Multi-stroke truss grabbing mechanism

Abstract

The utility model discloses a multi-stroke truss material grabbing mechanism which comprises a supporting frame, a first X-axis moving module and a second X-axis moving module are arranged on the supporting frame, and a Y-axis moving module is arranged between the output end of the first X-axis moving module and the output end of the second X-axis moving module. A Z-axis moving module is arranged at the output end of the Y-axis moving module, a clamping jaw module is arranged at the output end of the Z-axis moving module, and the Z-axis moving module comprises a first Z-axis moving module arranged at the output end of the Y-axis moving module and a second Z-axis moving module arranged at the output end of the first Z-axis moving module. The clamping jaw module is arranged at the output end of the second Z-axis moving module. According to the multi-stroke truss grabbing mechanism, the requirement for the height of a plant is reduced while the stroke in the Z-axis direction can be met, normal production is guaranteed, application is flexible, and applicability is high.

Description

Technical Field

[0001] The utility model relates to mechanical equipment, in particular to a multi-stroke truss material grabbing mechanism. Background Art

[0002] In modern automated production processes, truss grabbing mechanisms are a common type of mechanical equipment, widely used in various production situations. At present, truss grabbing mechanisms on the market are generally limited by the height of the plant. The Z-axis height of the truss far exceeds the plant height, which will result in insufficient Z-axis travel or inability to install if the travel is sufficient. It is impossible to grab materials at the existing plant height, which seriously affects the normal progress of production activities.

[0003] Therefore, the purpose of the present invention is to provide a new technical solution to solve the existing technical defects. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a multi-stroke truss material grabbing mechanism, which solves the technical defect in the prior art that the Z-axis height far exceeds the factory building height, resulting in insufficient Z-axis stroke or the inability to install if the stroke is sufficient, and the inability to grab materials at the existing factory building height.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A multi-stroke truss material grabbing mechanism comprises a support frame, on which a first X-axis moving module and a second X-axis moving module are arranged, a Y-axis moving module is arranged between the output end of the first X-axis moving module and the output end of the second X-axis moving module, a Z-axis moving module is arranged at the output end of the Y-axis moving module, a clamping module is arranged at the output end of the Z-axis moving module, the Z-axis moving module comprises a first Z-axis moving module arranged at the output end of the Y-axis moving module and a second Z-axis moving module arranged at the output end of the first Z-axis moving module, and the clamping module is arranged at the output end of the second Z-axis moving module.

[0007] As a further improvement of the above technical solution, the first Z-axis moving module includes a first Z-axis mounting frame arranged at the output end of the Y-axis moving module and a first Z-axis driving motor, a first Z-axis guide rail, and a first Z-axis screw nut pair arranged on the first Z-axis mounting frame; a first Z-axis sliding mounting block is arranged on the first Z-axis guide rail; the first Z-axis sliding mounting block is fixedly connected to the nut of the first Z-axis screw nut pair (34); the output end of the first Z-axis driving motor is connected to one end of the screw of the first Z-axis screw nut pair through a first transmission device and can drive the first Z-axis sliding mounting block to move up and down on the first Z-axis guide rail through the first Z-axis screw nut pair; the second Z-axis moving module is fixedly mounted on the first Z-axis sliding mounting block.

[0008] As a further improvement of the above technical solution, the first transmission device includes a first active synchronous wheel arranged at the output end of the first Z-axis drive motor, a first driven synchronous wheel arranged at one end of the screw of the first Z-axis screw nut pair, and a first synchronous belt wound between the first active synchronous wheel and the first driven synchronous wheel. The first Z-axis drive motor can drive the screw of the first Z-axis screw nut pair to rotate through the first active synchronous wheel, the first synchronous belt and the first driven synchronous wheel.

