Inverted hanging type heavy-load truss manipulator

Abstract

The invention discloses an upside-down hanging type heavy-load truss manipulator which comprises an upside-down hanging support, X-axis base beams, X-axis translation driving devices, Y-axis translation driving devices, Z-axis lifting driving devices and holding claw devices, the X-axis base beams are installed on the two sides of the inner side of the lower end of the upside-down hanging support respectively, and the X-axis translation driving devices are movably installed on the two X-axis base beams; the Y-axis translation driving device is mounted on the X-axis translation driving device, the Z-axis lifting driving device is mounted on the Y-axis translation driving device, and the bottom of a lifting part of the Z-axis lifting driving device is connected with the holding claw device. The heavy-load truss manipulator is reasonable in structural design and flexible in action, the structures of all parts are optimized, the structural weight of the whole machine is reduced, the heavy-load truss manipulator can be hung upside down and installed on a roof, the occupied area is reduced, the heavy-load carrying requirement can be met, and operation is stable and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of truss manipulators, and more specifically, to an inverted large-load truss manipulator. Background Art

[0002] A truss manipulator is a fully automatic industrial device based on an XYZ three-axis coordinate system, which can adjust the position of workpieces or materials, or realize functions such as the trajectory movement of workpieces or materials. Among them, the existing truss manipulators generally include a support frame, an XYZ three-axis drive device, and a manipulator body. The XYZ three-axis drive device can drive the manipulator body to move freely. However, the existing truss manipulators have the problem of low grasping load and cannot handle too heavy materials. With the development of technology, although some large-load truss manipulators have emerged on the market at present, such large-load truss manipulators can only be installed on the ground through a support frame and cannot be hoisted on the roof of a building. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects in the prior art, and provide an inverted large-load truss manipulator, which has a reasonable structural design, flexible movement, optimizes the structures of various parts, realizes the light weight of the overall structure, can be installed upside down on the roof to reduce the floor area, and can also meet the requirements of large-load handling, and operates stably and reliably.

[0004] To achieve the above purpose, the present invention provides an inverted large-load truss manipulator, including an inverted bracket for hanging on the roof, an X-axis base beam, an X-axis translation drive device, a Y-axis translation drive device, a Z-axis lifting drive device, and a gripper device for clamping materials. The X-axis base beam is respectively installed on both sides of the inner side of the lower end of the inverted bracket. The X-axis translation drive device is movably installed on the two X-axis base beams. The Y-axis translation drive device is installed on the X-axis translation drive device. The Z-axis lifting drive device is installed on the Y-axis translation drive device. The bottom of the lifting part of the Z-axis lifting drive device is connected to the gripper device.

[0005] Preferably, the inverted bracket includes L-shaped columns, an X-axis connecting cross beam, and a Y-axis connecting cross beam. There are several L-shaped columns, which are arranged in two rows in parallel. The top of the L-shaped column is provided with a ceiling fixing seat for connecting to the roof. The lower end of the L-shaped column is provided with a horizontal support seat for connecting to the X-axis base beam. The X-axis connecting cross beam is connected between adjacent two L-shaped columns in the same row. The Y-axis connecting cross beam is connected between the first row of L-shaped columns and the second row of L-shaped columns.

[0006] Preferably, the L-shaped column includes an upper column, a lower column and a longitudinal adjustment plate, and the upper column, the lower column and the longitudinal adjustment plate are respectively provided with a plurality of screw mounting holes, the longitudinal adjustment plate is installed between the lower end of the upper column and the upper end of the lower column by screws, and the distance between the upper column and the lower column can be adjusted up and down according to the installation position of the screws, the ceiling fixing seat is connected to the top of the upper column, and the horizontal support seat is connected to the lower end of the lower column.

[0007] Preferably, a first reinforcing rib is provided between the bottom of the ceiling fixing seat and the upper column.

[0008] Preferably, the horizontal support includes a support beam, a tray, a second reinforcing rib and a reinforcing oblique column, the support beam is vertically connected to the lower column, the tray is connected to the top of the support beam, the second reinforcing rib is connected between the bottom of the tray and the support beam, and the reinforcing oblique column is obliquely connected between the bottom of the support beam and the lower column.

