Truss robot

Abstract

The invention relates to the field of industrial automation, in particular to a truss robot which comprises a truss, a mechanical arm arranged on the truss in a sliding mode and a clamping jaw connected with the end of the mechanical arm through a connecting shaft, and the clamping jaw further comprises hydraulic rods arranged at the two ends of the clamping jaw and connecting blocks connected with the ends of the hydraulic rods and controlled by the hydraulic rods to extend the clamping distance. The connecting blocks are symmetrically distributed; the clamping end is fixedly connected with the end of the connecting block, and the connecting frame is fixed to the outer wall of one side of the clamping end. The connecting frame is semi-arc-shaped, and the top of the connecting frame is a horizontal placing surface; the oil pressure control structure is arranged on the horizontal placing surface of the connecting frame and is used for adjusting roller pressing force according to deformation of the material roller. By means of the material roller clamping device, efficient and accurate clamping and shape correction of the material roller are achieved, the production efficiency is remarkably improved, the product quality is ensured, the universality and flexibility of equipment are greatly improved, and the processing requirements of the material rollers of different lengths and shapes can be easily met.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and particularly to a truss robot. Background Art

[0002] In the rapidly developing modern industrial production system, truss robots, as core components on automated production lines, play an irreplaceable role. With their powerful material handling, precise positioning, efficient clamping, and flexible processing capabilities, they have greatly promoted the leap in production efficiency and significantly reduced the human resource cost.

[0003] For example, a truss robot with the publication number CN109623796B and the authorization announcement date of October 22, 2021, although it is provided with a material picking and placing unit that can first detect the specifications of the plates in the warehouse and then suck and transport them, and a plate separating mechanism is used to achieve the effect of breaking the vacuum between two layers of plates, that is, first suck one end of the upper layer of the plate until it is lifted and deformed upward, so that air can enter between the upper and lower layers of plates, and then the two layers of plates can be separated. The present invention has a high degree of automation, strong function of moving and transporting plates, and improves the work efficiency of warehouse plate management. However, it mainly targets hard and regular-shaped plates, and for materials such as material rolls (cloth rolls, paper rolls, film rolls, etc.) that are soft and easily deformed, its clamping and handling effects may not be ideal.

[0004] Material rolls, as an indispensable material form in many industrial fields, have a large range of variations in their shapes and sizes due to differences in processing technology, transportation conditions, and storage environments. When traditional truss robots clamp material rolls, they are often limited by the fixed jaw design and are difficult to effectively adapt to material rolls of different shapes and sizes. This not only easily leads to unstable phenomena such as shaking and slipping during the clamping process, but may even cause damage to the material rolls due to uneven clamping force distribution in severe cases, thus affecting product quality and increasing production costs;

[0005] More critically, during the processing, transportation, and storage of material rolls, due to factors such as uneven stress and temperature changes, their shapes often undergo a certain degree of deformation. Traditional truss robots lack effective shape correction means when dealing with such deformed material rolls and often rely only on simple mechanical clamping or manual adjustment, which is not only inefficient but also difficult to guarantee the correction effect. As Figure 10 shown, Figure 10 intuitively shows two common deformation situations during the stacking of material rolls. In Figure 10On the left side, the outer material coil of a material roller (assumed to be "f1") that should originally be circular has been pressed into an oval shape. This is because during the stacking process, the bottom material roller is subjected to the gravitational pressure of multiple upper material rollers, resulting in uneven compression in the horizontal and vertical directions, thus forming an oval shape. This deformation not only makes the material roller lose its original flatness and regularity but may also affect its positioning accuracy and cutting effect during subsequent processing. And in Figure 10 On the right side, the upper surface of another material roller (assumed to be "f2") has been pressed into an inclined shape. This is usually because during the stacking process, the arrangement of the material rollers is not tight enough or there are gaps, resulting in the uneven distribution of the weight of the upper material roller on the lower material roller under the action of gravity, thus causing the inclination of its upper surface. This deformation will also affect the flatness and regularity of the material roller and may even cause sliding or misalignment during handling or processing.

