Truss manipulator with balance compensation function

Abstract

The invention relates to the technical field of manipulators, and discloses a truss manipulator with a balance compensation function, which comprises a truss body and a grabbing chassis, a main suction mechanism is arranged in the center of the grabbing chassis, and compensation mechanisms are mounted at four corners of the grabbing chassis; the compensation mechanism comprises an electric push rod and an auxiliary sucker; the auxiliary sucker is arranged at the telescopic end of the electric push rod; the main suction mechanism comprises a suction cup body and a tension measuring piece, the suction cup body comprises an upper suction cup section and a lower suction cup section which are of an integrated structure, and the upper suction cup section is designed to be elastic; the tension measuring piece comprises four pressure applying plates distributed in different directions and corresponding weighing sensors, and each weighing sensor is arranged below the corresponding pressure applying plate; through ingenious combination of the main suction mechanism and the compensation mechanism, precise balance compensation of the vehicle door workpiece in the carrying process is achieved, and carrying errors and workpiece damage caused by workpiece shaking or inclination are reduced.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and more specifically, it relates to a gantry manipulator with a balance compensation function. Background Art

[0002] The gantry manipulator for grasping car door workpieces is an automated device applied in the automotive manufacturing industry, mainly used to efficiently and precisely complete tasks such as handling, assembling, and positioning of car door components. The gantry manipulator consists of multiple rigid structures, usually including a base, multiple support arms, and an end effector. This kind of manipulator has high flexibility and stability, and can move precisely in multiple directions to adapt to car door workpieces of different sizes and shapes.

[0003] The gantry manipulator usually adopts a gantry structure, which consists of columns, crossbeams, guide rails, ram heads, etc., forming a stable framework. The grasping chassis is installed at the mobile end of the manipulator and is used to carry and grasp workpieces. The grasping chassis is provided with suction cups for adsorbing workpieces.

[0004] However, due to design reasons, the weight distribution of car door workpieces is uneven. When the suction cups adsorb and lift the workpieces, if there is a large offset between the center of gravity of the car door workpiece and the adsorption points of the suction cups, then during the lifting process, the car door workpiece will shake due to the action of the gravity moment, and this kind of shaking will intensify as the moving distance increases. For this reason, we propose a gantry manipulator with a balance compensation function. Summary of the Invention

[0005] The present invention provides a gantry manipulator with a balance compensation function, which solves the problem that there is a large offset between the center of gravity of the car door workpiece and the adsorption points of the suction cups in the related technology, and the workpiece will shake due to the action of the gravity moment during the lifting process.

[0006] The present invention provides a gantry manipulator with a balance compensation function, including: a gantry body and a grasping chassis. A main suction mechanism is arranged at the central position of the grasping chassis, and compensation mechanisms are installed at its four corner positions.

[0007] The compensation mechanism includes an electric push rod and a secondary suction cup, and the secondary suction cup is arranged at the telescopic end of the electric push rod.

[0008] The main suction mechanism includes a suction cup body and a tensile force measuring member. The suction cup body includes an upper section suction cup and a lower section suction cup, which are of an integral structure, and the upper section suction cup is designed to be elastic; the tensile force measuring member includes four pressure plates distributed in different directions and corresponding weighing sensors. Each weighing sensor is arranged below the corresponding pressure plate, and the lower wall of each pressure plate is fixedly connected to the junction of the upper section suction cup and the lower section suction cup through an elastic limit rope.

[0009] The suction cup body and the auxiliary suction cups in four directions jointly adsorb and lift the car door workpiece. Due to the uneven weight of the car door workpiece, the elastic limit pull ropes in four directions are subjected to different downward forces, applying different downward pressures to the four weighing sensors. The weighing sensors transmit the measured data to the control system. The control system controls the telescopic movement of the electric push rods at the corresponding positions according to the received data, driving the auxiliary suction cups to lift the car door workpiece in the corresponding direction to achieve the balance compensation function.