[0009] As a further improvement of the above technical solution, the second Z-axis moving module includes a second Z-axis module mounting plate and a second Z-axis lifting mounting frame slidably connected to the second Z-axis module mounting plate, the second Z-axis module mounting plate is fixedly mounted on the output end of the first Z-axis moving module, the second Z-axis lifting mounting frame is provided with a second Z-axis driving motor, a second Z-axis guide rail and a second Z-axis screw nut pair, the second Z-axis guide rail is provided with a second Z-axis connecting block, the second Z-axis connecting block is fixedly connected to the second Z-axis module mounting plate and the nut of the second Z-axis screw nut pair, the output end of the second Z-axis driving motor is connected to one end of the screw of the second Z-axis screw nut pair through a second transmission device and can drive the second Z-axis lifting mounting frame to move up and down along the guide direction of the second Z-axis guide rail through the second Z-axis screw nut pair, and the clamping claw module is installed at the bottom of the second Z-axis lifting mounting frame and can move up and down with the second Z-axis lifting mounting frame.

[0010] As a further improvement of the above technical solution, the second transmission device includes a second active synchronous wheel arranged at the output end of the second Z-axis drive motor, a second driven synchronous wheel arranged at one end of the screw of the second Z-axis screw nut pair, and a second synchronous belt wound between the second active synchronous wheel and the second driven synchronous wheel. The second Z-axis drive motor can drive the screw of the second Z-axis screw nut pair to rotate through the second active synchronous wheel, the second synchronous belt and the second driven synchronous wheel.

[0011] As a further improvement of the above technical solution, the clamping module includes a clamping module mounting frame installed at the output end of the second Z-axis moving module, the clamping module mounting frame is provided with a fixed clamping jaw group and a movable clamping jaw guide rail, the movable clamping jaw guide rail is provided with a movable clamping jaw group that can move on the movable clamping jaw guide rail, the clamping jaw module mounting frame is also provided with a clamping jaw moving motor and a clamping jaw moving screw nut pair, the movable clamping jaw group is fixedly connected to the nut of the clamping jaw moving screw nut pair, the output end of the clamping jaw moving motor is connected to one end of the screw of the clamping jaw moving screw nut pair through a third transmission device and can drive the movable clamping jaw group to move on the movable clamping jaw guide rail through the clamping jaw moving screw nut pair.

[0012] As a further improvement of the above technical solution, the fixed jaw group includes a fixed jaw mounting plate fixedly installed on the jaw module mounting frame and a fixed jaw and a fixed jaw pressure plate cylinder arranged on the fixed jaw mounting plate, and a fixed jaw pressure plate is arranged at the output end of the fixed jaw pressure plate cylinder; the movable jaw group includes a movable jaw mounting plate installed on the movable jaw guide rail and a movable jaw and a movable jaw pressure plate cylinder arranged on the movable jaw mounting plate, and a movable jaw pressure plate is arranged at the output end of the movable jaw pressure plate cylinder.

[0013] As a further improvement of the above technical solution, the third transmission device includes a third active synchronous wheel arranged at the output end of the clamping jaw moving motor, a third driven synchronous wheel arranged at one end of the screw of the clamping jaw moving screw nut pair, and a third synchronous belt wound between the third active synchronous wheel and the third driven synchronous wheel. The clamping jaw moving motor can drive the screw of the clamping jaw moving screw nut pair to rotate through the third active synchronous wheel, the third synchronous belt and the third driven synchronous wheel.

[0014] As a further improvement of the above technical solution, the clamping module also includes a clamping module rotating platform and a clamping module rotating drive motor arranged at the output end of the second Z-axis moving module, the clamping module mounting frame is installed at the bottom of the clamping module rotating platform, and the clamping module rotating drive motor is used to drive the clamping module mounting frame to rotate on the clamping module rotating platform.

[0015] As a further improvement of the above technical solution, the first X-axis moving module includes a first X-axis guide rail, a first X-axis driving rack and a first X-axis sliding mounting plate arranged on the support frame, the first X-axis sliding mounting plate is provided with a first X-axis driving motor, the output end of the first X-axis driving motor is provided with a first X-axis driving gear, the first X-axis driving gear and the first X-axis driving rack are meshed with each other, and the first X-axis driving motor can drive the first X-axis sliding mounting plate to slide on the first X-axis guide rail through the first X-axis driving gear and the first X-axis driving rack;

