Heavy mud rod carrying truss manipulator

Abstract

The invention discloses a heavy mud rod carrying truss manipulator, belongs to the technical field of heavy material automatic carrying equipment, and is suitable for automatic grabbing, carrying and accurate stacking of soft mud rod type cylindrical rod materials. The mechanical arm comprises an X-axis fixed frame body, a Y-axis movable frame body, a Z-axis lifting assembly, an R-axis rotation assembly, a wrapping and clamping gripper assembly and an electromagnetic band-type brake assembly, all shaft systems are of gear and rack transmission structures, and multi-axis linkage space precise movement is achieved; the electromagnetic band-type brake assembly detects the rotating speed through an encoder and is matched with gear and rack meshing to achieve Z-axis anti-falling braking, and potential safety hazards are eliminated. All driving, detecting and braking components are electrically connected with an external control system, full-automatic operation is achieved, the problems that traditional mud rod carrying is poor in adaptability, products are prone to being damaged, positioning is not accurate, and anti-falling protection does not exist are solved, and carrying efficiency and operation safety are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of automated handling equipment for heavy materials, specifically a heavy-duty mud rod handling gantry robot, which is particularly suitable for automated gripping, handling, and precise stacking of soft mud rod-like cylindrical materials. Background Technology

[0002] Clay rods, as a crucial basic raw material in industrial production, are soft and easily deformable. Furthermore, the production process involves mixed production of multiple specifications and batches, placing stringent demands on the stability, precision, and safety of the handling process. Currently, in the domestic market, clay rod handling operations are primarily based on semi-automatic operation with manual assistance and robotic arms. While some scenarios utilize simple handling equipment, none are specifically designed for the characteristics of soft clay rods and the demands of mixed production, making it difficult to meet the automated and efficient operational requirements of modern production lines.

[0003] Existing mud rod handling technology has revealed many shortcomings in practical applications, becoming a key issue restricting the improvement of production efficiency and the stability of product quality: Firstly, the gripping mechanism of the equipment has poor adaptability. Most of them are fixed-spacing clamping structures, which cannot flexibly adjust the clamping size and are difficult to be compatible with mud rod products of different diameters and lengths. When facing mixed production needs, the clamps need to be changed manually, which is cumbersome and greatly reduces production efficiency. Secondly, there is a lack of protective design for soft clay rods. The clamping parts are mostly rigid contact structures. Deviations in the force control during manual operation or rigid clamping of the equipment can easily cause damage such as dents and indentations on the surface of the clay rod, or even cause deformation of the billet, which directly affects the product qualification rate of subsequent processing. Third, the lifting shaft system of some simple handling equipment lacks a safety protection structure. In the event of a sudden power outage or other abnormal situation, the shaft system is prone to falling, which will not only damage the clay rod blanks, but may also cause damage to the equipment structure, posing a significant production safety hazard.

[0004] To address the shortcomings of the existing technologies, this invention develops a heavy-duty mud rod handling gantry robot. Through a multi-axis linkage gear and rack transmission structure, an adaptive and adjustable flexible clamping mechanism, a photoelectric and laser coordinated precision positioning system, and an electromagnetic brake structure to prevent fall in the event of power failure, it solves the problems of poor adaptability, easy product damage, inaccurate positioning, and lack of safety protection in existing mud rod handling operations, thereby achieving automation, intelligence, precision, and safety in mud rod handling operations. Summary of the Invention

[0005] To address the technical problems of poor adaptability, easy damage to products, inaccurate positioning, and lack of safety protection in existing mud rod handling methods, this invention provides a heavy-duty mud rod handling gantry robot.

[0006] This invention employs the following technical solution: a heavy-duty mud rod handling truss robot, comprising an X-axis fixed frame, a Y-axis movable frame, a Z-axis lifting assembly, an R-axis rotation assembly, a clamping gripper assembly, and an electromagnetic brake assembly; the X-axis fixed frame is vertically fixed to the ground, providing foundation support for the equipment; the Y-axis movable frame slides horizontally with the X-axis fixed frame; the Z-axis lifting assembly slides horizontally with the Y-axis movable frame, with the sliding direction perpendicular to the Y-axis movable frame, enabling two-dimensional movement of the equipment in the horizontal plane. The R-axis rotary assembly is fixed to the bottom of the Z-axis lifting assembly. The gripper assembly is fixedly connected to the rotating end of the R-axis rotary assembly, enabling 360° horizontal rotation adjustment of the gripper. The electromagnetic brake assembly is fixed to the Z-axis lifting assembly and meshes with the lifting actuator of the Z-axis lifting assembly, realizing mechanical anti-fall braking in case of sudden Z-axis events. The X-axis fixed frame, Y-axis movable frame, and Z-axis lifting assembly are all equipped with a gear and rack drive structure to ensure the accuracy and stability of the movement of each axis system, adapting to the handling needs of heavy mud rods.

[0007] As a further optimization of the present invention, the electromagnetic brake assembly includes a drive shaft, an encoder, an electromagnetic brake, a bearing, a brake gear, and a bearing housing. The bearing housing is sleeved on the outer surface of the drive shaft, the electromagnetic brake is fixedly connected to the outer side of the bearing housing, and the drive shaft passes through the bearing housing and rotates with the bearing to reduce the rotational friction of the drive shaft. One end of the drive shaft is fixedly connected to the brake flange of the electromagnetic brake, and the other end is connected to the brake gear. The encoder is driven by the end of the drive shaft away from the brake gear through a small shaft. The brake gear meshes with the rack at the lifting execution end of the Z-axis lifting assembly. This structure uses the encoder to detect the speed of the drive shaft in real time, realizing rapid braking when the equipment malfunctions. The rigid meshing of the gear and rack completes the Z-axis locking, completely preventing the lifting shaft from falling, effectively protecting the mud rod product and equipment structure, and eliminating production safety hazards.

[0008] As a further optimization of the present invention, the X-axis fixed frame includes several columns, an X-axis crossbeam, an end crossbeam, and an X-axis motor reduction drive. A bottom plate is fixed to the bottom of each column, and the bottom plate is fixed to the ground with chemical bolts to ensure the frame's stability. Both ends of the X-axis crossbeam are fixedly connected to the tops of each column with screws. Both ends of the end crossbeam are fixedly connected to the X-axis crossbeam, forming a frame-type fixed structure, which improves the structural stability of the X-axis fixed frame. A guide rail mounting plate is fixedly connected to the upper surface of the X-axis crossbeam, and a rack is fixedly connected to its side. The X-axis motor reduction drive is installed on the bottom surface of the Y-axis movable frame, and its output end is connected to a drive gear that meshes with the rack on the side of the X-axis crossbeam. The frame structure can distribute the load of heavy mud rods, and the gear and rack transmission ensures the accuracy of the horizontal movement of the Y-axis movable frame, meeting the positioning requirements for large-stroke handling.

