seats (5) are arranged on the installation frame (4); four robotic arms (6) are arranged below the installation seats (5), and the four robotic arms (6) are distributed in a circular array; a fixed base (7) is arranged between the long moment bars at the bottom of the fixed frame body (1); an adjusting base frame (8) is arranged on the fixed base (7); four buffer seats (9) are arranged on both the left and right sides of the adjusting base frame (8), and the buffer seats (9) on the left and right sides are symmetrically distributed; a side frame (10) is arranged on one side of the buffer seat (9). A first slide rail (201) is arranged at the top end of the walking beam (2), a second slide rail (202) is arranged at the bottom position of the front side of the walking beam (2), a toothed bar (203) is arranged at the top position of the front side of the walking beam (2), a support frame (204) is arranged at the position near the left end of the front side of the walking beam (2), and an adjusting frame (205) is arranged on the support frame (204). A cylinder (2041) is fixedly installed at the front part of the support frame (204), a limit post (2042) is arranged at the bottom end of the telescopic rod of the cylinder (2041), and retaining rings are arranged at both the upper and lower ends of the limit post (2042). A rotating sleeve (2051) is arranged on the adjusting frame (205), and the rotating sleeve (2051) is rotationally connected to the support frame (204) through a pin shaft. A through groove (2052) is arranged at the position near the left end of the adjusting frame (205), and the limit post (2042) slides through the through groove (2052). A limit block (2053) is arranged at the bottom of the adjusting frame (205), and a chamfer is arranged at the edge of the right end of the adjusting frame (205). Two first sliding sleeves (301) are arranged 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 arranged 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 arranged at the front part of the moving frame (3), a first straight gear (304) is arranged at the end of the rotating shaft of the first motor (303), and the first straight gear (304) is meshed with the toothed bar (203). An installation sleeve frame (305) is arranged on the moving frame (3), and the installation sleeve frame (305) is located on the right side of the first motor (303). A support seat (306) is arranged at the front part 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 arranged on the support seat (306), and the sliding seat (307) corresponds to the position of the adjusting frame (205).

2. The barrel picking and placing mechanism applying a truss manipulator according to claim 1, characterized in that The mounting sleeve frame (305) is in a rectangular frame structure, and there are two third sliding sleeves (3051) provided on the left and right side walls inside the mounting sleeve frame (305). A fixed seat (3052) is provided at the rear of the mounting sleeve frame (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 inside the fixed seat (3052). Two driven pulleys (3055) are rotatably mounted inside the fixed seat (3052), and the two driven pulleys (3055) are distributed symmetrically up and down.

3. The barrel picking and placing mechanism using a truss manipulator according to claim 1, characterized in that A limit chute (3061) is provided at the top of the support seat (306). A baffle (3062) is provided on the right side at the top of the support seat (306). A lifting block (3063) is provided at the top end of the baffle (3062), and a chamfer is provided at the left edge of the lifting block (3063). The sliding seat (307) is slidably connected to the support seat (306) through the limit chute (3061). A fixing plate (3071) is provided at the right end of the sliding seat (307). A limit slide bar (3072) is provided at the right end of the fixing plate (3071). A compression spring (3073) is sleeved on the limit slide bar (3072). The limit slide bar (3072) slidably penetrates through the baffle (3062), and the compression spring (3073) is supported between the baffle (3062) and the fixing plate (3071). A positioning groove (3074) is provided at the top of the fixing plate (3071).

4. The barrel picking and placing mechanism using a truss manipulator according to claim 1, characterized in that A fixed vertical frame (401) is provided at the middle position at the top of the mounting frame (4). 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 distributed symmetrically. 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 in transmission connection with the driving pulley (3054) and the driven pulleys (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. Four driving bevel gears (406) are provided on the rotating rod (405), and the driving bevel gears (406) are located inside the mounting seat (5).

5. The barrel picking and placing mechanism using a truss manipulator according to claim 1, characterized in that A rotating shaft (501) is rotatably installed at the middle position of the mounting base (5). Two second spur gears (502) are provided at the bottom end of the rotating shaft (501), and a driven bevel gear (503) is provided at the top end of the rotating shaft (501). The driven bevel gear (503) is meshed and connected with the driving bevel gear (406). Four guiding grooves (504) are provided at the bottom of the mounting base (5), and the four guiding grooves (504) are distributed in an annular array.

6. The barrel picking and placing mechanism using a truss manipulator according to claim 1, wherein A jaw (601) is provided at one end of the robotic arm (6). A guiding block (602) is provided at the top of the robotic arm (6), and the guiding block (602) is slidably connected with the mounting base (5) through the guiding groove (504). A toothed plate (603) is provided at the other end of the robotic arm (6), and the toothed plate (603) is meshed and connected with the second spur gear (502).

7. The barrel picking and placing mechanism using a truss manipulator according to claim 1, wherein A floating plate (901) is provided above the buffer seat (9). Two limiting insertion rods (902) are provided at the bottom of the floating plate (901), and the two limiting insertion rods (902) are distributed in a vertically parallel manner. A buffer spring (903) is sleeved on the limiting insertion rod (902). The limiting insertion 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).

8. 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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