[0009] Preferably, an X-shaped reinforcement frame is provided between two adjacent L-shaped columns in the same row.

[0010] Preferably, the sides of the two outermost L-shaped columns in the same row are respectively provided with end connecting beams horizontally arranged along the X-axis direction.

[0011] Preferably, the X-axis translation drive device includes an X-axis translation seat, an X-axis translation motor, an X-axis reducer, a linkage rod, a 90-degree steering gear, an X-axis driving gear and an X-axis rack. The two sides of the X-axis translation seat are slidingly connected to the two X-axis base beams through X-axis linear guides, the rotating shaft of the X-axis translation motor is connected to the X-axis reducer, the X-axis reducer is installed on the X-axis translation seat, the two output shafts of the X-axis reducer are respectively connected to the two 90-degree steering gears through linkage rods, the 90-degree steering gears are respectively installed on both sides of the X-axis translation seat, the two 90-degree steering gears are respectively connected to the corresponding X-axis racks horizontally installed on the two X-axis base beams through the X-axis driving gear, the X-axis translation motor can drive the X-axis translation seat to move back and forth on the two X-axis base beams along the X-axis direction, and the outside of the two X-axis base beams are respectively provided with first accordion covers located on both sides of the X-axis translation seat.

[0012] Preferably, the Y-axis translation driving device includes a Y-axis translation base, a Y-axis translation motor, a Y-axis speed reducer, a Y-axis driving gear, and a Y-axis rack. The Y-axis translation base is slidably connected to the X-axis translation driving device through a Y-axis linear guide. The rotating shaft of the Y-axis translation motor is connected to the Y-axis speed reducer. The output shaft of the Y-axis speed reducer is in transmission connection with the Y-axis rack horizontally installed on the X-axis translation driving device through the Y-axis driving gear. The Y-axis translation motor can drive the Y-axis translation base to move back and forth along the Y-axis direction on the X-axis translation driving device. Second bellows are respectively arranged on both sides of the Y-axis translation base.

[0013] Preferably, the Z-axis lifting driving device includes a Z-axis fixed seat, a Z-axis lifting motor, a Z-axis speed reducer, a Z-axis driving gear, a Z-axis rack, and a Z-axis square through column. The Z-axis fixed seat is installed on the Y-axis translation driving device. The Z-axis square through column is longitudinally installed in the central hole of the Z-axis fixed seat. The Z-axis square through column is slidably connected to the Z-axis fixed seat through a Z-axis linear guide. The rotating shaft of the Z-axis lifting motor is connected to the Z-axis speed reducer. The Z-axis speed reducer is installed on the Z-axis fixed seat. The output shaft of the Z-axis speed reducer is in transmission connection with the Z-axis rack longitudinally installed on the Z-axis square through column through the Z-axis driving gear. The Z-axis lifting motor can drive the Z-axis square through column to move up and down. Third bellows are arranged outside the Z-axis square through column above and below the Z-axis fixed seat.

[0014] Preferably, the Z-axis speed reducer is set as a worm and worm gear reducer.

[0015] Preferably, the gripper device includes a gripper bracket, gripper legs, a U-shaped positioning seat, and a pressing cylinder. The gripper bracket is connected to the lifting part of the Z-axis lifting driving device. The gripper legs and the pressing cylinder are respectively installed on both sides of the gripper bracket. The U-shaped positioning seat is installed at the lower end of the gripper legs. Each pressing cylinder is respectively located directly above the corresponding U-shaped positioning seat. Pressure blocks are respectively arranged on the output shafts of each pressing cylinder.

[0016] Preferably, there are two sets of the X-axis translation driving device, the Y-axis translation driving device, the Z-axis lifting driving device, and the gripper device. A detachable X-axis push rod is provided on one set or two sets of the X-axis translation driving devices.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. The present invention is provided with an inverted hanging bracket, an X-axis base beam, an X-axis translation driving device, a Y-axis translation driving device, a Z-axis lifting driving device, and a gripper device. Its structure is reasonably designed, the action is flexible, the structures of various parts are optimized, the structural weight of the whole machine is lightened, it can be installed upside down on the roof to reduce the floor area, and it can also meet the requirements of large-load handling, and the operation is stable and reliable.