[0009] As a further optimization of the present invention, the Y-axis movable frame is a Y-axis movable crossbeam. A guide rail slider is fixedly connected to the bottom surface of the Y-axis movable crossbeam. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the X-axis crossbeam to realize the horizontal sliding cooperation between the Y-axis movable crossbeam and the X-axis crossbeam. A guide rail mounting plate is fixedly connected to the upper surface of the Y-axis movable crossbeam, and a rack is fixedly connected to the side. An X-axis drag chain for storing cables is fixedly connected to the outside of the X-axis crossbeam to avoid cable entanglement and wear. Limit seats are fixedly connected to both ends of the X-axis crossbeam, and limit rubber pads are fixedly connected to the limit seats to realize the physical limit of the stroke of the Y-axis movable frame and prevent overtravel collisions that could damage the equipment.

[0010] As a further optimization of the present invention, the Z-axis lifting assembly includes a Z-axis mounting plate, a Z-axis guide assembly, a Z-axis beam, and a Z-axis motor reduction drive. The Z-axis mounting plate is the fixed end of the Z-axis lifting assembly, and a guide rail slider is fixedly connected to its bottom surface. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the Y-movable crossbeam, realizing a horizontal sliding fit between the Z-axis mounting plate and the Y-movable crossbeam. The Z-axis beam is the lifting execution end of the Z-axis lifting assembly, and a guide rail and a rack are fixedly connected to its side. The brake gear of the electromagnetic brake assembly meshes with the rack. A Z-axis fixed seat is fixedly connected to the side of the Z-axis mounting plate facing the Z-axis beam, and the Z-axis guide assembly... The component is fixedly connected to the Z-axis fixed seat, and a guide rail slider adapted to the side guide rail of the Z-axis beam is fixedly connected to the Z-axis guide assembly, realizing the vertical sliding cooperation between the Z-axis beam and the Z-axis guide assembly. The Z-axis motor reduction drive is fixedly connected to the side of the Z-axis guide assembly, and its output end is connected to a connecting gear that meshes with the rack on the side of the Z-axis beam. The bearing chamber of the electromagnetic brake assembly is fixedly connected to the side of the Z-axis guide assembly away from the Z-axis motor reduction drive. The guide structure of the guide rail slider ensures that the Z-axis beam can be vertically raised and lowered without deviation. The gear and rack transmission realizes precise control of the lifting height, adapting to the loading and unloading station requirements of different heights.

[0011] As a further optimization of the present invention, a Y-axis motor reduction drive is fixedly connected to the Z-axis mounting plate, and its output end is connected to a drive gear that meshes with the rack on the side of the Y-axis movable crossbeam, providing power for the horizontal and longitudinal movement of the Z-axis lifting assembly; a Y-axis cable chain for cable storage is fixedly connected to the outside of the Y-axis movable crossbeam, and a Z-axis cable chain for cable storage is fixedly connected to the outside of the Z-axis beam, realizing the orderly storage of cables of each axis system and avoiding cable pulling damage during movement; limit seats are fixedly connected to both ends of the Y-axis movable crossbeam and the upper and lower ends of the Z-axis beam, and limit rubber pads are fixedly connected to the limit seats, realizing full-stroke limit of each axis system and further improving the safety of equipment movement.

[0012] As a further optimization of the present invention, the R-axis rotary assembly includes an R-axis motor reduction drive and a rotary bearing. The rotary bearing is an external gear rotary bearing, and its fixed end is fixedly connected to the bottom surface of the Z-axis beam of the Z-axis lifting assembly through a mounting plate. The R-axis motor reduction drive is fixedly connected to the bottom surface of the Z-axis beam, and its output end is connected to a drive gear. The drive gear meshes with the external gear ring of the rotary bearing. The external gear rotary bearing, in conjunction with the gear transmission, enables the gripper assembly to rotate 360° without dead angles, which can precisely adjust the placement angle of the mud rod, adapt to different stacking requirements, and improve the operational flexibility of the equipment.

[0013] As a further optimization of the present invention, the clamping gripper assembly includes a gripper frame, ball screw support seats, left and right helical screws, screw nuts, screw nut mounting seats, gripper clamping drive motor reducers, slider mounting plates, movable plates, and clamping claws; the top of the gripper frame is connected to the rotating end of a rotary bearing; two ball screw support seats are provided and symmetrically fixed to the bottom surface of the gripper frame; the two ends of the left and right helical screws are respectively rotatably engaged with the two ball screw support seats; the gripper clamping drive motor reducer is fixed to the end face of the gripper frame, and its output end is connected to one end of the left and right helical screws via a coupling; two screw nuts are provided, respectively sleeved on the left and right helical sections of the left and right helical screws and threadedly engaged with the screws; the outer side of each screw nut is fixedly connected to the screw nut mounting seat; the gripper frame... Both sides are fixedly connected to guide rail sliders, and the slider mounting plate is fixedly connected to the guide rail sliders. The slider mounting plate is also fixedly connected to the screw nut mounting seat through a movable plate. The clamping claw is fixedly connected to the end of the movable plate away from the gripper frame, and a sponge plate is attached to the inner surface of the clamping claw that contacts the mud rod product. Limit seats are fixedly connected to both ends of the gripper frame, and limit rubber pads are fixedly connected to the limit seats to limit the sliding stroke of the movable plate. The left and right rotating screws, together with the screw nut, realize the synchronous opening and closing of the clamping claws, which can precisely adjust the clamping distance and accommodate the mixed production needs of mud rods of different sizes. There is no need to manually change the clamps, which improves the work efficiency. The sponge plate achieves flexible contact with the soft mud rod, and together with the stroke limit, it effectively avoids the mud rod dents and deformation caused by rigid clamping, ensuring the integrity of the product.

[0014] As a further optimization of the present invention, a diffuse reflection photoelectric switch and a laser rangefinder are fixedly connected to the gripper frame. The detection end of the diffuse reflection photoelectric switch faces the mud bar product and is used to detect the actual position and placement angle of the mud bar product. The detection end of the laser rangefinder faces the placement station and is used to detect the spatial coordinates of the reference plane and reference point of the placement station. The photoelectric detection and laser rangefinder work together to achieve dual precise positioning of mud bar gripping and placement, replacing manual visual calibration, eliminating positioning errors caused by manual operation, ensuring the consistency of the placement position of the cylindrical bar, and facilitating the connection of subsequent processes.