[0006] Regarding these two deformation problems that may occur during the stacking process of material rollers, some traditional solutions are mainly adopted in the prior art, such as restricting the stacking layers, using special pallets or brackets to disperse the pressure, etc. However, these methods all have some limitations, such as occupying more storage space, increasing equipment costs and operation complexity, etc.

[0007] In view of the above problems, there is an urgent need for innovative design based on the original truss robot. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a truss robot to solve the technical problem that in the prior art, during the processing, transportation, and storage of material rollers, due to factors such as uneven force and temperature change, their shapes often undergo a certain degree of deformation. When traditional truss robots deal with such deformed material rollers, they lack effective shape correction means and often can only rely on simple mechanical clamping or manual adjustment, which is not only inefficient but also difficult to guarantee the correction effect.

[0009] Based on the above purpose, the present invention provides a truss robot, including a truss, a manipulator slidably arranged on the truss, and a jaw connected to the end of the manipulator through a connecting shaft. The jaw further includes: hydraulic rods arranged at both ends of the jaw, and a connecting block connected to the end of the hydraulic rod and controlled by it to extend the clamping distance, and the connecting blocks are symmetrically distributed;

[0010] A clamping end fixedly connected to the end of the connecting block, and a connecting frame fixed on the outer wall of one side of the clamping end;

[0011] The connecting frame is semi-circular, and its top is a horizontally placed surface;

[0012] An oil pressure control structure arranged on the horizontally placed surface of the connecting frame to adjust the pressing roller force according to the deformation of the material roller;

[0013] A placement rack fixed to the bottom of the jaw, and a main control oil tank arranged on the placement rack to balance the force of the oil pressure control structure;

[0014] The oil pressure control structure includes:

[0015] A pressure transmission oil tank placed on the horizontal placement surface of the connecting rack to convey hydraulic oil to the main control oil tank, and two oil pressure rods distributed and inserted on the arc surface of the connecting rack. The oil pressure rods are connected to the pressure transmission oil tank through oil pipes.

[0016] Furthermore, a telescopic rod is slidably arranged in the oil pressure rod, and a contact roller for negatively contacting the outer wall of the material roller is rotatably arranged at the end of the telescopic rod.

[0017] Furthermore, one of the contact rollers is horizontally arranged on the outer wall of the material roller, and the other contact roller is arc-shaped with the material roller as the axis on the outer wall of the material roller.

[0018] Furthermore, a sliding rod is slidably arranged in the main control oil tank, and one end of the sliding rod is exposed at the top of the main control oil tank. A pressing plate for jacking up the sliding rod by oil pressure is fixedly connected to the bottom of the sliding rod. A compression spring is arranged on the top of the pressing plate, and the compression spring is sleeved on the sliding rod.

[0019] Furthermore, a fixed claw is fixedly connected to the outer wall of one of the clamping ends, and a motor is arranged on the outer wall of one side of the other clamping end, and a movable claw rotatably connected to the motor coaxially is arranged on the outer wall of the other side.

[0020] Furthermore, inclined blocks are rotatably arranged on the end faces of the fixed claw and the movable claw, and the inclined blocks are used for rotating and adjusting the clamping work according to the diameter of the circular inner cavity of the material roller.

[0021] Furthermore, the inclined blocks are specifically trapezoidal and are distributed in a circular array to uniformly press and clamp the circular inner cavity of the material roller.

[0022] Furthermore, a connecting end for starting the telescopic connection block clamping distance of the hydraulic rod is arranged at the top of the jaw, and the connecting end is connected to the hydraulic rod through a connecting pipe.