[0019] 2. The inverted support of the present invention has high structural strength and strong load-bearing capacity, greatly improving the load capacity of the truss manipulator.

[0020] 3. The Z-axis lifting drive device of the present invention adopts a worm and worm gear reducer with a self-locking function, which can prevent the Z-axis from falling and improve the safety of the truss manipulator.

[0021] 4. The Z-axis lifting drive device of the present invention can manually lift the Z-axis by a hoisting appliance in the case of failure of the Z-axis lifting motor, making it more convenient to use.

[0022] 5. In the case of failure of the X-axis translation motor of a group of X-axis translation drive devices of the present invention, the failed group of X-axis translation drive devices can be pushed to one side position of the truss manipulator by the X-axis push rod on another group of X-axis translation drive devices.

[0023] 6. The present invention is provided with telescopic bellows at corresponding positions such as the X-axis base beam, X-axis translation drive device, Y-axis translation drive device, and Z-axis lifting drive device, which has a good dust-proof effect and is beneficial to the smooth movement of the truss manipulator.

[0024] 7. The whole machine of the present invention adopts an anti-static design and can achieve the T5 explosion-proof effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of 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 some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 is a schematic structural diagram of an inverted large-load truss manipulator provided by an embodiment of the present invention Figure 1 ;

[0027] Figure 2 is a schematic structural diagram of an inverted large-load truss manipulator provided by an embodiment of the present invention Figure 2 ;

[0028] Figure 3 is an enlarged view of the single-side moving and clamping part of the inverted large-load truss manipulator provided by an embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of the L-shaped column provided by an embodiment of the present invention;

[0030] Figure 5It is a schematic structural diagram of the moving and clamping part of the inverted large-load truss manipulator provided by the embodiment of the present invention;

[0031] Figure 6 It is an enlarged view of the gear transmission part of the X-axis translation driving device provided by the embodiment of the present invention;

[0032] Figure 7 It is the structural schematic diagram of the Y-axis translation driving device and the Z-axis lifting driving device provided by the embodiment of the present invention Figure 1 ;

[0033] Figure 8 It is the structural schematic diagram of the Y-axis translation driving device and the Z-axis lifting driving device provided by the embodiment of the present invention Figure 2 ;

[0034] Figure 9 It is a schematic structural diagram of the gripper device provided by the embodiment of the present invention. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in 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 embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 1 , Figure 2 and Figure 3 , the embodiment of the present invention provides an inverted large-load truss manipulator, including an inverted bracket 1 for hanging on the roof, an X-axis base beam 2, an X-axis translation driving device 3, a Y-axis translation driving device 4, a Z-axis lifting driving device 5 and a gripper device 6 for gripping materials. The X-axis base beam 2 is respectively installed on both inner sides of the lower end of the inverted bracket 1. There are two sets of the X-axis translation driving device 3, the Y-axis translation driving device 4, the Z-axis lifting driving device 5 and the gripper device 6. The X-axis translation driving device 3 is movably installed on the two X-axis base beams 2. The Y-axis translation driving device 4 is installed on the X-axis translation driving device 3. The Z-axis lifting driving device 5 is installed on the Y-axis translation driving device 4. The bottom of the lifting part of the Z-axis lifting driving device 5 is connected to the gripper device 6.

[0037] The following will describe each component of this embodiment in detail with reference to the accompanying drawings.

[0038] As shown in Figure 1 , Figure 2 and Figure 3As shown in the figure, the inverted hanging bracket 1 may include an L-shaped upright column 11, an X-axis connecting cross beam 12, and a Y-axis connecting cross beam 13. There are several L-shaped upright columns 11, which are arranged in two parallel rows. The X-axis connecting cross beam 12 is connected between two adjacent L-shaped upright columns 11 in the same row, and the Y-axis connecting cross beam 13 is connected between the first row of L-shaped upright columns 11 and the second row of L-shaped upright columns 11.

[0039] Furthermore, the L-shaped upright column 11 may include an upper upright column 111, a lower upright column 112, and a longitudinal adjustment plate 113. A number of screw mounting holes 114 are respectively provided on the upper upright column 111, the lower upright column 112, and the longitudinal adjustment plate 113. The positions of the screw mounting holes 114 may be arranged longitudinally or longitudinally + horizontally. The longitudinal adjustment plate 113 can be mounted between the lower end of the upper upright column 111 and the upper end of the lower upright column 112 through screws. The distance between the upper upright column 111 and the lower upright column 112 can be adjusted up and down according to the mounting positions of the screws and different screw mounting holes 114, so as to realize the height adjustment of the L-shaped upright column 11.