[0015] As a further optimization of the present invention, the X-axis motor reduction drive, Y-axis motor reduction drive, Z-axis motor reduction drive, R-axis motor reduction drive and gripper clamping drive motor reducer are all electrically connected to the external control system. The diffuse reflection photoelectric switch, laser rangefinder, encoder and electromagnetic brake are also electrically connected to the external control system. The linkage control of each drive component and the detection and braking components realizes the fully automated operation of the equipment. The detection signal is fed back to the control system in real time, which can realize the dynamic correction of motion parameters, further improve the handling and positioning accuracy, and realize automatic braking in abnormal conditions, greatly reducing the degree of manual intervention and saving labor costs.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention features an independent electromagnetic brake anti-fall component. The encoder monitors the drive shaft speed in real time, and the electromagnetic brake can be quickly triggered in the event of a sudden power outage or malfunction. The rigid meshing of the brake gear and rack locks the Z-axis beam, completely eliminating the problem of the lifting shaft system falling due to its own weight. This effectively protects the soft mud rod product from damage and avoids damage to the gripper assembly, guide rail, and other equipment structures due to collisions. It eliminates safety hazards during the handling of heavy mud rods and improves the safety and stability of equipment operation.

[0017] 2. The clamping gripper assembly of the present invention adopts a transmission structure of left and right rotating lead screws and double lead screw nuts. The opening and closing distance of the clamping claws can be precisely controlled by servo program. It is compatible with mud rod products of different diameters and lengths, adapts to the mixed production needs of the production line, and eliminates the need for manual replacement of clamps, greatly simplifying the operation process.

[0018] 3. This invention achieves flexible contact with the soft clay rod by attaching a sponge plate to the inner surface of the clamping claw, and avoids excessive clamping by using a limiting structure. This fundamentally solves the problem of dents and deformation of the clay rod caused by rigid clamping in traditional equipment, ensuring the integrity of the product blank and improving the product qualification rate.

[0019] 4. This invention achieves precise detection of the mud rod gripping position and placement coordinates through the coordinated operation of a diffuse reflection photoelectric switch and a laser rangefinder. The detection signals are transmitted to an external control system in real time. Combined with the precise transmission of the X, Y, Z, and R axis gear racks, the motion parameters of each axis system are dynamically corrected, achieving precise positioning of the mud rod gripping and placement process. This replaces manual visual calibration and auxiliary positioning, eliminates positioning errors caused by manual operation, ensures the consistency of the cylindrical rod placement position, and facilitates seamless connection of subsequent stacking and processing steps. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Schematic diagram of the middle section of the structure; Figure 3 For the present invention Figure 1 Second-view diagram of the mid-structure; Figure 4 For the present invention Figure 3 Schematic diagram of the middle section of the structure; Figure 5 This is a schematic diagram of the gripper connection structure of the present invention; Figure 6 This is a schematic diagram of the Z-axis motor reduction drive connection structure of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the middle structure; Figure 8 For the present invention Figure 6 Schematic diagram of the connection structure of the electromagnetic brake; Figure 9 For the present invention Figure 8 A top-view diagram of the connection structure of the middle structure.

[0021] Explanation of key symbols: 1. Column; 2. X-axis crossbeam; 3. X-axis cable chain; 4. End crossbeam; 5. X-axis motor reduction drive; 6. Y-axis movable crossbeam; 7. Z-axis mounting plate; 8. Z-axis cable chain assembly; 9. Y-axis guide rail; 10. Y-axis cable chain; 11. Z-axis beam; 12. Z-axis motor reduction drive; 13. Z-axis cable chain; 14. R-axis motor reduction drive; 15. Slewing bearing; 16. Grab frame; 17. Lead screw support seat; 18. Lead screw... 19. Guide rail; 20. Motor shaft mounting base; 21. Gripper clamping drive motor reducer; 22. Slider mounting plate; 23. Movable plate; 24. Clamping claw; 25. Product; 26. Diffuse reflection photoelectric switch; 27. Laser rangefinder; 28. Z-axis beam; 29. ​​Rack; 30. Drive shaft; 31. Encoder; 32. Electromagnetic brake; 33. Bearing; 34. Brake gear; 35. Bearing housing; 36. Connecting gear. Detailed Implementation

[0022] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0023] In the description of this invention, it should be noted that the terms "vertical," "horizontal," "upper," "lower," "inner," "outer," "end," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "X-axis," "Y-axis," "Z-axis," and "R-axis" are used for descriptive purposes only, representing the spatial movement direction of the equipment, and are not limitations on the priority of movement.

[0024] Example 1: Please combine Figures 1-9 This embodiment proposes a heavy-duty mud rod handling truss robot, characterized in that it includes an X-axis fixed frame, a Y-axis movable frame, a Z-axis lifting assembly, an R-axis rotation assembly, a clamping gripper assembly, and an electromagnetic brake assembly; The X-axis fixed frame is vertically fixed to the ground, the Y-axis movable frame slides horizontally with the X-axis fixed frame, the Z-axis lifting assembly slides horizontally with the Y-axis movable frame and the sliding direction is perpendicular to the Y-axis movable frame, the R-axis rotary assembly is fixed to the bottom of the Z-axis lifting assembly, and the clamping gripper assembly is fixedly connected to the rotating end of the R-axis rotary assembly. The X-axis fixed frame includes several columns 1, X-axis crossbeams 2, end crossbeams 4, and X-axis motor reduction drive 5. The bottom of the columns 1 is fixed to a bottom plate, which is fixed to the ground by chemical bolts. The two ends of the X-axis crossbeams 2 are fixed to the top of each column 1 by screws. The two ends of the end crossbeams 4 are fixed to the X-axis crossbeams 2, forming a frame-type fixed structure. The upper surface of the X-axis crossbeams 2 is fixed to a guide rail mounting plate, and the side is fixed to a rack. The X-axis motor reduction drive 5 is installed on the bottom surface of the Y-axis movable frame, and its output end is connected to a drive gear that meshes with the rack on the side of the X-axis crossbeams 2.

[0025] The specific technical solution is that the X-axis motor reduction drive 5 starts, and the power is transmitted to the X drive shaft through the coupling. The two ends of the X drive shaft are limited and supported by bearings and drive fixed seats. The X drive gear on the side of the shaft meshes with the rack on the side of the X-axis crossbeam 2. The rotational power of the motor is converted into linear driving force, which drives the Y movable crossbeam 6 to move horizontally along the guide rail on the X-axis crossbeam 2 through the bottom guide rail slider.