[0010] Further, the truss body includes a traveling frame. The traveling frame is connected to the truss body through a driving member to form relative movement. The grasping chassis is fixedly connected to the bottom end of the traveling frame.

[0011] Further, the suction cup body further includes a mounting plate. The mounting plate is fixedly connected to the upper section suction cup and the grasping chassis. A central control box is fixedly arranged at the central position inside the mounting plate. And the four pressure plates are all rotatably connected to the outer wall of the central control box. The end of the pressure plate far from the central control box is aligned with the probe of the corresponding weighing sensor.

[0012] Further, an inner section suction cup is arranged inside the lower section suction cup. The inner section suction cup and the lower section suction cup are integrated, and the inner section suction cup and the lower section suction cup are concentric circles. The space from the inner section suction cup to the center of the circle is interconnected with the inner space of the upper section suction cup. And the space between the outer wall of the inner section suction cup and the inner wall of the lower section suction cup is not interconnected with the inner space of the upper section suction cup. One end of the elastic limit pull rope close to the pressure plate is one, and the end far from the pressure plate branches out several roots, all connected to the junction of the upper section suction cup and the lower section suction cup and distributed in an umbrella shape.

[0013] Further, the compensation mechanism further includes a side box fixedly connected to the grasping chassis. A liquid storage box is arranged inside the side box. And the water outlet end of the liquid storage box is connected with a liquid conveying pipe. The liquid conveying pipe and the liquid storage box are filled with liquid and in a bubble-free state.

[0014] Further, two symmetrically arranged follow-up columns are fixedly arranged on the side wall of the telescopic column of the electric push rod. And a follow-up pressure plate is fixedly arranged at the end of the follow-up column far from the auxiliary suction cup. The follow-up pressure plate is located below the liquid storage box and is slidably connected to the liquid storage box. The follow-up pressure plate moves in the same direction as the telescopic column of the electric push rod to squeeze the liquid storage box.

[0015] Further, the end of the liquid conveying pipe far from the side box is connected with an auxiliary control box. The auxiliary control box is fixed inside the central control box. The inside of the auxiliary control box is divided into four independent spaces. Each space corresponds to a compensation mechanism in the same direction. An expansion film is fixedly arranged in each space. The included angle space between the expansion film and the auxiliary control box is interconnected with the corresponding liquid conveying pipe.

[0016] Further, a control switch is fixedly arranged at the center position of the auxiliary control box. The control switch is connected to the control system through a wire, and signals are transmitted to the control system through the control switch. After receiving the control signal from the control system, the telescopic end of the electric push rod is pushed to expand and contract.

[0017] Further, the other side of the expansion film is fixedly connected with a telescopic column. A plurality of groups of conductive sheets are inlaid on the outer wall of the telescopic column, and each group of conductive sheets is divided into two non-contact parts from the middle line position. Two contact heads I are respectively arranged on both sides of the telescopic column, and the two contact heads I in the same group are respectively connected in series through wires.

[0018] Further, a guide column is slidably arranged inside the telescopic column. A contact head II is fixedly arranged at the bottom end of the guide column, and the contact head II is in contact with the inner wall of the conductive sheet. The contact head II is connected to the control switch through a wire.

[0019] The beneficial effects of the present invention are as follows:

[0020] Through the ingenious combination of the main suction mechanism and the compensation mechanism, the present invention realizes precise balance compensation for the door workpiece during the handling process. The upper suction cup in the main suction mechanism is designed as an elastic structure, which can sensitively sense the downward force caused by uneven weight distribution of the workpiece, and transmit this force to the weighing sensors in four directions through the elastic limit rope. The control system quickly adjusts the telescopic actions of the electric push rods at the corresponding positions according to the data fed back by the sensors, and drives the auxiliary suction cup to lift or lower specific parts of the workpiece, thereby realizing precise adjustment of the overall balance state of the workpiece. This design greatly improves the stability and safety of the manipulator when handling the door workpiece, and reduces handling errors and workpiece damage caused by workpiece shaking or tilting.

