Truss manipulator for floor angle milling machine

Abstract

The utility model discloses a truss manipulator for a floor angle milling machine, which is arranged at the position of a door plate of the angle milling machine and comprises a feeding and discharging mechanism, a plurality of turnover mechanisms and a tray area, and the plurality of turnover mechanisms and the tray area are distributed on the periphery of the feeding and discharging mechanism. Floor boards are stacked in the tray area, a grabbing assembly is arranged on the feeding and discharging mechanism and used for grabbing the floor boards, and the feeding and discharging mechanism drives the grabbed floor boards to move among the angle milling machine, the turnover mechanism and the tray area. The floor corner milling machine is simple in structure and capable of grabbing and releasing a floor so that the floor can be carried and conveyed among the corner milling machine, the tray area and the turnover mechanism, the turnover mechanism can turn over the floor so that corner milling operation can be conveniently conducted on the upper surface and the lower surface of the floor, labor cost is reduced, feeding and discharging efficiency and convenience are improved, and the floor corner milling machine is suitable for popularization and application. And meanwhile, the problem that potential safety hazards are easily caused by manual carrying is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of floor processing, and in particular relates to a truss manipulator for a floor angle milling machine. Background Art

[0002] Anti-static flooring is widely used in factories. Unlike household floors, anti-static floors are usually supported at a certain height from the ground for use, so they need to have a certain strength. Anti-static floors are usually heavy. When milling the edges of the floor, they need to be manually carried to the milling machine. The manual transportation is very time-consuming and labor-intensive, resulting in reduced work efficiency. At the same time, carrying heavy objects poses a great safety hazard to personnel. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the utility model proposes a truss robot for a floor angle milling machine. The truss robot for the floor angle milling machine has the advantages of automatically loading and unloading materials when milling the floor, improving work efficiency and convenience, and improving safety performance.

[0005] According to the truss manipulator for a floor angle milling machine in the embodiment of the utility model, the truss manipulator for a floor angle milling machine is arranged at the door panel of the angle milling machine, and the truss manipulator for a floor angle milling machine comprises: a loading and unloading mechanism, a plurality of flipping mechanisms and a pallet area, the plurality of flipping mechanisms and the pallet area are distributed around the loading and unloading mechanism, the pallet area is stacked with floors, the loading and unloading mechanism is provided with a grabbing assembly, the grabbing assembly is used to grab the floor, and the loading and unloading mechanism drives the grabbed floor to move between the angle milling machine, the flipping mechanism and the pallet area.

[0006] According to one embodiment of the utility model, the loading and unloading mechanism includes: a pillar; two x-direction components, which are symmetrically arranged on the pillar; a y-direction component, which is arranged between the two x-direction components, and the two x-direction components drive the y-direction component to move along the x-direction; a z-direction component, which is installed on the y-direction component, and the y-direction component drives the z-direction component to move along the x-direction, and the grabbing component is installed on the z-direction component, and the z-direction component drives the grabbing component to move along the z-direction.

[0007] According to one embodiment of the utility model, the x-direction component includes: an x-direction crossbeam; two x-direction slide rails, the two x-direction slide rails are arranged at intervals on the side of the x-direction crossbeam facing the y-direction component; an x-direction rack, the x-direction rack is arranged on the x-direction crossbeam and located between the two x-direction slide rails.

[0008] According to one embodiment of the utility model, a side plate is provided at the end of the y-direction component, and a gear meshing with the x-direction rack and a slider slidably connected to the x-direction slide rail are installed on the side plate.

[0009] According to one embodiment of the utility model, the y-direction component includes: a y-direction crossbeam, an x-direction transmission mechanism is provided on one side of the y-direction crossbeam, and the x-direction transmission mechanism is transmission-connected with the two x-direction components; two y-direction slide rails, and the two y-direction slide rails are spaced apart and arranged on the other side of the y-direction crossbeam; and a y-direction rack, and the y-direction rack is arranged on the y-direction crossbeam and located between the two y-direction slide rails.