[0026] The Y-axis movable frame is a Y-axis movable crossbeam 6. A guide rail slider is fixed to the bottom surface of the Y-axis movable crossbeam 6. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the X-axis crossbeam 2 to realize the horizontal sliding cooperation between the Y-axis movable crossbeam 6 and the X-axis crossbeam 2. A guide rail mounting plate is fixed to the upper surface of the Y-axis movable crossbeam 6, and a rack is fixed to the side. An X-axis drag chain 3 for storing cables is fixed to the outside of the X-axis crossbeam 2. Limit seats are fixed to both ends of the X-axis crossbeam 2, and limit rubber pads are fixed to the limit seats.

[0027] The specific technical solution is that the Y-axis motor reduction drive 9 starts, and the Y drive gear at its output end meshes with the rack on the side of the Y movable crossbeam 6. The motor rotation power is converted into linear driving force, which drives the Z-axis mounting plate 7 and the entire Z-axis lifting assembly to move horizontally and longitudinally along the Y movable crossbeam 6 through the guide rail slider.

[0028] The Z-axis lifting assembly includes a Z-axis mounting plate 7, a Z-axis guide assembly 8, a Z-axis beam 11, and a Z-axis motor reduction drive 12. The Z-axis mounting plate 7 is the fixed end of the Z-axis lifting assembly, and a guide rail slider is fixedly connected to its bottom surface. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the Y-movable crossbeam 6 to realize the horizontal sliding cooperation between the Z-axis mounting plate 7 and the Y-movable crossbeam 6. The Z-axis beam 11 is the lifting execution end of the Z-axis lifting assembly, and a guide rail and a rack 29 are fixedly connected to its side. The brake gear 34 of the electromagnetic brake assembly meshes with the rack 29.

[0029] The specific technical solution is that the Z-axis motor reduction drive 12 on the side of the Z-axis guide assembly 8 is started, and the Z drive gear at its output end meshes with the rack on the side of the Z-axis beam 11. The rotational power of the motor is converted into a vertical driving force, which drives the Z-axis beam 11 to move vertically up and down along the Z-axis guide assembly 8, thereby realizing the height adjustment of the gripper assembly.

[0030] A Z-axis mounting plate 7 is fixedly connected to a Z-axis fixing seat on the side facing the Z-axis beam 11. The Z-axis guide assembly 8 is fixedly connected to the Z-axis fixing seat, and a guide rail slider adapted to the side guide rail of the Z-axis beam 11 is fixedly connected to the Z-axis guide assembly 8 to realize the vertical sliding cooperation between the Z-axis beam 11 and the Z-axis guide assembly 8. The Z-axis motor reduction drive 12 is fixedly connected to the side of the Z-axis guide assembly 8, and its output end is connected to a connecting gear 36 that meshes with the rack 29 on the side of the Z-axis beam 11. The bearing chamber 35 of the electromagnetic brake assembly is fixedly connected to the side of the Z-axis guide assembly 8 away from the Z-axis motor reduction drive 12.

[0031] A Y-axis motor reduction drive 9 is fixedly connected to the Z-axis mounting plate 7, and its output end is connected to a drive gear that meshes with the rack on the side of the Y-axis movable beam 6; a Y-axis drag chain 10 for cable storage is fixedly connected to the outside of the Y-axis movable beam 6, and limit seats are fixedly connected to both ends of the Y-axis movable beam 6, with limit rubber pads fixedly connected to the limit seats; a Z-axis drag chain 13 for cable storage is fixedly connected to the outside of the Z-axis beam 11, and limit seats are fixedly connected to both the upper and lower ends of the Z-axis beam 11, with limit rubber pads fixedly connected to the limit seats.

[0032] The electromagnetic brake assembly is fixed on the Z-axis lifting assembly and meshes with the lifting actuator of the Z-axis lifting assembly to achieve Z-axis anti-fall braking. The X-axis fixed frame, Y-axis movable frame, and Z-axis lifting assembly are all equipped with a gear and rack drive structure. The electromagnetic brake assembly includes a drive shaft 30, an encoder 31, an electromagnetic brake 32, a bearing 33, a brake gear 34, and a bearing housing 35. The bearing housing 35 is sleeved on the outer surface of the drive shaft 30. The electromagnetic brake 32 is fixedly connected to the outside of the bearing housing 35. The drive shaft 30 passes through the bearing housing 35 and rotates with the bearing housing 35 through the bearing 33. One end of the drive shaft 30 is fixedly connected to the brake flange of the electromagnetic brake 32, and the other end is connected to the brake gear 34. The encoder 31 is connected to the end of the drive shaft 30 away from the brake gear 34 through a small shaft. The brake gear 34 meshes with the rack 29 at the lifting actuator of the Z-axis lifting assembly.

[0033] In the specific technical solution, when the equipment is running normally, the electromagnetic brake 32 is energized and opened, and the drive shaft 30 connected to it can rotate freely. The brake gear 34 at the end of the drive shaft 30 meshes with the rack 29 on the side of the Z-axis beam 11 and rotates passively with the rise and fall of the Z-axis beam 11 without interfering with normal movement. The end of the drive shaft 30 is connected to the encoder 31 through a small shaft to detect the rotation speed and direction of the drive shaft 30 in real time.

[0034] In a further technical solution, when the equipment experiences a sudden power outage, the Z-axis motor deceleration drive 12 stops working, and the Z-axis beam 11 tends to fall due to its own weight, causing the brake gear 34 to rotate rapidly. After the encoder 31 detects the sudden increase in the rotational speed of the drive shaft 30, it triggers the electromagnetic brake 32 to operate. The electromagnetic brake 32 immediately locks the brake flange, which causes the drive shaft 30 to stop rotating. The brake gear 34 then locks, forming a rigid mesh with the rack 29, preventing the Z-axis beam 11 from continuing to fall, thus achieving Z-axis anti-fall protection and preventing damage to the gripper assembly and mud rod product 25 due to falling. The bearing chamber 35 is installed on one side of the Z-axis guide assembly 8, and the internal bearing 33 provides rotational support for the drive shaft 30, ensuring the stability of transmission and braking.

[0035] The R-axis rotary assembly includes an R-axis motor reduction drive 14 and a rotary bearing 15. The rotary bearing 15 is an external gear rotary bearing, and its fixed end is fixedly connected to the bottom surface of the Z-axis beam 11 of the Z-axis lifting assembly through a mounting plate. The R-axis motor reduction drive 14 is fixedly connected to the bottom surface of the Z-axis beam 11, and its output end is connected to a drive gear, which meshes with the external gear ring of the rotary bearing 15.

[0036] Specifically, the R-axis motor reduction drive 14 starts, and the motor rotation power is driven by the meshing of the R drive gear and the gear ring of the slewing bearing 15 to drive the rotating end of the slewing bearing 15 to rotate, thereby realizing the horizontal rotation of the gripper frame 16 and the entire set of gripper components, completing the precise adjustment of the gripper angle to adapt to the angle requirements of different placement positions.