[0040] When the roof is uneven, the horizontal accuracy of the truss manipulator can be adjusted by adjusting the height of each L-shaped upright column 11.

[0041] As Figure 4 shown in the figure, a ceiling fixing seat 14 for connecting with the roof may be provided at the top of the L-shaped upright column 11. Specifically, the ceiling fixing seat 14 is connected to the top of the upper upright column 111. A first reinforcing rib 18 may also be provided between the bottom of the ceiling fixing seat 14 and the upper upright column 111. The ceiling fixing seat 14 can be fixed to the roof through expansion screws, and the ceiling fixing seat 14 can increase the contact area between the L-shaped upright column 11 and the roof.

[0042] As Figure 4 shown in the figure, a horizontal support seat 15 for connecting with the X-axis base beam 2 may also be provided at the lower end of the L-shaped upright column 11. The horizontal support seat 15 is connected to the lower end of the lower upright column 112. Specifically, the horizontal support seat 15 may include a support cross beam 151, a tray 152, a second reinforcing rib 153, and a reinforcing inclined column 154. The support cross beam 151 is perpendicularly connected to the lower upright column 112. The tray 152 is connected to the top of the support cross beam 151. The second reinforcing rib 153 is connected between the bottom of the tray 152 and the support cross beam 151. The reinforcing inclined column 154 is obliquely connected between the bottom of the support cross beam 151 and the lower upright column 112. In this embodiment, the L-shaped upright column 11 uses the horizontal support seat 15 to support the X-axis base beam 2, which can improve the load capacity of the truss manipulator.

[0043] Preferably, an X-shaped reinforcing frame 16 may also be provided between two adjacent L-shaped upright columns 11 in the same row. The X-shaped reinforcing frame 16 can improve the structural strength between the two L-shaped upright columns 11.

[0044] AsFigure 1 and Figure 2 As shown, the sides of the two outermost L-shaped columns 11 in the same row can be additionally provided with end connecting beams 17 horizontally arranged along the X-axis direction. The end connecting beams 17 extend outward and can be fixedly installed on the side wall of the building, which can improve the stability of the connection between the inverted bracket 1 and the building.

[0045] The inverted bracket of this embodiment adopts a multiple reinforcement structure, has high structural strength and strong load-bearing capacity, and greatly improves the load capacity of the truss manipulator.

[0046] like Figure 5 and Figure 6 As shown, the X-axis translation drive device 3 may include an X-axis translation seat 31, an X-axis translation motor 32, an X-axis reducer 33, a linkage rod 34, a 90-degree steering gear 35, an X-axis driving gear 36 and an X-axis rack 37. The two sides of the X-axis translation seat 31 are respectively slidably connected with the two X-axis base beams 2 through X-axis linear guides 38, the rotating shaft of the X-axis translation motor 32 is connected with the X-axis reducer 33, the X-axis reducer 33 is installed on the X-axis translation seat 31, and the two output shafts of the X-axis reducer 33 are respectively connected to the two 90-degree steering gears 35 through the linkage rod 34. The 90-degree steering gears 35 are respectively installed Installed on both sides of the X-axis translation seat 31, the X-axis driving gear 36 is meshed with the X-axis rack 37, and the two 90-degree steering gears 35 are respectively connected to the corresponding X-axis racks 37 horizontally installed on the two X-axis base beams 2 through the X-axis driving gears 36. When working, the X-axis translation motor 32 can drive the two 90-degree steering gears 35 to run synchronously through the linkage rod 34, and the 90-degree steering gears 35 can drive the X-axis driving gear 36 to rotate, so that the X-axis translation seat 31 can move back and forth on the two X-axis base beams 2 along the X-axis direction under the meshing action of the X-axis driving gear 36 and the X-axis rack 37.