[0023] The beneficial effects of the present invention: By using a truss robot of the present invention, through the collaborative work of the hydraulic rod and the connecting block, the adaptive adjustment of the length of the material roller is realized. After confirming the position of the material roller, the manipulator slowly descends, and at the same time, the hydraulic rod of the jaw is precisely adjusted according to the preset or real-time measured data of the length of the material roller, ensuring that the distance between the connecting block and the clamping end perfectly matches the actual length of the material roller. This not only improves the accuracy of clamping but also greatly enhances the versatility and flexibility of the equipment, and can easily handle the processing requirements of material rollers of different lengths;

[0024] Secondly, the hydraulic control structure on the clamping jaws is closely attached to the outer wall of the material roller through the contact roller at the end of the telescopic rod, and is adaptively adjusted according to the actual shape of the material roller. The hydraulic oil in the hydraulic rod flows through the oil delivery pipe to the pressure transmission oil tank under the action of pressure, and then enters the main control oil tank. The sliding rod, pressure plate and compression spring system in the main control oil tank jointly monitor and adjust the flow and pressure change of the hydraulic oil to ensure that the contact roller can contact the outer wall of the material roller evenly and stably. It not only realizes the precise clamping of the outer wall of the material roller, but also can automatically adjust the pressure roller force according to the deformation of the material roller, thereby effectively correcting the shape of the material roller and gradually restoring it to a circular shape;

[0025] In addition, the inclined block design on the fixed jaw and the movable jaw further enhances the clamping effect and stability of the present invention. The inclined blocks are distributed in a circular array, which can ensure that the pressure applied to the material roller is evenly distributed and prevent the material roller from deforming or being damaged during the clamping process. At the same time, the adjustability of the inclined blocks enables it to adapt to material rollers with different diameters, further improving the versatility and flexibility of the equipment;

[0026] During the clamping and shape correction process of the material roller, the motor starts to drive the movable jaw to drive the material roller to rotate. Under the combined action of the negative pressure contact and the rotation action, the contact roller gradually makes the deformed material roller return to a circular shape in a "rounding" manner. It not only improves the efficiency of shape correction, but also ensures the stability and accuracy of the correction process. Through the present invention, the efficient and precise clamping and shape correction of the material roller are realized, which not only significantly improves the production efficiency, ensures the product quality, but also greatly enhances the versatility and flexibility of the equipment, and can easily meet the processing requirements of material rollers with different lengths and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 Schematic diagram of the state of the truss robot clamping the material roller in the present invention;

[0029] Figure 2 Another preferred angle schematic diagram of the state of the truss robot clamping the material roller in the present invention;

[0030] Figure 3 Schematic diagram of the overall structure in the present invention;

[0031] Figure 4 Another preferred angle schematic diagram of the overall structure in the present invention;

[0032] Figure 5Schematic diagram of the jaw structure in the present invention;

[0033] Figure 6 Another schematic diagram of the jaw structure in the present invention from a better angle;

[0034] Figure 7 Schematic diagram of the oil pressure control structure in the present invention;

[0035] Figure 8 Cross-sectional view of the internal components of the main control fuel tank in the present invention;

[0036] Figure 9 Side view plan view of the state of the oil pressure control structure clamping the material roller;

[0037] Figure 10 Schematic diagram of the deformation plane of the material roller.

[0038] The markings in the figure are:

[0039] 1, truss; 2, manipulator; 3, jaw; 301, connecting shaft; 302, connecting end; 4, connecting block; 5, clamping end; 6, connecting frame; 7, oil pressure rod; 701, telescopic rod; 8, contact roller; 9, fixed jaw; 10, pressure transmission fuel tank; 11, placement rack; 12, hydraulic rod; 13, connecting pipe; 14, main control fuel tank; 15, movable jaw; 16, sliding rod; 17, compression spring; 18, pressing plate. Detailed implementation manners

[0040] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0041] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0042] In the first aspect of the present invention, a truss robot is proposed, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4, Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, it includes a truss 1, a manipulator 2 slidably arranged on the truss 1, and a clamp 3 connected to the end of the manipulator 2 through a connecting shaft 301, and the clamp 3 also includes: hydraulic rods 12 arranged at both ends of the clamp 3, and connecting blocks 4 connected to the ends of the hydraulic rods 12 and controlled by the hydraulic rods 12 to extend the clamping distance, and the connecting blocks 4 are symmetrically distributed;