[0037] The gripper assembly includes a gripper frame 16, a ball screw support seat 17, left and right helical screws, a screw nut 18, a screw nut mounting seat 20, a gripper gripping drive motor reducer 21, a slider mounting plate 22, a movable plate 23, and gripping claws 24. The top of the gripper frame 16 is connected to the rotating end of the slewing bearing 15. Two ball screw support seats 17 are provided and symmetrically fixed to the bottom surface of the gripper frame 16. The two ends of the left and right helical screws are respectively rotatably engaged with the two ball screw support seats 17. The gripper clamping drive motor reducer 21 is fixedly connected to the end face of the gripper frame 16, and its output end is connected to one end of the left and right helical screws through the coupling 19; there are two screw nuts 18, which are respectively sleeved on the left and right helical sections of the left and right helical screws and are threaded with the screws, and the outer side of each screw nut 18 is fixedly connected to the screw nut mounting seat 20; guide rail sliders are fixedly connected to both sides of the gripper frame 16, and the slider mounting plate 22 is fixedly connected to the guide rail slider, and the slider mounting plate 22 and the screw nut mounting seat 20 are fixedly connected through the movable plate 23; The specific technical solution involves installing a ball screw support seat 17 under the gripper frame 16, connecting left and right helical screws to the support seat, and fitting screw nuts 18 to the screws. The screw nuts 18 are fixedly connected to the screw nut mounting seat 20. A guide rail slider is provided on the side of the gripper frame 16, connecting the slider to a slider mounting plate 22. The slider mounting plate 22 is fixed to a movable plate 23, which is also connected to the screw nut mounting seat 20, forming a linear transmission structure of "screw-nut-movable plate". A gripper clamping drive motor reducer 21 is installed on the end face of the gripper frame 16, and its output end is connected to the end of the left and right helical screws through a coupling 19 to provide power for clamping.

[0038] The gripper clamping drive motor reducer 21 starts, driving the left and right rotating lead screw to rotate. Since the lead screw has a left and right rotating structure, the lead screw nuts 18 on both sides move in opposite directions or in a straight line along the lead screw. Then, through the lead screw nut mounting seat 20, the movable plate 23 moves synchronously in opposite directions along the guide rail on the side of the gripper frame 16. The movable plate 23 is fixedly connected to the gripping claws 24, finally realizing the opening and closing action of the gripping claws 24 on both sides. By controlling the rotation stroke of the motor through the servo program, the spacing of the gripping claws 24 can be precisely adjusted to adapt to different sizes of mud rod products 25, realizing the compatible gripping of multi-size products.

[0039] The clamping claw 24 is fixedly connected to the end of the movable plate 23 away from the gripper frame 16, and a sponge board is attached to the inner surface of the clamping claw 24 that contacts the clay rod product 25. Limit seats are fixedly connected to both ends of the gripper frame 16, and limit rubber pads are fixedly connected to the limit seats to limit the sliding stroke of the movable plate 23. When the clamping claw 24 clamps the soft clay rod product 25, the sponge board makes flexible contact with the product surface. Simultaneously, a suitable clamping gap is calculated and reserved through a servo program to avoid damage such as dents or deformation caused by rigid clamping, thus ensuring the product's appearance and structural integrity.

[0040] Furthermore, the limit seats and limit rubber pads installed at both ends of the gripper frame 16 physically limit the movement of the movable plate 23, preventing structural damage or excessive clamping caused by the over-travel of the gripper claw 24.

[0041] A diffuse reflection photoelectric switch 26 and a laser rangefinder 27 are fixedly connected to the gripper frame 16. The detection end of the diffuse reflection photoelectric switch 26 faces the mud rod product 25 and is used to detect the actual position and placement angle of the mud rod product 25. The detection end of the laser rangefinder 27 faces the placement station and is used to detect the spatial coordinates of the reference plane and reference point of the placement station. Through the coordination of the diffuse reflection photoelectric switch 26, the laser rangefinder 27 and the servo program, the precise gripping and positioning of the mud rod product 25 is achieved, solving the problem of inaccurate positioning in traditional handling.

[0042] It should be noted that the X-axis motor reduction drive 5, Y-axis motor reduction drive 9, Z-axis motor reduction drive 12, R-axis motor reduction drive 14 and gripper clamping drive motor reducer 21 are all electrically connected to the external control system; the diffuse reflection photoelectric switch 26, laser rangefinder 27, encoder 31 and electromagnetic brake 32 are all electrically connected to the external control system to realize the automated linkage and intelligent control of the equipment.

[0043] In summary, the entire equipment, through precise control of servo programs, multi-axis linkage operation, precise detection by photoelectric and laser, and safety design of elastic protection and anti-fall structure, completely solves the problems of low efficiency, easy damage to products, inaccurate positioning, and incompatibility with multi-size products in traditional mud rod handling, and realizes automation, intelligence and safety in heavy mud rod handling.

[0044] Example 2 This embodiment makes further improvements based on embodiment 1. The sponge plate of the clamping claw 24 has a detachable structure. The sponge plate is connected to the inner surface of the clamping claw 24 by Velcro. When the sponge plate is worn or deformed due to long-term use, it can be quickly disassembled and replaced without replacing the entire clamping claw 24, thus reducing the maintenance cost of the equipment. At the same time, depending on the softness of the mud rod, sponge plates of different thicknesses and hardness can be replaced to adapt to the clamping requirements of mud rods with different characteristics, further improving the adaptability of the equipment.

[0045] The remaining structure and working principle of this embodiment are the same as those of Embodiment 1, and will not be repeated here.

[0046] To facilitate better understanding, the overall workflow of the heavy-duty mud rod handling gantry robot of the present invention is as follows: This heavy-duty mud rod handling gantry robot is a multi-axis automated handling device. Based on a fixed frame constructed from column 1, it achieves linear movement within space via the X, Y, and Z axes, and the R axis enables the rotational adjustment of the gripper. Working in conjunction with the clamping gripper assembly, it completes the gripping, handling, and precise placement of the mud rod product 25. Simultaneously, it is equipped with an electromagnetic brake 32 for Z-axis fall protection, photoelectric sensors and laser ranging devices ensure gripping and placement accuracy, and an elastic protective structure at the gripper end prevents damage to soft mud rods. The coordinated operation of all these structures achieves automated, precise, and safe mud rod handling. The following section details the overall working principle in conjunction with the component labels: I. X-axis direction movement principle: Horizontal lateral movement of the Y-axis movable beam 6 The movement along the X-axis is driven by column 1, X-axis crossbeam 2, and X-axis motor reduction drive 5, enabling the Y-axis movable crossbeam 6 to move horizontally along the X-axis. The specific operation process is as follows: Foundation fixing: The column 1 is fixed to the ground by chemical bolts on the bottom plate. The upper end of the column 1 is connected to the X-axis beam 2 by screws. The two ends of the X-axis beam 2 are connected by the end beam 4 to form a stable X-axis fixed frame. The X-axis beam 2 is equipped with a guide rail mounting plate and a rack mounting plate on the side to provide basic guidance and meshing structure for movement.