[0016] As a further improvement of the above technical solution, the second X-axis moving module includes a second X-axis guide rail, a second X-axis driving rack and a second X-axis sliding mounting plate arranged on the support frame, a second X-axis driving motor is arranged on the second X-axis sliding mounting plate, a second X-axis driving motor is arranged on the output end of the second X-axis driving motor is arranged on the second X-axis driving gear, the second X-axis driving gear and the second X-axis driving rack are meshed with each other, and the second X-axis driving motor can drive the second X-axis sliding mounting plate to slide on the second X-axis guide rail through the second X-axis driving gear and the second X-axis driving rack;

[0017] As a further improvement of the above technical solution, the Y-axis moving module includes a Y-axis moving module mounting frame installed between the first X-axis sliding mounting plate and the second X-axis sliding mounting plate, the Y-axis moving module mounting frame is provided with a Y-axis moving guide rail and a Y-axis driving rack, the Y-axis moving guide rail is provided with a Y-axis sliding mounting plate, the Y-axis sliding mounting plate is provided with a Y-axis driving motor, the output end of the Y-axis driving motor is provided with a Y-axis driving gear, the Y-axis driving gear and the Y-axis driving rack are meshed with each other, and the Y-axis driving motor can drive the Y-axis sliding mounting plate to slide on the Y-axis moving guide rail through the Y-axis driving gear and the Y-axis driving rack.

[0018] The beneficial effect of the utility model is: the utility model provides a multi-stroke truss grabbing mechanism, which is provided with a first Z-axis moving module and a second Z-axis moving module. The first Z-axis moving module and the second Z-axis moving module provide multiple Z-axis strokes. Under the condition of normal grabbing, the height of the Z-axis moving module will not exceed the height of the factory building, ensuring that the truss grabbing mechanism can be used in common application environments and ensuring normal production.

[0019] In summary, this multi-stroke truss grabbing mechanism solves the technical defect in the prior art that the Z-axis height far exceeds the factory building height, resulting in insufficient Z-axis stroke or the inability to install if the stroke is met, and the inability to grab materials at the existing factory building height. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is an assembly schematic diagram of the utility model;

[0022] Figure 2 It is a schematic diagram of the assembly of the first Z-axis moving module and the second Z-axis moving module in the utility model;

[0023] Figure 3 This is another assembly schematic diagram of the first Z-axis moving module and the second Z-axis moving module in the utility model;

[0024] Figure 4 It is a schematic diagram of the assembly of the clamping jaw module in the utility model;

[0025] Figure 5 It is another assembly schematic diagram of the clamping jaw module in the utility model. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the concept, specific structure and technical effects of the utility model in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, other embodiments obtained by technical personnel in this field without creative work are all within the scope of protection of the utility model. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the utility model can be combined interchangeably without conflicting with each other, refer to Figure 1-5 .

[0027] Reference Figure 1 A multi-stroke truss material grabbing mechanism includes a support frame 9, on which a first X-axis moving module 11 and a second X-axis moving module 12 are arranged, and a Y-axis moving module 2 is arranged between the output end of the first X-axis moving module 11 and the output end of the second X-axis moving module 12.

[0028] The first X-axis moving module 11 includes a first X-axis guide rail 111, a first X-axis driving rack 112 and a first X-axis sliding mounting plate 113 arranged on the first X-axis guide rail 111, a first X-axis driving motor 114 is arranged on the first X-axis sliding mounting plate 113, and a first X-axis driving gear is arranged at the output end of the first X-axis driving motor 114, the first X-axis driving gear and the first X-axis driving rack 112 are meshed with each other, and the first X-axis driving motor 114 can be driven by the first X-axis driving gear. The first X-axis driving gear and the first X-axis driving rack 112 drive the first X-axis sliding mounting plate 113 to slide on the first X-axis guide rail 111; in application, when the first X-axis moving module 11 starts to work, the first X-axis driving motor 114 drives the first X-axis driving gear to rotate, and the first X-axis driving gear drives the first X-axis sliding mounting plate 111 to move on the first X-axis guide rail 112 through its meshing structure with the first X-axis driving rack 112, thereby realizing the movement of one end of the Y-axis moving module 2 in the X-axis direction.