[0047] like Figure 7 and Figure 8 As shown, the Y-axis translation drive device 4 may include a Y-axis translation seat 41, a Y-axis translation motor 42, a Y-axis reducer 43, a Y-axis driving gear 44 and a Y-axis rack 45. The Y-axis translation seat 41 is slidingly connected to the X-axis translation drive device 3 via a Y-axis linear guide 46. The rotating shaft of the Y-axis translation motor 42 is connected to the Y-axis reducer 43. The output shaft of the Y-axis reducer 43 is transmission-connected to the Y-axis rack 45 horizontally installed on the X-axis translation seat 31 of the X-axis translation drive device 3 via the Y-axis driving gear 44. The Y-axis translation motor 42 can drive the Y-axis translation seat 41 to move back and forth on the X-axis translation drive device 3 along the Y-axis direction through the meshing action of the Y-axis driving gear 44 and the Y-axis rack 45.

[0048] like Figure 7 and Figure 8As shown in the figure, the Z-axis lifting drive device 5 may include a Z-axis fixed seat 51, a Z-axis lifting motor 52, a Z-axis reducer 53, a Z-axis drive gear 54, a Z-axis rack 55, and a Z-axis square through column 56. The Z-axis fixed seat 51 is installed on the Y-axis translation seat 41 of the Y-axis translation drive device 4. The Z-axis square through column 56 is longitudinally installed in the central hole of the Z-axis fixed seat 51. The Z-axis square through column 56 is slidably connected to the Z-axis fixed seat 51 through a Z-axis linear guide 57. The rotating shaft of the Z-axis lifting motor 52 is connected to the Z-axis reducer 53. The Z-axis reducer 53 is installed on the Z-axis fixed seat 51. The output shaft of the Z-axis reducer 53 is in transmission connection with the Z-axis rack 55 longitudinally installed on the Z-axis square through column 56 through the Z-axis drive gear 54. The Z-axis lifting motor 52 can drive the Z-axis square through column 56 to move up and down through the meshing action of the Z-axis drive gear 54 and the Z-axis rack 55.

[0049] Preferably, the Z-axis reducer 53 of this embodiment can be preferably set as a worm and worm gear reducer, which has a self-locking function. When the machine stops or power is cut off, the Z-axis of the Z-axis lifting drive device 5 will not fall, greatly improving the safety of the truss manipulator.

[0050] In addition, since the Z-axis drive gear 54 and the Z-axis rack 55 of the Z-axis lifting drive device adopt meshing transmission, in the case of the failure of the Z-axis lifting motor, the operator can manually lift the Z-axis by a hoisting appliance (such as an electric hoist, etc.), which is more convenient to use.

[0051] As a further improvement of this embodiment, as Figure 5 shown in the figure, first bellows covers 39 located on both sides of the X-axis translation seat 31 can be respectively provided outside the two X-axis base beams 2. Second bellows covers 47 can be respectively provided on both sides of the Y-axis translation seat 41. A third bellows cover 58 located above and below the Z-axis fixed seat 51 can be provided outside the Z-axis square through column 56.

[0052] In this embodiment, telescopic bellows covers are provided at corresponding positions such as the X-axis base beam, the X-axis translation drive device, the Y-axis translation drive device, and the Z-axis lifting drive device. The bellows covers can cover components such as racks, gears, and linear guides, achieving a good dust-proof effect and being beneficial to the smooth movement of the truss manipulator.

[0053] As Figure 9As shown, the gripper device 6 may include a gripper bracket 61, gripper legs 62, a U-shaped positioning seat 63, and a pressing cylinder 64. The gripper bracket 61 is connected to the lifting part of the Z-axis lifting drive device 5 (i.e., the Z-axis square through column 56). The gripper legs 62 and the pressing cylinder 64 are respectively installed on both sides of the gripper bracket 61. The U-shaped positioning seat 63 is installed at the lower end of the gripper legs 62. Each pressing cylinder 64 is respectively located directly above the corresponding U-shaped positioning seat 63. A pressing block 65 for pressing the material is respectively provided on the output shaft of each pressing cylinder 64. Preferably, there may be four groups of gripper legs 62, U-shaped positioning seats 63, and pressing cylinders 64 respectively.

[0054] Of course, according to actual needs, the Z-axis of the Z-axis lifting drive device may also adopt a clamping device with other structures.