[0047] Drive transmission: The X-axis motor reduction drive 5 on the bottom mounting plate of the Y-axis movable crossbeam 6 starts, and the power is transmitted to the X drive shaft through the coupling. The two ends of the X drive shaft are limited and supported by bearings and drive fixed seats. The X drive gear on the side of the shaft meshes with the rack on the side of the X-axis crossbeam 2. The rotational power of the motor is converted into linear driving force, which drives the Y-axis movable crossbeam 6 to move horizontally along the guide rail on the X-axis crossbeam 2 through the bottom guide rail slider.

[0048] Auxiliary and limiting functions: The X-axis drag chain 3 is placed in the outer bracket of the X-axis crossbeam 2 and the slot of the X-axis drag chain 3 to store the cable of the X-axis movement and prevent the cable from getting tangled and damaged; the limiting seats and limiting rubber pads installed at both ends of the X-axis crossbeam 2 physically limit the X-axis movement of the Y-axis moving crossbeam 6 to prevent overtravel collision.

[0049] II. Y-axis movement principle: Horizontal and longitudinal movement of the Z-axis lifting component Movement along the Y-axis is achieved primarily by the Y-axis movable crossbeam 6 and the Y-axis motor reduction drive 9, enabling the Z-axis lifting assembly to move horizontally along the Y-axis. This, in conjunction with the X-axis, allows for positioning at any point on the horizontal plane. The specific operation process is as follows: Guiding and Installation: The Y-axis movable crossbeam 6 is equipped with a guide rail mounting plate and a rack mounting plate on the side. The Z-axis mounting plate 7 is connected to the guide rail of the Y-axis movable crossbeam 6 through a guide rail slider. The Z-axis lifting assembly is mounted on the Z-axis mounting plate 7 to achieve linkage with the Y-axis.

[0050] Drive transmission: The Y-axis motor reduction drive 9 on the Z-axis mounting plate 7 starts, and the Y drive gear at its output end meshes with the rack on the side of the Y movable crossbeam 6. The motor rotation power is converted into linear driving force, which drives the Z-axis mounting plate 7 and the entire Z-axis lifting assembly to move horizontally and longitudinally along the Y movable crossbeam 6 through the guide rail slider.

[0051] Auxiliary and limiting functions: The outer bracket of the Y-axis movable crossbeam 6 and the groove of the Y-axis drag chain 10 house the Y-axis drag chain 10 and store the cable for Y-axis movement; the limiting seats and limiting rubber pads at both ends of the Y-axis movable crossbeam 6 physically limit the Y-axis movement stroke of the Z-axis lifting assembly to ensure movement safety.

[0052] III. Z-axis lifting principle: Vertical up-and-down movement of Z-axis beam 11 and fall protection The Z-axis lifting mechanism is centered around the Z-axis mounting plate 7, Z-axis guide assembly 8, and Z-axis motor reduction drive 12, enabling the vertical up-and-down movement of the gripper assembly. Simultaneously, it is equipped with an electromagnetic brake 32 for power failure and fall protection. This is the key axis system for gripping and lowering the mud rod. The specific operation process is as follows: Basic guidance: The Z-axis fixed seat on the Z-axis mounting plate 7 is connected to the Z-axis guide assembly 8. The slider on the Z-axis guide assembly 8 is adapted to the guide rail on the Z-axis beam 11, providing precise guidance for the vertical lifting of the Z-axis beam 11 and preventing deviation.

[0053] Normal lifting drive: The Z-axis motor reduction drive 12 on the side of the Z-axis guide assembly 8 is started. The Z drive gear at its output end meshes with the rack on the side of the Z-axis beam 11. The motor rotation power is converted into vertical driving force, which drives the Z-axis beam 11 to move vertically up and down along the Z-axis guide assembly 8, thereby realizing the height adjustment of the gripper assembly.

[0054] Cable storage and travel limit: The bracket and Z-axis fixed seat mounting bracket on the Z-axis beam 11 are connected to the Z-axis drag chain 13 to store the cable of Z-axis movement; the limit seats and limit rubber pads at the upper and lower ends of the Z-axis beam 11 physically limit the lifting and lowering travel of the Z-axis beam 11 to prevent overtravel.

[0055] The electromagnetic brake 32's power-off fall prevention operation: When the equipment is running normally, the electromagnetic brake 32 is energized and opened, and the drive shaft 30 connected to it can rotate freely. The brake gear 34 at the end of the drive shaft 30 meshes with the rack 29 on the side of the Z-axis beam 11 and rotates driven by the Z-axis beam 11 as it rises and falls without interfering with normal movement. The end of the drive shaft 30 is connected to the encoder 31 through a small shaft to detect the rotation speed and direction of the drive shaft 30 in real time.

[0056] When the equipment experiences a sudden power outage, the Z-axis motor deceleration drive 12 stops working, and the Z-axis beam 11 tends to fall due to its own weight, causing the brake gear 34 to rotate rapidly. After the encoder 31 detects the sudden increase in the rotational speed of the drive shaft 30, it triggers the electromagnetic brake 32 to operate. The electromagnetic brake 32 immediately locks the brake flange, which causes the drive shaft 30 to stop rotating. The brake gear 34 then locks, forming a rigid mesh with the rack 29, preventing the Z-axis beam 11 from continuing to fall, thus achieving Z-axis anti-fall protection and preventing damage to the gripper assembly and mud rod product 25 due to falling. The bearing chamber 35 is installed on one side of the Z-axis guide assembly 8, and the bearing 33 inside provides rotational support for the drive shaft 30, ensuring the stability of transmission and braking.

[0057] IV. R-axis rotation principle: Horizontal rotation adjustment of the gripper assembly The rotation along the R-axis is driven by the R-axis motor reduction drive 14 and the slewing bearing 15, enabling the gripper assembly to rotate 360° horizontally to accommodate the placement angle requirements of the mud rod product 25. The specific operation process is as follows: Structural connection: The mounting plate on the bottom surface of the Z-axis beam 11 is connected to the slewing bearing 15, and the bottom of the slewing bearing 15 is connected to the gripper frame 16. The entire clamping gripper assembly is mounted on the gripper frame 16. The R-axis motor reduction drive 14 is mounted on the bottom surface of the Z-axis beam 11, and its output R drive gear meshes with the gear ring of the slewing bearing 15.