[0029] The second X-axis moving module 12 includes a second X-axis guide rail 121, a second X-axis driving rack 122, and a second X-axis sliding mounting plate 123 arranged on the second X-axis guide rail 121. A second X-axis driving motor 124 is arranged on the second X-axis sliding mounting plate 123. A second X-axis driving gear is arranged at the output end of the second X-axis driving motor 124. The second X-axis driving gear and the second X-axis driving rack 122 are meshed with each other. The second X-axis driving motor 124 can be driven by the second X-axis driving gear. The second X-axis driving gear and the second X-axis driving rack 122 drive the second X-axis sliding mounting plate 123 to slide on the second X-axis guide rail 121; in application, when the second X-axis moving module 12 starts working, the second X-axis driving motor 124 drives the second X-axis driving gear to rotate, and the second X-axis driving gear drives the second X-axis sliding mounting plate 112 to move on the second X-axis guide rail 122 through its meshing structure with the second X-axis driving rack 122, thereby realizing the movement of the other end of the Y-axis moving module 2 in the X-axis direction.

[0030] When the first X-axis moving module 11 and the second X-axis moving module 12 move synchronously, the two ends of the Y-axis moving module 2 can move synchronously in the X-axis direction.

[0031] Further, in the present embodiment, the Y-axis moving module 2 includes a Y-axis moving module mounting frame 21 installed between the first X-axis sliding mounting plate 113 and the second X-axis sliding mounting plate 123, the Y-axis moving module mounting frame 21 is provided with a Y-axis moving guide rail 22 and a Y-axis driving rack 23, the Y-axis moving guide rail 22 is provided with a Y-axis sliding mounting plate 24, the Y-axis sliding mounting plate 24 is provided with a Y-axis driving motor 25, the output end of the Y-axis driving motor 25 is provided with a Y-axis driving gear 26, the Y-axis driving gear 26 and the Y-axis driving rack 23 are meshed with each other, and the Y-axis driving motor 25 can drive the Y-axis sliding mounting plate 24 to slide on the Y-axis moving guide rail 22 through the Y-axis driving gear 26 and the Y-axis driving rack 23. When movement in the Y-axis direction is required, the Y-axis drive motor 25 drives the Y-axis drive gear 26 to rotate, and the Y-axis drive gear 26 drives the Y-axis sliding mounting plate 24 to slide on the Y-axis moving guide rail 22 through its meshing structure with the Y-axis drive rack 23, thereby realizing movement in the Y-axis direction.

[0032] Reference Figure 1 , 2 3. A Z-axis moving module is provided at the output end of the Y-axis moving module 2, and a clamping module 5 is provided at the output end of the Z-axis moving module. Specifically, in the present technical solution, the Z-axis moving module includes a first Z-axis moving module 3 provided at the output end of the Y-axis moving module 2 and a second Z-axis moving module 4 provided at the output end of the first Z-axis moving module 3, and the clamping module 5 is provided at the output end of the second Z-axis moving module 4.

[0033] Reference Figure 2 , 3In the above technical solution, the first Z-axis moving module 3 includes a first Z-axis mounting frame 31 arranged at the output end of the Y-axis moving module 2 and a first Z-axis driving motor 32, a first Z-axis guide rail 33, and a first Z-axis screw nut pair 34 arranged on the first Z-axis mounting frame 31, a first Z-axis sliding mounting block 35 is arranged on the first Z-axis guide rail 33, and the first Z-axis sliding mounting block 35 is fixedly connected to the nut of the first Z-axis screw nut pair 34, the output end of the first Z-axis driving motor 32 is connected to one end of the screw of the first Z-axis screw nut pair 34 through a first transmission device and can drive the first Z-axis sliding mounting block 35 to move up and down on the first Z-axis guide rail 33 through the first Z-axis screw nut pair 34, and the second Z-axis moving module 4 is fixedly mounted on the first Z-axis sliding mounting block 35. When the first Z-axis moving module 3 is working, the first Z-axis driving motor 32 starts to work, and the first Z-axis driving motor 32 drives the screw of the first Z-axis screw nut pair 34 to rotate through the first transmission device. The screw of the first Z-axis screw nut pair 34 drives the first Z-axis sliding mounting block 35 to move along the guide direction of the first Z-axis guide rail 33 through the nut of the first screw nut pair 34. Since the second Z-axis moving module 4 is set on the first Z-axis sliding mounting block 35, the first Z-axis driving motor 32 can ultimately drive the second Z-axis moving module 4 to move up and down.