[0021] The control system can receive and analyze the data of the weighing sensors in real time, automatically calculate and adjust the telescopic amount of the electric push rods, and realize the balance compensation function without manual intervention. This automatic control method not only improves the operation efficiency of the manipulator, but also reduces the operation difficulty and labor cost. At the same time, since the system can precisely control the telescopic actions of the electric push rods, it can also avoid over-adjustment or under-adjustment, thereby ensuring the accuracy and stability of workpiece handling. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the structural schematic diagram of the grasping chassis of the present invention;

[0024] Figure 3 is the structural schematic diagram of the mounting plate of the present invention;

[0025] Figure 4It is a schematic diagram of the upper suction cup structure of the present invention;

[0026] Figure 5 It is a schematic diagram of the inner suction cup structure of the present invention;

[0027] Figure 6 It is a schematic diagram of the side box structure of the present invention;

[0028] Figure 7 It is a schematic right view structure diagram of the electric push rod of the present invention;

[0029] Figure 8 It is a schematic diagram of the internal structure of the side box of the present invention;

[0030] Figure 9 It is a schematic top view structure diagram of the inside of the auxiliary control box of the present invention;

[0031] Figure 10 It is a schematic diagram of the internal structure of the telescopic column of the present invention.

[0032] In the figure: 11, truss body; 12, traveling frame; 13, grasping chassis; 2, main suction mechanism; 21, mounting plate; 22, upper suction cup; 23, lower suction cup; 24, central control box; 25, pressing plate; 26, weighing sensor; 27, elastic limit rope; 28, inner suction cup; 3, compensation mechanism; 31, side box; 32, electric push rod; 33, auxiliary suction cup; 34, liquid storage box; 35, follower pressing plate; 36, follower pull column; 37, liquid delivery pipe; 41, auxiliary control box; 42, expansion film; 43, telescopic column; 44, conductive sheet; 45, contact head one; 46, control switch; 47, guide column; 48, contact head two. Detailed implementation manners

[0033] Now, the subject matter described herein will be discussed with reference to example embodiments. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the scope of protection of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0034] As Figures 1 - 10 shown, a truss manipulator with a balance compensation function includes: a truss body 11 and a grasping chassis 13. A main suction mechanism 2 is provided at the central position of the grasping chassis 13, and compensation mechanisms 3 are installed at the four corner positions thereof;

[0035] The compensation mechanism 3 includes an electric push rod 32 and an auxiliary suction cup 33. The auxiliary suction cup 33 is provided at the telescopic end of the electric push rod 32;

[0036] The main suction mechanism 2 includes a suction cup body and a tensile force measuring member. The suction cup body includes an upper suction cup 22 and a lower suction cup 23, which are of an integral structure, and the upper suction cup 22 is designed to be elastic; the tensile force measuring member includes four pressure application plates 25 distributed in different directions and corresponding weighing sensors 26. Each weighing sensor 26 is arranged below the corresponding pressure application plate 25, and the lower wall of each pressure application plate 25 is fixedly connected to the junction of the upper suction cup 22 and the lower suction cup 23 through a spring-limiting pull rope 27;

[0037] The suction cup body and the auxiliary suction cups 33 in four directions jointly adsorb and lift the car door workpiece. Due to the uneven weight of the car door workpiece, the spring-limiting pull ropes 27 in four directions are subjected to different downward forces, applying different downward pressures to the four weighing sensors 26. The weighing sensors 26 transmit the measured data to the control system. The control system controls the telescopic movement of the electric push rods 32 at the corresponding positions according to the received data, driving the auxiliary suction cups 33 to lift the car door workpiece in the corresponding direction, realizing the balance compensation function.

[0038] The truss body 11 includes a traveling frame 12. The traveling frame 12 is connected to the truss body 11 through a driving member to form relative movement, and the grasping chassis 13 is fixedly connected to the bottom end of the traveling frame 12.