[0058] Rotary drive: The R-axis motor reduction drive 14 starts, and the motor rotation power is driven by the meshing of the R drive gear and the gear ring of the rotary bearing 15 to drive the rotating end of the rotary bearing 15 to rotate, thereby realizing the horizontal rotation of the gripper frame 16 and the entire set of gripper components, completing the precise adjustment of the gripper angle to adapt to the angle requirements of different placement positions.

[0059] V. Gripping and Unloading Principle of the Clamping Hand Component: Clamping and Protection of the Clay Rod Product 25 The clamping gripper assembly is the actuator that directly contacts the clay rod product 25. It consists of a gripper frame 16, a gripper clamping drive motor reducer 21, a ball screw support 17, and clamping claws 24, etc. It can achieve adaptive clamping of clay rods of different sizes, and at the same time, it avoids damage to soft clay rods through an elastic protective structure. The specific operation process is as follows: Transmission structure construction: A ball screw support seat 17 is installed below the gripper frame 16. The support seat is connected to a left and right helical screw, and a screw nut 18 is adapted to the screw. The screw nut 18 is fixedly connected to the screw nut mounting seat 20. A guide rail slider is provided on the side of the gripper frame 16. The slider is connected to a slider mounting plate 22. The slider mounting plate 22 is fixed to a movable plate 23. The movable plate 23 is also connected to the screw nut mounting seat 20, forming a linear transmission structure of "screw-nut-movable plate". A gripper clamping drive motor reducer 21 is installed on the end face of the gripper frame 16. Its output end is connected to the end of the left and right helical screw through a coupling 19 to provide power for clamping.

[0060] Adaptive clamping drive: The gripper clamping drive motor reducer 21 starts, driving the left and right rotating lead screw to rotate. Since the lead screw is a left and right rotating structure, the lead screw nuts 18 on both sides move in opposite directions or in a straight line along the lead screw. Then, through the lead screw nut mounting seat 20, the movable plate 23 moves synchronously in opposite directions along the guide rail on the side of the gripper frame 16. The movable plate 23 is fixedly connected to the clamping claws 24, finally realizing the opening and closing action of the clamping claws 24 on both sides. By controlling the rotation stroke of the motor through the servo program, the spacing of the clamping claws 24 can be precisely adjusted to adapt to different sizes of mud rod products 25, realizing the compatible gripping of multi-size products.

[0061] Protective design for soft clay sticks: A sponge plate is attached to the inner surface of the clamping claw 24. When the clamping claw 24 clamps the soft clay stick product 25, the sponge plate makes flexible contact with the product surface. At the same time, the servo program calculates and reserves an appropriate clamping gap to avoid damage such as dents and deformation caused by rigid clamping, thus ensuring the integrity of the product's appearance and structure.

[0062] Clamping travel limit: Limit seats and limit rubber pads installed at both ends of the gripper frame 16 physically limit the movement of the movable plate 23 to prevent structural damage or excessive clamping caused by the over-travel of the clamping claw 24.

[0063] VI. Precise Positioning and Placement Principle: Coordinated Operation of Photoelectric Sensing and Laser Ranging This equipment, through the coordination of diffuse reflection photoelectric switch 26, laser rangefinder 27, and servo program, achieves precise gripping, positioning, and placement of mud rod product 25, solving the problem of inaccurate positioning in traditional handling. The specific operation process is as follows: Grasping and positioning: When the equipment moves to the mud rod feeding station, the diffuse reflection photoelectric switch 26 emits and receives reflected light, detects the actual position and placement angle of the mud rod product 25, and transmits the signal to the control system. The control system adjusts the motion parameters of the X, Y, Z and R axes in real time so that the gripper 24 is precisely aligned with the gripping point of the mud rod product 25, ensuring the accuracy of gripping.

[0064] Placement and positioning: After the equipment grabs the mud rod, it moves to the unloading / stacking station. The laser rangefinder 27 measures the distance to the reference surface and reference point of the placement station to obtain the precise spatial coordinates of the station. The data is transmitted to the control system. The control system precisely controls the movement stroke of the X, Y, and Z axes and the rotation angle of the R axis through the servo program, so that the mud rod product 25 is lowered to the preset precise position. At the same time, the synchronous unloading action of the clamping claw 24 completes the precise stacking of the mud rod, achieving zero deviation in the placement position of the cylindrical rod.

[0065] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A heavy-duty gantry crane for transporting clay rods, characterized in that, It includes an X-axis fixed frame, a Y-axis movable frame, a Z-axis lifting assembly, an R-axis rotation assembly, a clamping gripper assembly, and an electromagnetic brake assembly; The X-axis fixed frame is vertically fixed to the ground, the Y-axis movable frame is horizontally slidably engaged with the X-axis fixed frame, the Z-axis lifting assembly is horizontally slidably engaged with the Y-axis movable frame and the sliding direction is perpendicular to the Y-axis movable frame, the R-axis rotary assembly is fixed to the bottom end of the Z-axis lifting assembly, and the clamping gripper assembly is fixedly connected to the rotating end of the R-axis rotary assembly. The electromagnetic brake assembly is fixed to the Z-axis lifting assembly and meshes with the lifting actuator of the Z-axis lifting assembly to achieve Z-axis anti-fall braking; the X-axis fixed frame, Y-axis movable frame, and Z-axis lifting assembly are all equipped with a gear and rack drive structure. The electromagnetic brake assembly includes a drive shaft (30), encoder (31), electromagnetic brake (32), bearing (33), brake gear (34), and bearing housing (35). The bearing housing (35) is sleeved on the outer surface of the drive shaft (30). The electromagnetic brake (32) is... 2) Fixedly connected to the outside of the bearing housing (35), the drive shaft (30) passes through the bearing housing (35) and rotates with the bearing housing (35) through the bearing (33). One end of the drive shaft (30) is fixedly connected to the brake flange of the electromagnetic brake (32), and the other end is connected to the brake gear (34). The encoder (31) is connected to the end of the drive shaft (30) away from the brake gear (34) through the small shaft. The brake gear (34) meshes with the rack (29) of the lifting execution end of the Z-axis lifting assembly.

2. The heavy-duty mud rod handling gantry robot according to claim 1, characterized in that, The X-axis fixed frame includes several columns (1), X-axis crossbeams (2), end crossbeams (4), and X-axis motor reduction drive (5). The bottom of the column (1) is fixedly connected to a bottom plate, which is fixed to the ground by chemical bolts. The two ends of the X-axis crossbeam (2) are fixedly connected to the top of each column (1) by screws. The two ends of the end crossbeam (4) are fixedly connected to the X-axis crossbeam (2), forming a frame-type fixed structure. The upper surface of the X-axis crossbeam (2) is fixedly connected to a guide rail mounting plate, and the side is fixedly connected to a rack. The X-axis motor reduction drive (5) is installed on the bottom surface of the Y-axis movable frame, and its output end is connected to a drive gear that meshes with the rack on the side of the X-axis crossbeam (2).