[0043] A clamping end 5 fixedly connected to the end of the connecting block 4, and a connecting frame 6 fixed to an outer wall of one side of the clamping end 5;

[0044] The connecting frame 6 is semi-arc-shaped, and the top is a horizontal placement surface;

[0045] An oil pressure control structure arranged on the horizontal placement surface of the connecting frame 6 for adjusting the pressure roller force according to the deformation of the material roller;

[0046] A placing frame 11 fixed to the bottom of the clamping jaw 3, and a main control oil tank 14 arranged on the placing frame 11 for balancing the force of the oil pressure control structure;

[0047] The hydraulic control structure includes:

[0048] A pressure transmission oil tank 10 is placed on the horizontal placement surface of the connecting frame 6 for conveying hydraulic oil to the main control oil tank 14, and two hydraulic rods 7 are distributed and plugged on the arc surface of the connecting frame 6, and the hydraulic rods 7 are connected to the pressure transmission oil tank 10 through an oil pipeline.

[0049] A telescopic rod 701 is slidably disposed inside the hydraulic rod 7, and a contact roller 8 for contacting the outer wall of the material roller with negative pressure is rotatably disposed at the end of the telescopic rod 701.

[0050] One of the contact rollers 8 is located on the outer wall of the material roller and is arranged horizontally, and the other contact roller 8 is located on the outer wall of the material roller and is arranged in an arc shape with the material roller as the axis.

[0051] A slide rod 16 is slidably arranged in the main control oil tank 14, and one end of the slide rod 16 is exposed at the top of the main control oil tank 14, and a pressure plate 18 is fixedly connected to the bottom of the slide rod 16 for lifting the slide rod 16 by oil pressure, and a compression spring 17 is arranged on the top of the pressure plate 18, and the compression spring 17 is sleeved on the slide rod 16.

[0052] A fixed claw 9 is fixedly connected to the outer wall of one clamping end 5, a motor is arranged on one side of the outer wall of the other clamping end 5, and a movable claw 15 coaxially connected to the motor is rotatably arranged on the other side of the outer wall.

[0053] As an embodiment of the present invention, the manipulator 2 disposed on the truss 1 is positioned directly above the position of the material roller to be clamped. Subsequently, the manipulator 2 descends and activates the hydraulic rod 12, causing the hydraulic rod 12 to extend towards the connecting blocks 4 on both sides, and the clamping ends 5 at the bottom of the connecting blocks 4 to be placed on both sides of the material roller. Subsequently, the hydraulic rod 12 is contracted to move the clamping ends 5 inwards, and the fixed claws 9 and the movable claws 15 are inserted into the circular cavities at both ends of the material roller to clamp the material roller. While clamping the material roller, the contact roller 8 at the end of the telescopic rod 701 contacts the outer wall of the material roller, and the oil pressure of the oil pressure rod 7 is adjusted according to the shape of the outer wall of the material roller. Subsequently, the oil in the oil pressure rod 7 is squeezed and transported into the pressure transmission oil tank 10. The oil in the pressure transmission oil tank 10 is full. After the oil in the oil pressure rod 7 enters the pressure transmission oil tank 10, the internal oil continues to enter the main control oil tank 14 through the oil pipeline. The oil in the main control oil tank 14 is also full. While the external oil enters, the oil squeezes the pressure plate 18 upwards, causing the pressure plate 18 to drive the sliding rod 16 to slide upwards, and compressing the spring 17 sleeved on the sliding rod 16. After the sliding rod 16 rises, the main control oil tank 14 evenly and constantly withstands the pressure of the oil pressure rod 7, so that the contact roller 8 evenly contacts the outer wall of the material roller. The motor is started, and the motor drives the movable claw 15 to drive the material roller to rotate. While the material roller rotates, its outer wall is negatively pressured by the contact roller 8. Two of the contact rollers 8 are horizontally arranged on both sides of the material roller respectively, used to clamp the material roller and increase the clamping force on the outer wall of the material roller. The other two contact rollers 8 are arc-shaped and distributed on the outer wall of the material roller. The four contact rollers 8 form a semi-circular wrapping shape. Due to the downward pressure of the contact roller 8, while the material roller rotates, the contact roller 8 also rotates, so that the deformed material roller gradually deforms back into a circular shape in a "rounding" manner.