[0039] As Figure 2 、 Figure 4 and Figure 5 shown, the suction cup body further includes a mounting plate 21. The mounting plate 21 is fixedly connected to the upper suction cup 22, and the mounting plate 21 is fixedly connected to the grasping chassis 13. A central control box 24 is fixedly arranged at the central position inside the mounting plate 21, and the four pressure application plates 25 are all rotatably connected to the outer wall of the central control box 24. The end of the pressure application plate 25 far from the central control box 24 is aligned with the probe of the corresponding weighing sensor 26.

[0040] An inner suction cup 28 is arranged inside the lower suction cup 23. The inner suction cup 28 and the lower suction cup 23 are of an integral body, and the inner suction cup 28 and the lower suction cup 23 are concentric circles. The space from the inner suction cup 28 to the center of the circle is interconnected with the inner space of the upper suction cup 22, and the space between the outer wall of the inner suction cup 28 and the inner wall of the lower suction cup 23 is not interconnected with the inner space of the upper suction cup 22. One end of the spring-limiting pull rope 27 close to the pressure application plate 25 is one, and the end far from the pressure application plate 25 branches out several roots, all of which are connected to the junction of the upper suction cup 22 and the lower suction cup 23 and are distributed in an umbrella shape.

[0041] The traveling frame 12 moves along a pre-designed path through its own driving member, pressing the grasping chassis 13 tightly against the door workpiece. Meanwhile, the control mechanism of the suction cups evacuates the air from one suction cup body and four auxiliary suction cups 33 simultaneously to form a negative pressure state. Then, the door workpiece is lifted along the pre-designed path to the designated location. Subsequently, the control mechanism of the suction cups fills the one suction cup body and four auxiliary suction cups 33 with air to lower the door workpiece.

[0042] While the traveling frame 12 is lifting the door workpiece, due to the uneven weight distribution around the door workpiece, when the door workpiece detaches from the platform, the instant drop of the door workpiece on the upper suction cup 22 is manifested. The upper suction cup 22 is elastic and is stretched. At the same time, it pulls down the elastic limit ropes 27 in four directions, and the downward pulling force of the elastic limit ropes 27 is transmitted to the pressure plate 25, driving the pressure plate 25 to press the weighing sensors 26. The downward pressures received by the weighing sensors 26 in four directions are different, and the data transmitted by the weighing sensors 26 to the system are different. The system makes a judgment based on the data of the weighing sensors 26 in different directions and controls the corresponding electric push rods 32 to work.

[0043] For example, if the left side of the upper suction cup 22 receives a larger downward pulling force, then the telescopic columns of the electric push rods 32 in the upper left corner and the lower left corner are controlled by the system to retract, reducing the downward displacement in this direction or increasing the upward pulling force, which can increase the upward pulling force on this side to balance the downward pulling force. The working modes of the electric push rods 32 in other directions are the same as above.

[0044] The elastic limit ropes 27 can prevent the upper suction cup 22 from being severely deformed under gravity and causing the door workpiece to fall off.

[0045] The concentric circle structure formed by the inner suction cup 28 and the lower suction cup 23 can ensure that after the upper suction cup 22 is subjected to a downward force, the space between the inner suction cup 28 and the lower suction cup 23 still tightly adheres to the door workpiece.

[0046] The compensation mechanism 3 further includes a side box 31 fixedly connected to the grasping chassis 13. A liquid storage box 34 is arranged inside the side box 31, and the water outlet end of the liquid storage box 34 is connected with a liquid delivery pipe 37. The liquid delivery pipe 37 and the liquid storage box 34 are filled with liquid and are in a bubble-free state.

[0047] Two symmetrically arranged follower columns 36 are fixedly arranged on the side wall of the telescopic column of the electric push rod 32. One end of the follower column 36 away from the auxiliary suction cup 33 is fixedly provided with a follower pressure plate 35. The follower pressure plate 35 is located below the liquid storage box 34 and is slidably connected with the liquid storage box 34. The follower pressure plate 35 moves in the same direction as the telescopic movement of the telescopic column of the electric push rod 32 to squeeze the liquid storage box 34.