[0010] According to one embodiment of the utility model, the x-direction transmission mechanism includes: a connecting rod, which is rotatably mounted on the y-direction beam through a plurality of first bearing seats, and the two x-direction components are both transmission-connected to the connecting rod; an x-direction motor, which is mounted on the y-direction beam, and the output end of the x-direction motor is connected to a first reducer, one output end of the first reducer is provided with a driving gear meshing with the x-direction rack, and the other output end of the first reducer is connected to the connecting rod through a coupling.

[0011] According to one embodiment of the utility model, the z-direction component includes: a mounting seat, the mounting seat is slidably connected to the y-direction slide rail, the mounting seat is equipped with a y-direction motor, the output end of the y-direction motor is meshed with the y-direction rack for transmission; a z-direction column, the z-direction column is provided with a z-direction slide rail and a z-direction rack, the z-direction column is slidably connected to the mounting seat via the z-direction slide rail; a z-direction motor, the z-direction motor is mounted on the mounting seat, the output end of the z-direction motor is meshed with the z-direction rack for transmission, so as to drive the z-direction column to move along the z-axis.

[0012] According to one embodiment of the utility model, the grabbing assembly includes: a mounting frame, one end of which is rotatably mounted on the lower end of the z-axis column through a gear rotating device; a plurality of clamping cylinders, the plurality of clamping cylinders are mounted on the mounting frame, and a grabbing space for accommodating the floor is formed between the plurality of clamping cylinders; a trigger, the trigger is mounted on the mounting frame, and during grabbing, the lower end of the trigger is against the floor.

[0013] According to one embodiment of the utility model, the flipping mechanism includes: a base, on which two second bearing seats are arranged; a frame, on which two relatively arranged clamping assemblies are arranged, and the clamping assemblies are rotatably connected to the second bearing seats via a support shaft, and the two clamping assemblies can move relative to each other to clamp the floor; and a flipping motor, which is installed on the base and is transmission-connected to the support shaft via a second reducer.

[0014] According to one embodiment of the utility model, the clamping assembly includes: a mounting plate, and a first clamping element and a second clamping element arranged below the mounting plate, the first clamping element includes a first pressure plate, a No. 1 cylinder and a plurality of polyurethane pressure blocks, the first pressure plate is arranged at the output end of the No. 1 cylinder, the first pressure plate is used to define the lower surface of the floor, and the plurality of polyurethane pressure blocks are installed on the side of the first pressure plate facing the floor; the second clamping element includes a No. 2 cylinder and a second pressure plate arranged at the output end of the No. 2 cylinder, the second pressure plate is used to define the upper surface of the floor.

[0015] The beneficial effect of the utility model is that the utility model has a simple structure and can grasp and release the floor, so that the floor can be moved and transported between the milling machine, the pallet area and the flipping mechanism. The flipping mechanism can flip the floor to facilitate milling operations on the upper and lower surfaces of the floor, reducing labor costs, making the loading and unloading process of the floor more convenient, and improving the loading and unloading efficiency. At the same time, it avoids the problem that manual handling easily causes safety hazards. Personnel do not need to carry the floor into the milling machine, thereby improving safety performance.

[0016] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by practicing the utility model. The purpose and other advantages of the utility model are realized and obtained by the structures specifically pointed out in the description, claims and drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments of the present invention, in which:

[0019] Figure 1 It is a schematic diagram of the structure according to the utility model;

[0020] Figure 2 It is a structural schematic diagram of the loading and unloading mechanism in the utility model;

[0021] Figure 3 It is a structural schematic diagram of the turning mechanism in the utility model;

[0022] Figure 4 It is a structural schematic diagram of the clamping assembly according to the utility model;

[0023] Figure 5 It is a schematic diagram of the structure of the connection between the x-direction component and the y-direction component according to the utility model;

[0024] Figure 6 It is a structural schematic diagram of another angle of the connection between the x-direction component and the y-direction component in the utility model;

[0025] Figure 7 It is a schematic diagram of the structure of the z-direction component according to the utility model;

[0026] Figure 8 It is a structural schematic diagram of the grabbing assembly according to the utility model;

[0027] Reference numerals:

[0028] Loading and unloading mechanism 1, turning mechanism 2, milling machine 3, pallet area 4, pillar 11, x-axis component 12, y-axis component 13, z-axis component 14, grabbing component 15, x-axis crossbeam 121, x-axis slide rail 122, x-axis rack 123, side plate 130, y-axis crossbeam 131, y-axis slide rail 132, y-axis rack 133, first bearing seat 134, connecting rod 135, x-axis motor 136, driving gear 137, coupling 138, first reducer 139, gear 1301, slider 1302, installation Mounting seat 140, z-axis column 141, z-axis slide rail 142, z-axis rack 143, y-axis motor 144, z-axis motor 145, mounting frame 150, clamping cylinder 151, trigger 152, gear rotating device 153, base 21, frame 22, second bearing seat 23, support shaft 24, clamping assembly 25, flip motor 26, second reducer 27, mounting plate 251, first pressure plate 252, No. 1 cylinder 253, polyurethane pressure block 254, No. 2 cylinder 255, second pressure plate 256. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The following is a detailed description of the truss robot for a floor angle milling machine according to an embodiment of the utility model with reference to the accompanying drawings.

[0033] like Figure 1-Figure 8 As shown, according to the embodiment of the utility model, the truss manipulator for the floor angle milling machine is arranged at the door panel of the angle milling machine 3, and the truss manipulator for the floor angle milling machine includes: a loading and unloading mechanism 1, a plurality of flipping mechanisms 2 and a pallet area 4, the plurality of flipping mechanisms 2 and the pallet area 4 are distributed around the loading and unloading mechanism 1, the pallet area 4 is stacked with floors, the loading and unloading mechanism 1 is provided with a grabbing component 15, the grabbing component 15 is used to grab the floor, and the loading and unloading mechanism 1 drives the grabbed floor to move between the angle milling machine 3, the flipping mechanism 2 and the pallet area 4.

[0034] In other words, the door panel of the milling machine 3 is the entrance and exit of the floor in and out of the milling machine. The loading and unloading mechanism 1 can grab the floor and enter and exit the milling machine 3. At present, milling operations are required on all sides of the upper and lower surfaces of the floor. Multiple flipping mechanisms 2 are set to flip the floor 180°. After the operation on the upper surface of the floor is completed, the loading and unloading mechanism 1 can grab the floor and place it in the flipping mechanism 2 for flipping so that the lower surface of the floor faces, and then grab it into the milling machine 3 for milling operations. After the operation on the upper and lower surfaces of the floor is completed, the floor is returned to the original state through the flipping mechanism 2 and stored in the pallet area 4.

[0035] Therefore, the utility model has a simple structure and can grab and release the floor, so as to transport and convey the floor between the milling machine 3, the pallet area 4 and the flipping mechanism 2. The flipping mechanism 2 can flip the floor to facilitate milling operations on the upper and lower surfaces of the floor, reducing labor costs, making the loading and unloading process of the floor more convenient, and improving the loading and unloading efficiency. At the same time, it avoids the problem of safety hazards caused by manual handling. Personnel do not need to carry the floor into the milling machine, thereby improving safety performance.

[0036] The loading and unloading mechanism 1 includes: a pillar 11, two x-direction components 12, a y-direction component 13 and a z-direction component 14. The two x-direction components 12 are symmetrically arranged on the pillar 11; the y-direction component 13 is arranged between the two x-direction components 12, and the two x-direction components 12 drive the y-direction component 13 to move along the x-direction; the z-direction component 14 is installed on the y-direction component 13, and the y-direction component 13 drives the z-direction component 14 to move along the x-direction, and the grabbing component 15 is installed on the z-direction component 14, and the z-direction component 14 drives the grabbing component 15 to move along the z-direction.

[0037] That is to say, the loading and unloading mechanism 1 grabs the floor through the grabbing component 15, and then drives the floor to move along the x direction through the x-direction component 12, drives the floor to move along the y direction through the y-direction component 13, and drives the floor to move along the z direction through the z-direction component 14. In this way, after the floor is grabbed, it can move to the required position in the xyz three-dimensional space.