[0034] Reference Figure 2 , 3Further, the second Z-axis moving module 4 includes a second Z-axis module mounting plate 41 and a second Z-axis lifting mounting frame 42 slidably connected to the second Z-axis module mounting plate 41, the second Z-axis module mounting plate 41 is fixedly mounted on the output end of the first Z-axis moving module 3, the second Z-axis lifting mounting frame 42 is provided with a second Z-axis driving motor 43, a second Z-axis guide rail 44 and a second Z-axis screw nut pair 45, the second Z-axis guide rail 44 is provided with a second Z-axis connecting block 46, the second Z-axis connecting block 46 is fixedly connected to the second Z-axis module mounting plate 41 and the nut of the second Z-axis screw nut pair 45, the output end of the second Z-axis driving motor 43 is connected to one end of the screw of the second Z-axis screw nut pair 45 through a second transmission device, and the second Z-axis lifting mounting frame 42 can be driven by the second Z-axis screw nut pair 45 to move up and down along the guide direction of the second Z-axis guide rail 44, and the clamping jaw module 5 is installed at the bottom of the second Z-axis lifting mounting frame 42 and can move up and down with the second Z-axis lifting mounting frame 42. When the second Z-axis moving module 4 is working, the second Z-axis driving motor 43 starts to run. After the second Z-axis driving motor 43 works, it drives the screw of the second Z-axis screw nut pair 45 to rotate through the second transmission device. Since the nut of the second Z-axis screw nut pair 45 is fixedly connected to the second Z-axis connecting block 46 and the second Z-axis module mounting plate 41, when the screw of the second screw nut pair 45 rotates, the screw of the second screw nut pair 45 will drive the second Z-axis lifting mounting frame 42 to move up and down. Since the clamping jaw module 5 is installed at the bottom of the second Z-axis lifting mounting frame 42, when the second Z-axis lifting mounting frame 42 moves up and down, it synchronously drives the clamping jaw module 5 to move up and down.

[0035] In this technical solution, by setting the first Z-axis moving module 3 and the second Z-axis moving module 4, multiple travel functions in the Z-axis direction are realized, while meeting the travel in the Z-axis direction, the requirement for the height of the plant is reduced, and the required travel height is achieved within a limited height, so that the entire project can achieve the achievable purpose. The process of equipment automation is greatly accelerated and the dependence on personnel is reduced.

[0036] Reference Figure 4 , 5In the present technical solution, the clamping module 5 comprises a clamping module mounting frame 51 mounted on the output end of the second Z-axis moving module 4, the clamping module mounting frame 51 is provided with a fixed clamping jaw group and a movable clamping jaw guide rail 52, the movable clamping jaw guide rail 52 is provided with a movable clamping jaw group movable on the movable clamping jaw guide rail 52, the clamping jaw module mounting frame 51 is also provided with a clamping jaw moving motor 55 and a clamping jaw moving lead screw nut pair 56, the movable clamping jaw group is fixedly connected to the nut of the clamping jaw moving lead screw nut pair 56, the output end of the clamping jaw moving motor 55 is connected to one end of the lead screw of the clamping jaw moving lead screw nut pair 56 through a third transmission device and can drive the movable clamping jaw group to move on the movable clamping jaw guide rail 52 through the clamping jaw moving lead screw nut pair 56. During operation, as needed, the jaw moving motor 55 can drive the screw of the jaw moving screw nut pair 56 to rotate through the third transmission device, and the screw of the jaw moving screw nut pair 56 drives the movable jaw group to move to a suitable distance on the movable jaw guide rail 52 through the nut of the jaw moving screw nut pair 56, and then the distance between the fixed jaw group and the movable jaw group can be adjusted according to the size of the material. It is flexible to use and has strong versatility.