[0048] One end of the liquid passing pipe 37 away from the side box 31 is connected with an auxiliary control box 41. The auxiliary control box 41 is fixed inside the central control box 24. The interior of the auxiliary control box 41 is divided into four mutually independent spaces. Each space corresponds to a compensation mechanism 3 in the same direction. An expansion film 42 is fixedly arranged in each space. The included angle space between the expansion film 42 and the auxiliary control box 41 is communicated with the corresponding liquid passing pipe 37.

[0049] As Figure 8 , Figure 9 and Figure 10 shown, a control switch 46 is fixedly arranged at the center position of the auxiliary control box 41. The control switch 46 is connected with the control system through a wire. Signals are transmitted to the control system through the control switch 46. After receiving the control signal of the control system, the telescopic end of the electric push rod 32 is pushed to expand and contract.

[0050] The other side of the expansion film 42 is fixedly connected with a telescopic column 43. A plurality of groups of conductive sheets 44 are embedded on the outer wall of the telescopic column 43. And each group of conductive sheets 44 is divided into two non-contact parts from the middle line position. Two contact heads one 45 are respectively arranged on both sides of the telescopic column 43. And the two contact heads one 45 in the same group are respectively connected in series through a wire.

[0051] A guide column 47 is slidably arranged inside the telescopic column 43. A contact head two 48 is fixedly arranged at the bottom end of the guide column 47. And the contact head two 48 is in contact with the inner wall of the conductive sheet 44. The contact head two 48 is connected with the control switch 46 through a wire.

[0052] When the telescopic column of the electric push rod 32 shortens, the telescopic column of the electric push rod 32 drives the pulling column 36 to rise. The pulling column 36 drives the pressing plate 35 to rise to extrude the liquid storage box 34. The liquid in the liquid storage box 34 flows into the included angle space between the corresponding expansion film 42 and the auxiliary control box 41 through the liquid passing pipe 37, causing the expansion film 42 to expand. The expansion of the expansion film 42 pushes the telescopic column 43 to slide. At this time, the contact heads one 45 in the same group respectively contact the conductive sheets 44 in the same group. And the sliding of the contact head two 48 just contacts the inner wall of the conductive sheet 44 in the same group, making the conductive sheets 44 in the same group conduct electricity with each other. If the expansion volumes of the four expansion films 42 are the same, at this time, the contact heads one 45 in the four directions and the corresponding telescopic column 43 and contact head two 48 form a complete series connection. At this time, the power is turned on to make the control switch 46 work and send a signal to the system, controlling the electric push rod 32 to stop working;

[0053] If the expansion volumes of the four expansion films 42 are different, the contact heads one 45 and contact head two 48 at the same position do not contact the conductive sheets 44 at the same position. At this time, the control switch 46 does not work. The electric push rods 32 in the four directions continue to work, and cooperate with the data of the weighing sensor 26 to compensate the door workpieces in the four directions until the preset value is compensated.

[0054] S1. Initial preparation and adsorption stage:

[0055] The traveling frame 12 moves along a predetermined path by a driving member, bringing the grasping chassis 13 into close contact with the car door workpiece. Meanwhile, the air in the suction cup body and the four auxiliary suction cups 33 is extracted through the control mechanism of the suction cup, creating a negative pressure state. Under the action of the negative pressure, the suction cup body and the auxiliary suction cups 33 jointly adsorb and lift the car door workpiece.

[0056] S2. Weight distribution detection and data collection stage:

[0057] Due to the uneven weight distribution of the car door workpiece, the upper suction cup 22 stretches under the elastic action, and the downward force is transmitted to the pressure plates 25 in four directions through the elastic limit rope 27. The pressure plates 25 apply different downward pressures to the load cells 26. The load cells 26 measure and record these downward pressure data, and then transmit the data to the control system, providing data support for subsequent balance compensation.