[0055] As a preferred embodiment, as Figure 5 shown, one or two groups of X-axis translation drive devices 3 may also be additionally provided with a detachable X-axis push rod 7. When the X-axis translation motor of one group of X-axis translation drive devices fails, the failed group of X-axis translation drive devices can be pushed to one side position of the gantry robot by the X-axis push rod on the other group of X-axis translation drive devices.

[0056] According to actual needs, as another preferred embodiment, each component on the gantry robot in this embodiment may also adopt an anti-static design, such as coating an anti-static coating, or using parts that meet the anti-static standard, so that the gantry robot can achieve the T5 explosion-proof effect to meet the use requirements of some special occasions.

[0057] In summary, the present invention is a heavy-duty gantry robot with a reasonable structural design and flexible movement. It optimizes the structures of various parts, makes the structural weight of the whole machine lightweight, can be installed upside down on the roof to reduce the floor area, and can also meet the requirements of large-load handling, with stable and reliable operation.

[0058] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An inverted large-load truss manipulator, characterized in that: It includes an inverted hanging bracket (1) for hanging on the roof, an X-axis base beam (2), an X-axis translation driving device (3), a Y-axis translation driving device (4), a Z-axis lifting driving device (5), and a gripper device (6) for gripping materials. The X-axis base beam (2) is respectively installed on both sides of the inner lower ends of the inverted hanging brackets (1). The X-axis translation driving device (3) is movably installed on the two X-axis base beams (2). The Y-axis translation driving device (4) is installed on the X-axis translation driving device (3). The Z-axis lifting driving device (5) is installed on the Y-axis translation driving device (4). The bottom of the lifting part of the Z-axis lifting driving device (5) is connected to the gripper device (6).

2. The inverted large-load truss manipulator according to claim 1, characterized in that: The inverted hanging bracket (1) includes an L-shaped upright column (11), an X-axis connecting cross beam (12), and a Y-axis connecting cross beam (13). There are several L-shaped upright columns (11) which are arranged in two parallel rows. The top of the L-shaped upright column (11) is provided with a ceiling fixing seat (14) for connecting to the roof. The lower end of the L-shaped upright column (11) is provided with a horizontal support seat (15) for connecting to the X-axis base beam (2). The X-axis connecting cross beam (12) is connected between two adjacent L-shaped upright columns (11) in the same row. The Y-axis connecting cross beam (13) is connected between the first row of L-shaped upright columns (11) and the second row of L-shaped upright columns (11).

3. The inverted large-load truss manipulator according to claim 2, characterized in that: The L-shaped upright column (11) includes an upper upright column (111), a lower upright column (112), and a longitudinal adjusting plate (113). Several screw mounting holes (114) are respectively provided on the upper upright column (111), the lower upright column (112), and the longitudinal adjusting plate (113). The longitudinal adjusting plate (113) is screwed between the lower end of the upper upright column (111) and the upper end of the lower upright column (112). The distance between the upper upright column (111) and the lower upright column (112) can be adjusted up and down according to the screw mounting position. The ceiling fixing seat (14) is connected to the top of the upper upright column (111). The horizontal support seat (15) is connected to the lower end of the lower upright column (112).

4. The inverted large-load truss manipulator according to claim 3, wherein: A first reinforcing rib (18) is provided between the bottom of the ceiling fixing seat (14) and the upper upright column (111); The horizontal support seat (15) includes a support cross beam (151), a tray (152), a second reinforcing rib (153), and a reinforcing inclined column (154). The support cross beam (151) is vertically connected to the lower upright column (112). The tray (152) is connected to the top of the support cross beam (151). The second reinforcing rib (153) is connected between the bottom of the tray (152) and the support cross beam (151). The reinforcing inclined column (154) is obliquely connected between the bottom of the support cross beam (151) and the lower upright column (112).

5. The inverted large-load truss manipulator according to claim 2, wherein: An X-shaped reinforcing frame (16) is provided between two adjacent L-shaped upright columns (11) in the same row; End connecting beams (17) horizontally arranged along the X-axis direction are respectively provided on the sides of the outermost two L-shaped upright columns (11) in the same row.