[0037] Reference Figure 4 , 5 Further, in the present technical solution, the fixed jaw group includes a fixed jaw mounting plate 531 fixedly mounted on the jaw module mounting frame 51, and a fixed jaw 532 and a fixed jaw pressure plate cylinder 533 arranged on the fixed jaw mounting plate 531, and a fixed jaw pressure plate 534 is arranged at the output end of the fixed jaw pressure plate cylinder 533; the movable jaw group includes a movable jaw mounting plate 541 mounted on the movable jaw guide rail 52, and a movable jaw 542 and a movable jaw pressure plate cylinder 543 arranged on the movable jaw mounting plate 541, and a movable jaw pressure plate 544 is arranged at the output end of the movable jaw pressure plate cylinder 543. In specific applications, after the material is clamped by the fixed jaw 532 and the movable jaw 542, the fixed jaw pressure plate cylinder 533 drives the fixed jaw pressure plate 534 to press one end of the material, and the movable jaw pressure plate cylinder 543 drives the movable jaw pressure plate 544 to press the other end of the material, thereby realizing the function of clamping the material.

[0038] Reference Figure 4 , 5In addition, in the above technical solution, the clamping module 5 also includes a clamping module rotating platform 58 and a clamping module rotating driving motor 59 arranged at the output end of the second Z-axis moving module 4, the clamping module mounting frame 51 is installed at the bottom of the clamping module rotating platform 58, and the clamping module rotating driving motor 59 is used to drive the clamping module mounting frame 51 to rotate on the clamping module rotating platform 58. When the clamping module 5 needs to be rotated to facilitate clamping of materials, the clamping module rotating driving motor 59 can drive the clamping module mounting frame 51 to rotate to a suitable angle on the clamping module rotating platform 58.

[0039] Further, in the present embodiment, the first transmission device comprises a first active synchronous wheel 36 arranged at the output end of the first Z-axis drive motor 32, a first driven synchronous wheel 37 arranged at one end of the screw of the first Z-axis screw nut pair 34, and a first synchronous belt wound between the first active synchronous wheel 36 and the first driven synchronous wheel 37. The first Z-axis drive motor 32 can drive the screw of the first Z-axis screw nut pair 34 to rotate through the first active synchronous wheel 36, the first synchronous belt and the first driven synchronous wheel 37. The second transmission device comprises a second active synchronous wheel 47 arranged at the output end of the second Z-axis drive motor 43, a second driven synchronous wheel 48 arranged at one end of the screw of the second Z-axis screw nut pair 45, and a second synchronous belt wound between the second active synchronous wheel 47 and the second driven synchronous wheel 48. The second Z-axis drive motor 43 can drive the screw of the second Z-axis screw nut pair 45 to rotate through the second active synchronous wheel 47, the second synchronous belt and the second driven synchronous wheel 48. The third transmission device includes a third active synchronous wheel 571 arranged at the output end of the clamping jaw moving motor 55, a third driven synchronous wheel 572 arranged at one end of the screw of the clamping jaw moving screw nut pair 56, and a third synchronous belt wound between the third active synchronous wheel 571 and the third driven synchronous wheel 572. The clamping jaw moving motor 55 can drive the screw of the clamping jaw moving screw nut pair 56 to rotate through the third active synchronous wheel 571, the third synchronous belt and the third driven synchronous wheel 572. In other embodiments, other transmission devices can also be used to replace the above-mentioned first transmission device, second transmission device and third transmission device, such as a chain sprocket transmission device, a pulley transmission device, a gear transmission device, etc., which will not be repeated here.

[0040] The above is a specific description of the preferred implementation of the utility model, but the invention of the utility model is not limited to the described embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A multi-stroke truss material grabbing mechanism, characterized in that: The invention comprises a support frame (9), wherein a first X-axis movable module (11) and a second X-axis movable module (12) are arranged on the support frame (9), a Y-axis movable module (2) is arranged between the output end of the first X-axis movable module (11) and the output end of the second X-axis movable module (12), a Z-axis movable module is arranged at the output end of the Y-axis movable module (2), a clamping module (5) is arranged at the output end of the Z-axis movable module, the Z-axis movable module comprises a first Z-axis movable module (3) arranged at the output end of the Y-axis movable module (2) and a second Z-axis movable module (4) arranged at the output end of the first Z-axis movable module (3), and the clamping module (5) is arranged at the output end of the second Z-axis movable module (4).