3. The heavy-duty mud rod handling truss robot according to claim 2, characterized in that, The Y-axis movable frame is a Y-axis movable crossbeam (6). The bottom surface of the Y-axis movable crossbeam (6) is fixedly connected to a guide rail slider. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the X-axis crossbeam (2) to realize the horizontal sliding cooperation between the Y-axis movable crossbeam (6) and the X-axis crossbeam (2). The upper surface of the Y-axis movable crossbeam (6) is fixedly connected to a guide rail mounting plate, and a rack is fixedly connected to the side. The outer side of the X-axis crossbeam (2) is fixedly connected to an X-axis drag chain (3) for storing cables. Both ends of the X-axis crossbeam (2) are fixedly connected to limit seats, and limit rubber pads are fixedly connected to the limit seats.

4. The heavy-duty mud rod handling truss robot according to claim 3, characterized in that, The Z-axis lifting assembly includes a Z-axis mounting plate (7), a Z-axis guide assembly (8), a Z-axis beam (11), and a Z-axis motor reduction drive (12). The Z-axis mounting plate (7) is the fixed end of the Z-axis lifting assembly, and a guide rail slider is fixedly connected to its bottom surface. The guide rail slider is adapted to the guide rail of the guide rail mounting plate on the upper surface of the Y movable crossbeam (6) to realize the horizontal sliding cooperation between the Z-axis mounting plate (7) and the Y movable crossbeam (6). The Z-axis beam (11) is the lifting execution end of the Z-axis lifting assembly, and a guide rail and a rack (29) are fixedly connected to its side. The brake gear (34) of the electromagnetic brake assembly meshes with the rack (29).

5. A heavy-duty mud rod handling truss robot according to claim 4, characterized in that, The Z-axis mounting plate (7) is fixedly connected to the Z-axis fixing seat on the side facing the Z-axis beam (11). The Z-axis guide assembly (8) is fixedly connected to the Z-axis fixing seat, and a guide rail slider adapted to the side guide rail of the Z-axis beam (11) is fixedly connected to the Z-axis guide assembly (8) to realize the vertical sliding cooperation between the Z-axis beam (11) and the Z-axis guide assembly (8). The Z-axis motor reduction drive (12) is fixedly connected to the side of the Z-axis guide assembly (8), and its output end is connected to a connecting gear (36) that meshes with the rack (29) on the side of the Z-axis beam (11). The bearing chamber (35) of the electromagnetic brake assembly is fixedly connected to the side of the Z-axis guide assembly (8) away from the Z-axis motor reduction drive (12).

6. A heavy-duty mud rod handling truss robot according to claim 4, characterized in that, The Z-axis mounting plate (7) is fixedly connected to a Y-axis motor reduction drive (9), and its output end is connected to a drive gear that meshes with the rack on the side of the Y movable beam (6); the Y movable beam (6) is fixedly connected to a Y-axis drag chain (10) for storing cables, and both ends of the Y movable beam (6) are fixedly connected to limit seats and limit rubber pads are fixedly connected to the limit seats; the Z-axis beam (11) is fixedly connected to a Z-axis drag chain (13) for storing cables, and both ends of the Z-axis beam (11) are fixedly connected to limit seats and limit rubber pads are fixedly connected to the limit seats.

7. The heavy-duty mud rod handling gantry robot according to claim 1, characterized in that, The R-axis rotary assembly includes an R-axis motor reduction drive (14) and a rotary bearing (15). The rotary bearing (15) is an external gear rotary bearing. Its fixed end is fixedly connected to the bottom surface of the Z-axis beam (11) of the Z-axis lifting assembly through a mounting plate. The R-axis motor reduction drive (14) is fixedly connected to the bottom surface of the Z-axis beam (11). Its output end is connected to a drive gear. The drive gear meshes with the external gear ring of the rotary bearing (15).

8. A heavy-duty mud rod handling truss robot according to claim 7, characterized in that, The clamping gripper assembly includes a gripper frame (16), a ball screw support seat (17), left and right helical screws, a screw nut (18), a screw nut mounting seat (20), a gripper clamping drive motor reducer (21), a slider mounting plate (22), a movable plate (23), and a clamping claw (24). The top of the gripper frame (16) is connected to the rotating end of the rotary bearing (15). Two ball screw support seats (17) are provided and symmetrically fixed to the bottom surface of the gripper frame (16). The two ends of the left and right helical screws are respectively rotatably engaged with the two ball screw support seats (17). The gripper clamping drive motor reducer (21) is fixedly connected to the end face of the gripper frame (16), and its output end is connected to one end of the left and right helical screws through a coupling (19); two screw nuts (18) are provided, which are respectively sleeved on the left and right helical sections of the left and right helical screws and are threaded with the screws; the outer side of each screw nut (18) is fixedly connected to the screw nut mounting seat (20); guide rail sliders are fixedly connected to both sides of the gripper frame (16), the slider mounting plate (22) is fixedly connected to the guide rail slider, and the slider mounting plate (22) and the screw nut mounting seat (20) are fixedly connected through a movable plate (23); The clamping claw (24) is fixedly connected to the end of the movable plate (23) away from the gripper frame (16), and the inner surface of the clamping claw (24) in contact with the mud rod product (25) is covered with a sponge board; both ends of the gripper frame (16) are fixedly connected to limit seats, and limit rubber pads are fixedly connected to the limit seats to limit the sliding stroke of the movable plate (23).

9. A heavy-duty mud rod handling gantry robot according to claim 8, characterized in that, A diffuse reflection photoelectric switch (26) and a laser rangefinder (27) are fixedly connected to the gripper frame (16). The detection end of the diffuse reflection photoelectric switch (26) faces the mud rod product (25) and is used to detect the actual position and placement angle of the mud rod product (25). The detection end of the laser rangefinder (27) faces the placement station and is used to detect the spatial coordinates of the reference surface and reference point of the placement station.

10. A heavy-duty mud rod handling gantry robot according to claim 9, characterized in that, The X-axis motor reduction drive (5), Y-axis motor reduction drive (9), Z-axis motor reduction drive (12), R-axis motor reduction drive (14) and gripper clamping drive motor reducer (21) are all electrically connected to the external control system; the diffuse reflection photoelectric switch (26), laser rangefinder (27), encoder (31) and electromagnetic brake (32) are all electrically connected to the external control system to realize automated linkage and intelligent control of the equipment.

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