[0054] As an implementation method, as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 shown, inclined blocks are rotatably arranged on the end faces of the fixed claw 9 and the movable claw 15, and the inclined blocks are used to adjust the clamping work according to the diameter of the circular inner cavity of the material roller by rotation.

[0055] The inclined blocks are specifically trapezoidal and are distributed in a circular array to evenly press the circular inner cavity of the clamped material roller.

[0056] As an embodiment of the present invention, the inclined blocks are distributed in a circular array, which can ensure that the pressure applied to the material roller is evenly distributed. This uniform pressure distribution helps to prevent the material roller from deforming or being damaged during the clamping process. Moreover, the four inclined blocks clamp the material roller from different directions respectively, which can provide more stable support. Due to the adjustable nature of the inclined blocks, they can adapt to material rollers of different diameters, improving the versatility and flexibility of the equipment.

[0057] As an implementation manner, as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 shown, a connection end 302 for starting the telescopic connection block 4 of the hydraulic rod 12 to adjust the clamping distance is provided at the top of the clamping jaw 3, and the connection end 302 is connected to the hydraulic rod 12 through a connecting pipe 13.

[0058] As this embodiment, the hydraulic rod 12 is connected to the connection end 302 through the connecting pipe 13, so that when the manipulator 2 detects the length of the material roll, it accurately measures the length of the material roll through its built-in sensor or detection device and transmits this information to the control center of the system. Subsequently, the control center calculates the target length that the hydraulic rod 12 needs to be adjusted to according to the received material roll length data and sends an instruction to the hydraulic rod 12 through the connection end 302, so that the hydraulic rod 12 extends or contracts to the specified length.

[0059] Specifically: After confirming the position of the material roll, the manipulator 2 slowly descends under the command of the control system until it is close to directly above the material roll. At this time, the preparation work of the clamping jaw 3 is also carried out synchronously, and an instruction is sent to the hydraulic rod 12 through the connection end 302 to make it adjust according to the preset or real-time measured material roll length data. This adjustment process involves the precise extension or contraction of the hydraulic rod 12 to ensure that the distance between the connection block 4 and the clamping end 5 can perfectly match the actual length of the material roll, providing precise initial conditions for the subsequent clamping operation;

[0060] With the adjustment of the hydraulic rod 12 completed, the clamping jaw 3 starts to contract the hydraulic rod 12 to move the clamping end 5 inward and inserts the fixed jaw 9 and the movable jaw 15 into the circular cavities at both ends of the material roll to clamp the material roll. At the same time, the oil pressure control structure on the clamping jaw 3 also starts to work. The contact roller 8 at the end of the telescopic rod 701 closely adheres to the outer wall of the material roll and makes adaptive adjustments according to the actual shape of the material roll. The oil in the oil pressure rod 7 flows through the oil transmission pipe to the pressure transmission oil tank 10 under the action of pressure and then enters the main control oil tank 14. During this process, the oil squeezes the pressure plate 18 upward, causing the pressure plate 18 to drive the sliding rod 16 to slide upward, and the compression spring 17 sleeved on the sliding rod 16. After the sliding rod 16 rises, the main control oil tank 14 monitors and adjusts the flow and pressure changes of the oil to ensure that the contact roller 8 can evenly and stably contact the outer wall of the material roll, thereby achieving precise clamping and shape correction;

[0061] While clamping and shape correction are being performed, the motor starts, driving the movable claw 15 to drive the material roller to rotate. Under the combined action of the negative pressure contact and the rotating motion, the contact roller 8 gradually restores the deformed material roller to a circular shape in a "rounding" manner. Throughout the process, the control system continuously monitors the pressure of the hydraulic control structure and the position of the slide rod 16, and fine-tunes the positions of the hydraulic rod 12 and the contact roller 8 as needed to maintain a stable clamping force and shape correction effect;

[0062] Once the shape of the material roller is satisfactorily corrected, the manipulator 2 can, under the command of the control system, move the material roller to the designated processing position or conveyor belt for subsequent processing or storage operations.