6. The inverted large-load truss manipulator according to claim 1, characterized in that: The X-axis translation drive device (3) comprises an X-axis translation seat (31), an X-axis translation motor (32), an X-axis reducer (33), a linkage rod (34), a 90-degree steering gear (35), an X-axis driving gear (36) and an X-axis rack (37); the two sides of the X-axis translation seat (31) are respectively slidably connected to two X-axis base beams (2) via X-axis linear guide rails (38); the rotating shaft of the X-axis translation motor (32) is connected to the X-axis reducer (33); the X-axis reducer (33) is mounted on the X-axis translation seat (31); and the two output shafts of the X-axis reducer (33) are respectively connected to the X-axis linear guide rails (38). The linkage rod (34) is connected to two 90-degree steering gears (35) in transmission, and the 90-degree steering gears (35) are respectively installed on both sides of the X-axis translation seat (31). The two 90-degree steering gears (35) are connected to corresponding X-axis racks (37) installed horizontally on two X-axis base beams (2) through X-axis driving gears (36). The X-axis translation motor (32) can drive the X-axis translation seat (31) to move back and forth on the two X-axis base beams (2) along the X-axis direction. The outsides of the two X-axis base beams (2) are respectively provided with first accordion covers (39) located on both sides of the X-axis translation seat (31).

7. The inverted large-load truss manipulator according to claim 1, characterized in that: The Y-axis translation drive device (4) comprises a Y-axis translation seat (41), a Y-axis translation motor (42), a Y-axis reducer (43), a Y-axis driving gear (44) and a Y-axis rack (45); the Y-axis translation seat (41) is slidably connected to the X-axis translation drive device (3) via a Y-axis linear guide rail (46); the rotating shaft of the Y-axis translation motor (42) is connected to the Y-axis reducer (43); the output shaft of the Y-axis reducer (43) is transmission-connected to a Y-axis rack (45) horizontally mounted on the X-axis translation drive device (3) via a Y-axis driving gear (44); the Y-axis translation motor (42) can drive the Y-axis translation seat (41) to move back and forth on the X-axis translation drive device (3) along the Y-axis direction; and second accordion covers (47) are respectively provided on both sides of the Y-axis translation seat (41).

8. The inverted large-load truss manipulator according to claim 1, characterized in that: The Z-axis lifting drive device (5) includes a Z-axis fixed seat (51), a Z-axis lifting motor (52), a Z-axis reducer (53), a Z-axis drive gear (54), a Z-axis rack (55) and a Z-axis square through column (56). The Z-axis fixed seat (51) is installed on the Y-axis translation drive device (4). The Z-axis square through column (56) is longitudinally installed in the central hole of the Z-axis fixed seat (51). The Z-axis square through column (56) is slidably connected to the Z-axis fixed seat (51) through a Z-axis linear guide (57). The rotating shaft of the Z-axis lifting motor (52) is connected to the Z-axis reducer (53). The Z-axis reducer (53) is installed on the Z-axis fixed seat (51). The output shaft of the Z-axis reducer (53) is in transmission connection with the Z-axis rack (55) longitudinally installed on the Z-axis square through column (56) through the Z-axis drive gear (54). The Z-axis lifting motor (52) can drive the Z-axis square through column (56) to move up and down. A third bellows cover (58) is provided outside the Z-axis square through column (56) above and below the Z-axis fixed seat (51). Among them, the Z-axis reducer (53) is set as a worm and worm gear reducer.

9. The inverted large-load truss manipulator according to claim 1, characterized in that: The gripper device (6) includes a gripper bracket (61), gripper legs (62), a U-shaped positioning seat (63) and a pressing cylinder (64). The gripper bracket (61) is connected to the lifting part of the Z-axis lifting drive device (5). The gripper legs (62) and the pressing cylinder (64) are respectively installed on both sides of the gripper bracket (61). The U-shaped positioning seat (63) is installed at the lower end of the gripper legs (62). Each pressing cylinder (64) is respectively located directly above the corresponding U-shaped positioning seat (63). A pressing block (65) is respectively provided on the output shaft of each pressing cylinder (64).

10. The inverted large-load truss manipulator according to claim 1, characterized in that: The X-axis translation drive device (3), Y-axis translation drive device (4), Z-axis lifting drive device (5) and gripper device (6) are all provided with two groups. A detachable X-axis push rod (7) is provided on one group or two groups of the X-axis translation drive devices (3).

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