2. A multi-stroke truss material grabbing mechanism according to claim 1, characterized in that: The first Z-axis moving module (3) comprises a first Z-axis mounting frame (31) arranged at the output end of the Y-axis moving module (2), and a first Z-axis driving motor (32), a first Z-axis guide rail (33), and a first Z-axis screw nut pair (34) arranged on the first Z-axis mounting frame (31); a first Z-axis sliding mounting block (35) is arranged on the first Z-axis guide rail (33); the first Z-axis sliding mounting block (35) is fixedly connected to a nut of the first Z-axis screw nut pair (34); the output end of the first Z-axis driving motor (32) is connected to one end of the screw of the first Z-axis screw nut pair (34) through a first transmission device, and can drive the first Z-axis sliding mounting block (35) to move up and down on the first Z-axis guide rail (33) through the first Z-axis screw nut pair (34); and the second Z-axis moving module (4) is fixedly mounted on the first Z-axis sliding mounting block (35).

3. A multi-stroke truss material grabbing mechanism according to claim 2, characterized in that: The first transmission device comprises a first active synchronous wheel (36) arranged at the output end of the first Z-axis drive motor (32), a first driven synchronous wheel (37) arranged at one end of the screw of the first Z-axis screw nut pair (34), and a first synchronous belt wound between the first active synchronous wheel (36) and the first driven synchronous wheel (37); the first Z-axis drive motor (32) can drive the screw of the first Z-axis screw nut pair (34) to rotate through the first active synchronous wheel (36), the first synchronous belt and the first driven synchronous wheel (37).

4. The multi-stroke truss material grabbing mechanism according to claim 1, characterized in that: The second Z-axis moving module (4) comprises a second Z-axis module mounting plate (41) and a second Z-axis lifting mounting frame (42) slidably connected to the second Z-axis module mounting plate (41); the second Z-axis module mounting plate (41) is fixedly mounted on the output end of the first Z-axis moving module (3); the second Z-axis lifting mounting frame (42) is provided with a second Z-axis driving motor (43), a second Z-axis guide rail (44) and a second Z-axis screw nut pair (45); the second Z-axis guide rail (44) is provided with a second Z-axis connecting block (46); the second Z-axis connecting block (46) The second Z-axis module mounting plate (41) and the nut of the second Z-axis screw nut pair (45) are fixedly connected, the output end of the second Z-axis drive motor (43) is connected to one end of the screw of the second Z-axis screw nut pair (45) through a second transmission device, and the second Z-axis screw nut pair (45) can drive the second Z-axis lifting mounting frame (42) to move up and down along the guide direction of the second Z-axis guide rail (44), and the clamping jaw module (5) is installed at the bottom of the second Z-axis lifting mounting frame (42) and can move up and down along with the second Z-axis lifting mounting frame (42).

5. A multi-stroke truss material grabbing mechanism according to claim 4, characterized in that: The second transmission device comprises a second active synchronous wheel (47) arranged at the output end of the second Z-axis drive motor (43), a second driven synchronous wheel (48) arranged at one end of the screw of the second Z-axis screw nut pair (45), and a second synchronous belt wound between the second active synchronous wheel (47) and the second driven synchronous wheel (48); the second Z-axis drive motor (43) can drive the screw of the second Z-axis screw nut pair (45) to rotate through the second active synchronous wheel (47), the second synchronous belt and the second driven synchronous wheel (48).

6. The multi-stroke truss material grabbing mechanism according to claim 1, characterized in that: The clamping module (5) comprises a clamping module mounting frame (51) mounted on the output end of the second Z-axis moving module (4); a fixed clamping jaw group and a movable clamping jaw guide rail (52) are arranged on the clamping jaw mounting frame (51); a movable clamping jaw group movable on the movable clamping jaw guide rail (52) is arranged on the movable clamping jaw guide rail (52); a clamping jaw moving motor (55) and a clamping jaw moving lead screw nut pair (56) are also arranged on the clamping jaw mounting frame (51); the movable clamping jaw group is fixedly connected to the nut of the clamping jaw moving lead screw nut pair (56); the output end of the clamping jaw moving motor (55) is connected to one end of the lead screw of the clamping jaw moving lead screw nut pair (56) through a third transmission device and can drive the movable clamping jaw group to move on the movable clamping jaw guide rail (52) through the clamping jaw moving lead screw nut pair (56).