[0058] S3. Balance compensation calculation and control instruction sending stage:

[0059] The control system receives the data from the load cells 26, analyzes and processes it. According to the analysis results, the control system calculates the position and the amount of expansion and contraction of the electric push rods 32 that need to be adjusted, and sends control instructions to the electric push rods 32 at the corresponding positions, preparing for the balance compensation action.

[0060] S4. Balance compensation execution stage:

[0061] The electric push rods 32 perform expansion and contraction actions according to the received control instructions, driving the auxiliary suction cups 33 to lift or lower the car door workpiece in the corresponding directions. By adjusting the amounts of expansion and contraction of the electric push rods 32 in four directions, the balance compensation of the car door workpiece is achieved.

[0062] S5. Detection of the expansion film 42 and judgment of stop conditions stage:

[0063] While the electric push rods 32 are working, the follower pressure plate 35 squeezes the liquid storage box 34. The liquid in the liquid storage box 34 flows into the angular space between the corresponding expansion film 42 and the auxiliary control box 41 through the liquid pipe 37. The expansion film 42 expands and pushes the follower column 43 to slide. At the same time, the first contact head 45 and the second contact head 48 contact the conductive sheet 44 to form a series circuit. The control system detects whether the first contact heads 45 and the second contact heads 48 in four directions have all formed a complete series circuit to judge whether the balance compensation has reached the preset value.

[0064] S6. Completion of balance compensation and subsequent operation stage:

[0065] If the contact heads one - 45 and two - 48 in all four directions form a complete series circuit, it indicates that the balance compensation reaches the preset value, and the control system sends a stop working instruction to the electric push rod 32. If the preset value is not reached, the control system continues to adjust the telescopic amount of the electric push rod 32 until the conditions are met. Finally, the control mechanism of the suction cup fills the suction cup body and the auxiliary suction cup 33 with air, lowers the car door workpiece, and completes the entire work process.

[0066] The above describes the embodiments of this example, but this example is not limited to the above - mentioned specific implementation manners. The above - mentioned specific implementation manners are merely illustrative rather than restrictive. Under the inspiration of this example, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this example.

Claims

1. A truss manipulator with a balance compensation function, comprising: A truss body (11) and a grabbing chassis (13), characterized in that a main suction mechanism (2) is provided at the center of the grabbing chassis (13), and compensation mechanisms (3) are installed at the four corners thereof; The compensation mechanism (3) comprises an electric push rod (32) and an auxiliary suction cup (33), wherein the auxiliary suction cup (33) is arranged at the telescopic end of the electric push rod (32); The main suction mechanism (2) comprises a suction cup body and a tension measuring piece, wherein the suction cup body comprises an upper suction cup (22) and a lower suction cup (23), both of which are an integrated structure, and the upper suction cup (22) is designed to be elastic; the tension measuring piece comprises four pressure plates (25) distributed in different directions and corresponding weighing sensors (26), each weighing sensor (26) is arranged below a corresponding pressure plate (25), and the lower wall of each pressure plate (25) is fixedly connected to the junction of the upper suction cup (22) and the lower suction cup (23) through a limiting elastic pull rope (27); The suction cup body and the auxiliary suction cups (33) in four directions jointly absorb and lift the door workpiece. Due to the uneven weight of the door workpiece, the elastic limit ropes (27) in four directions are subjected to different downward forces, exerting different downward pressures on the four weighing sensors (26). The weighing sensors (26) transmit the measured data to the control system. The control system controls the electric push rods (32) in the corresponding positions to perform telescopic movements based on the received data, and drives the auxiliary suction cups (33) to lift the door workpiece in the corresponding direction, thereby realizing a balance compensation function.

2. A truss manipulator with a balance compensation function according to claim 1, characterized in that: The truss body (11) comprises a traveling frame (12), the traveling frame (12) and the truss body (11) are connected via a driving member so as to move relative to each other, and the grabbing chassis (13) is fixedly connected to the bottom end of the traveling frame (12).