[0038] The x-axis component 12 includes: an x-axis crossbeam 121, two x-axis slide rails 122 and an x-axis rack 123. The two x-axis slide rails 122 are arranged at intervals on the side of the x-axis crossbeam 121 facing the y-axis component 13; the x-axis rack 123 is arranged on the x-axis crossbeam 121 and between the two x-axis slide rails 122. Furthermore, a side plate 130 is provided at the end of the y-axis component 13, and a gear 1301 meshing with the x-axis rack 123 and a slider 1302 slidably connected to the x-axis slide rail 122 are installed on the side plate 130. The two x-axis slide rails 122 are provided for guiding, which can improve the accuracy of the x-axis movement. At the same time, the drive mode of the gear and rack is adopted, which has a long service life. Under the premise that the movement accuracy can be guaranteed, the manufacturing cost is reduced.

[0039] The y-direction assembly 13 includes: a y-direction crossbeam 131, two y-direction slide rails 132 and a y-direction rack 133. An x-direction transmission mechanism is provided on one side of the y-direction crossbeam 131, and the x-direction transmission mechanism is transmission-connected with the two x-direction assemblies 12; the two y-direction slide rails 132 are arranged at intervals on the other side of the y-direction crossbeam 131; and the y-direction rack 133 is arranged on the y-direction crossbeam 131 and between the two y-direction slide rails 132. That is, the transmission mode and guiding mode of the y-direction assembly 13 are the same as those of the x-direction assembly 12, and the difference is that the transmission directions are perpendicular.

[0040] On this basis, the x-direction transmission mechanism includes: a connecting rod 135 and an x-direction motor 136. The connecting rod 135 is rotatably mounted on the y-direction beam 131 through a plurality of first bearing seats 134. Both x-direction components 12 are transmission-connected to the connecting rod 135. The x-direction motor 136 is mounted on the y-direction beam 131. The output end of the x-direction motor 136 is connected to the first reducer 139. One output end of the first reducer 139 is provided with a driving gear 137 meshing with the x-direction rack 123. The other output end of the first reducer 139 is connected to the connecting rod 135 through a coupling 138.

[0041] That is to say, there are two x-axis components 12. The utility model sets up an x-axis transmission mechanism for synchronous transmission, uses the x-axis motor 136 to provide power, transmits the power to one x-axis component 12 through the first reducer 139, and synchronously transmits the power to the other x-axis component 12 through the coupling 138 and the connecting rod 135. This design can improve the stability of power transmission, while reducing one power source and reducing costs. The two x-axis components 12 can move synchronously, so that the two ends of the y-axis component 13 can move synchronously, ensuring the stability of the y-axis component 13 when moving along the x direction.

[0042] Among them, the z-axis component 14 includes: a mounting seat 140, a z-axis column 141 and a z-axis motor 145. The mounting seat 140 is slidably connected to the y-axis slide rail 132. A y-axis motor 144 is installed on the mounting seat 140, and the output end of the y-axis motor 144 is meshed with the y-axis rack 133 for transmission; a z-axis slide rail 142 and a z-axis rack 143 are provided on the z-axis column 141, and the z-axis column 141 is slidably connected to the mounting seat 140 through the z-axis slide rail 142; the z-axis motor 145 is installed on the mounting seat 140, and the output end of the z-axis motor 145 is meshed with the z-axis rack 143 for transmission, so as to drive the z-axis column 141 to move along the z-axis.

[0043] In other words, the y-direction motor 144, the power source for the z-direction movement, is set on the mounting base 140, thereby driving the mounting base 140 to move along the y-direction. At the same time, in order to realize the lifting function of the floor, the z-direction column 141 is vertically set, and the z-direction motor 145 and the z-direction rack 143 are also used as power, and the z-direction slide rail 142 is used for guidance to drive the z-direction column 141 to move up and down, thereby driving the grasping assembly 15 and the grasped floor to move together.