7. A multi-stroke truss material grabbing mechanism according to claim 6, characterized in that: The fixed jaw group comprises a fixed jaw mounting plate (531) fixedly mounted on the jaw module mounting frame (51), and a fixed jaw (532) and a fixed jaw pressure plate cylinder (533) arranged on the fixed jaw mounting plate (531), and a fixed jaw pressure plate (534) is arranged at the output end of the fixed jaw pressure plate cylinder (533); the movable jaw group comprises a movable jaw mounting plate (541) mounted on the movable jaw guide rail (52), and a movable jaw (542) and a movable jaw pressure plate cylinder (543) are arranged on the movable jaw mounting plate (541), and a movable jaw pressure plate (544) is arranged at the output end of the movable jaw pressure plate cylinder (543).

8. The multi-stroke truss material grabbing mechanism according to claim 6, characterized in that: The third transmission device comprises a third active synchronous wheel (571) arranged at the output end of the clamping jaw moving motor (55), a third driven synchronous wheel (572) arranged at one end of the screw of the clamping jaw moving screw nut pair (56), and a third synchronous belt wound between the third active synchronous wheel (571) and the third driven synchronous wheel (572). The clamping jaw moving motor (55) can drive the screw of the clamping jaw moving screw nut pair (56) to rotate through the third active synchronous wheel (571), the third synchronous belt and the third driven synchronous wheel (572).

9. The multi-stroke truss material grabbing mechanism according to claim 6, characterized in that: The clamping module (5) also includes a clamping module rotating platform (58) and a clamping module rotating drive motor (59) arranged at the output end of the second Z-axis moving module (4); the clamping module mounting frame (51) is installed at the bottom of the clamping module rotating platform (58); and the clamping module rotating drive motor (59) is used to drive the clamping module mounting frame (51) to rotate on the clamping module rotating platform (58).

10. A multi-stroke truss material grabbing mechanism according to any one of claims 1 to 9, characterized in that: The first X-axis moving module (11) comprises a first X-axis guide rail (111) arranged on the support frame (9), a first X-axis driving rack (112) and a first X-axis sliding mounting plate (113) arranged on the first X-axis guide rail (111); a first X-axis driving motor (114) is arranged on the first X-axis sliding mounting plate (113); a first X-axis driving gear is arranged at the output end of the first X-axis driving motor (114); the first X-axis driving gear and the first X-axis driving rack (112) are meshed with each other; the first X-axis driving motor (114) can drive the first X-axis sliding mounting plate (113) to slide on the first X-axis guide rail (111) through the first X-axis driving gear and the first X-axis driving rack (112); The second X-axis moving module (12) comprises a second X-axis guide rail (121) arranged on the support frame (9), a second X-axis driving rack (122) and a second X-axis sliding mounting plate (123) arranged on the second X-axis guide rail (121); a second X-axis driving motor (124) is arranged on the second X-axis sliding mounting plate (123); a second X-axis driving gear is arranged at the output end of the second X-axis driving motor (124); the second X-axis driving gear and the second X-axis driving rack (122) are meshed with each other; the second X-axis driving motor (124) can drive the second X-axis sliding mounting plate (123) to slide on the second X-axis guide rail (121) through the second X-axis driving gear and the second X-axis driving rack (122); The Y-axis moving module (2) comprises a Y-axis moving module mounting frame (21) mounted between the first X-axis sliding mounting plate (113) and the second X-axis sliding mounting plate (123); a Y-axis moving guide rail (22) and a Y-axis driving rack (23) are arranged on the Y-axis moving guide rail (22); a Y-axis sliding mounting plate (24) is arranged on the Y-axis moving guide rail (22); a Y-axis driving motor (25) is arranged on the Y-axis sliding mounting plate (24); a Y-axis driving gear (26) is arranged at the output end of the Y-axis driving motor (25); the Y-axis driving gear (26) and the Y-axis driving rack (23) are meshed with each other; the Y-axis driving motor (25) can drive the Y-axis sliding mounting plate (24) to slide on the Y-axis moving guide rail (22) through the Y-axis driving gear (26) and the Y-axis driving rack (23).

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