[0063] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0064] The present invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A truss robot, comprising a truss (1), a manipulator (2) slidably arranged on the truss (1), and a gripper (3) connected to an end of the manipulator (2) via a connecting shaft (301), characterized in that: The clamping jaw (3) further comprises: hydraulic rods (12) arranged at both ends of the clamping jaw (3), and connecting blocks (4) connected to the ends of the hydraulic rods (12) and controlled by the hydraulic rods (12) to extend the clamping distance, and the connecting blocks (4) are symmetrically distributed; A clamping end (5) fixedly connected to the end of the connection block (4), and a connecting frame (6) fixed to an outer wall of one side of the clamping end (5); A connecting frame (6) which is semi-arc-shaped and has a horizontal placement surface at the top; An oil pressure control structure arranged on a horizontal placement surface of a connecting frame (6) for adjusting the pressure roller force according to the deformation of the material roller; A placement frame (11) fixed to the bottom of the clamp (3), and a main control oil tank (14) arranged on the placement frame (11) to balance the force of the oil pressure control structure; The oil pressure control structure comprises: A pressure transmission oil tank (10) is placed on the horizontal placement surface of the connecting frame (6) and is used to transport hydraulic oil to the main control oil tank (14), and two oil pressure rods (7) are distributed and plugged on the arc surface of the connecting frame (6), and the oil pressure rods (7) are connected to the pressure transmission oil tank (10) through an oil delivery pipe.

2. A truss robot according to claim 1, characterized in that: A telescopic rod (701) is slidably arranged inside the oil pressure rod (7), and a contact roller (8) for contacting the outer wall of the material roller with negative pressure is rotatably arranged at the end of the telescopic rod (701).

3. A truss robot according to claim 2, characterized in that: One of the contact rollers (8) is located on the outer wall of the material roller and is arranged horizontally, and the other contact roller (8) is located on the outer wall of the material roller and is arranged in an arc shape with the material roller as the axis.

4. A truss robot according to claim 1, characterized in that: A slide rod (16) is slidably arranged in the main control oil tank (14), and one end of the slide rod (16) is exposed at the top of the main control oil tank (14). A pressure plate (18) is fixedly connected to the bottom of the slide rod (16) and is subjected to oil pressure to lift the slide rod (16). A compression spring (17) is arranged on the top of the pressure plate (18), and the compression spring (17) is sleeved on the slide rod (16).

5. The truss robot according to claim 1, characterized in that: A fixed claw (9) is fixedly connected to the outer wall of one of the clamping ends (5), a motor is arranged on one side of the outer wall of the other clamping end (5), and a movable claw (15) coaxially connected to the motor is rotatably arranged on the other side of the outer wall.

6. A truss robot according to claim 5, characterized in that: The end surfaces of the fixed claw (9) and the movable claw (15) are both rotatably provided with tilting blocks, and the tilting blocks are used to rotate and adjust the clamping work according to the diameter of the circular inner cavity of the material roller.

7. The truss robot according to claim 6, characterized in that: The tilting blocks are specifically trapezoidal and distributed in a circular array to uniformly press the circular inner cavity of the clamping material roller.

8. The truss robot according to claim 1, characterized in that: The top of the clamping jaw (3) is provided with a connecting end (302) for starting the hydraulic rod (12) to extend and retract the connecting block (4) to clamp, and the connecting end (302) is connected to the hydraulic rod (12) via a connecting pipe (13).

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