3. The truss manipulator with balance compensation function according to claim 1, characterized in that: The suction cup body further comprises a mounting plate (21), wherein the mounting plate (21) is fixedly connected to the upper suction cup (22), and the mounting plate (21) is fixedly connected to the gripping chassis (13). A central control box (24) is fixedly arranged at the inner center position of the mounting plate (21), and four pressure plates (25) are rotatably connected to the outer wall of the central control box (24), and one end of the pressure plate (25) away from the central control box (24) is aligned with the probe of the corresponding weighing sensor (26).

4. The truss manipulator with balance compensation function according to claim 1, characterized in that: An inner suction cup (28) is arranged on the inner side of the lower suction cup (23); the inner suction cup (28) and the lower suction cup (23) are integrally formed, and the inner suction cup (28) and the lower suction cup (23) are concentric circles; the space from the inner suction cup (28) to the center of the circle is communicated with the inner space of the upper suction cup (22); and the space from the outer wall of the inner suction cup (28) to the inner wall of the lower suction cup (23) is not communicated with the inner space of the upper suction cup (22); the elastic limiter rope (27) has one rope at one end close to the pressure plate (25) and a plurality of ropes at one end away from the pressure plate (25), all of which are connected to the junction of the upper suction cup (22) and the lower suction cup (23) and are distributed in an umbrella shape.

5. The truss manipulator with balance compensation function according to claim 3, characterized in that: The compensation mechanism (3) further comprises a side box (31) fixedly connected to the grab chassis (13); a liquid storage box (34) is arranged inside the side box (31); a water outlet in the liquid storage box (34) is connected to a liquid passage tube (37); the liquid passage tube (37) and the liquid storage box (34) are filled with liquid and are in a bubble-free state.

6. The truss manipulator with balance compensation function according to claim 5, characterized in that: Two mutually symmetrical follow-pull columns (36) are fixedly provided on the side wall of the telescopic column of the electric push rod (32), and a follow-pressing plate (35) is fixedly provided on one end of the follow-pull column (36) away from the auxiliary suction cup (33). The follow-pressing plate (35) is located below the liquid storage box (34) and is slidably connected to the liquid storage box (34). The follow-pressing plate (35) moves in the same direction as the telescopic column of the electric push rod (32) to squeeze the liquid storage box (34).

7. The truss manipulator with balance compensation function according to claim 5, characterized in that: One end of the liquid passage tube (37) away from the side box (31) is connected to an auxiliary control box (41), the auxiliary control box (41) is fixed inside the central control box (24), the interior of the auxiliary control box (41) is divided into four independent spaces, each space corresponds to a compensation mechanism (3) in the same direction, an expansion film (42) is fixedly arranged in each space, and the angle space between the expansion film (42) and the auxiliary control box (41) is connected to the corresponding liquid passage tube (37).

8. The truss manipulator with balance compensation function according to claim 7, characterized in that: A control switch (46) is fixedly provided at the center of the auxiliary control box (41); the control switch (46) is connected to the control system via a wire, and a signal is transmitted to the control system via the control switch (46); after receiving the control signal from the control system, the telescopic end of the electric push rod (32) is pushed to be telescopic.

9. The truss manipulator with balance compensation function according to claim 8, characterized in that: The other side of the expansion rubber sheet (42) is fixedly connected to a follow-up column (43), the outer wall of the follow-up column (43) is inlaid with a plurality of groups of conductive sheets (44), and each group of conductive sheets (44) is divided into two non-contacting parts from the midline position, and two electric contact heads (45) are respectively arranged on both sides of the follow-up column (43), and the two electric contact heads (45) of the same group are respectively connected in series through wires.

10. The truss manipulator with balance compensation function according to claim 9, characterized in that: A guide column (47) is slidably disposed inside the extension column (43), a second electric contact head (48) is fixedly disposed at the bottom end of the guide column (47), and the second electric contact head (48) contacts the inner wall of the conductive sheet (44), and the second electric contact head (48) is connected to the control switch (46) via a wire.

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