[0044] Among them, the grabbing assembly 15 includes: a mounting frame 150, four clamping cylinders 151 and a trigger 152. One end of the mounting frame 150 is rotatably mounted on the lower end of the z-axis column 141 through a gear rotating device 153; the four clamping cylinders 151 are mounted on the mounting frame 150, and a grabbing space for accommodating the floor is formed between the four clamping cylinders 151; the trigger 152 is mounted on the mounting frame 150, and during grabbing, the lower end of the trigger 152 rests against the floor.

[0045] During grabbing, two clamping cylinders 151 are located on one side of the floor, and the other two clamping cylinders 151 are located on the other side of the floor. The clamping cylinders 151 on the left and right sides of the floor are arranged opposite to each other and act synchronously. A polyurethane block is arranged on the output end of the clamping cylinder 151, which is used to directly contact the side of the floor. The four clamping cylinders 151 extend inward at the same time to clamp the floor, and the four clamping cylinders 151 extend outward at the same time to release the floor.

[0046] The trigger 152 is located between the left and right groups of triggers 152. When the grabbing assembly 15 moves downward, the floor contacts the trigger 152. In this way, it is known that the clamping cylinder 151 on the grabbing assembly 15 is in the same plane with the floor at this moment, so the clamping cylinder 151 can definitely grab the floor when it is extended.

[0047] Furthermore, the flipping mechanism 2 includes: a base 21, a frame 22 and a flipping motor 26, and two second bearing seats 23 are arranged on the base 21; two clamping assemblies 25 are arranged opposite to each other on the frame 22, and the clamping assemblies 25 are rotatably connected to the second bearing seats 23 through a support shaft 24, and the two clamping assemblies 25 can move relative to each other to clamp the floor; the flipping motor 26 is installed on the base 21, and the flipping motor 26 is transmission-connected to the support shaft 24 through a second reducer 27.

[0048] The flipping mechanism 2 provides flipping power through the flipping motor 26, and clamps the floor through two clamping assemblies 25. It should be noted that the clamping direction of the two clamping assemblies 25 is perpendicular to the direction of the clamping cylinder 151 in the grabbing assembly 15. That is to say, in the four directions of front, back, left and right of the floor, the clamping cylinder 151 clamps the floor from the left and right directions, and the clamping assembly 25 clamps the floor from the front and back directions, so as to avoid interference.

[0049] In this embodiment, the clamping assembly 25 includes: a mounting plate 251, and a first clamping element and a second clamping element arranged below the mounting plate 251, the first clamping element includes a first pressure plate 252, a No. 1 cylinder 253 and a plurality of polyurethane pressure blocks 254, the first pressure plate 252 is arranged at the output end of the No. 1 cylinder 253, the first pressure plate 252 is used to define the lower surface of the floor, and the plurality of polyurethane pressure blocks 254 are installed on the side of the first pressure plate 252 facing the floor; the second clamping element includes a No. 2 cylinder 255 and a second pressure plate 256 arranged at the output end of the No. 2 cylinder 255, and the second pressure plate 256 is used to define the upper surface of the floor.

[0050] That is to say, the first pressure plate 252 is an L-shaped structure, and the second pressure plate 255 is an inverted L-shaped structure. In this way, after the floor is clamped, the lower surface of the floor is restricted by the first pressure plate 252, and the upper surface of the floor is restricted by the second pressure plate 255. The inner contour of the frame 22 is larger than the floor. When flipping, the floor is located inside the frame 22. In addition, the limiting function of the frame 22 can prevent the floor from detaching from the flipping mechanism 2 when flipping. Of course, in this embodiment, the number of first clamping elements is two, and the second clamping element is located between the two first clamping elements, so that the clamping is more stable.

[0051] In summary, the utility model can automatically load and unload materials when milling the floor, and can flip the floor, so as to perform milling operations on different surfaces of the floor, thereby improving the efficiency of the milling operation. At the same time, the truss robot structure of the entire floor milling machine is relatively simple, does not require customized parts, and is easy to assemble and maintain.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A truss manipulator for a floor angle milling machine, characterized in that: The truss manipulator for a floor angle milling machine is arranged at the door panel of the angle milling machine (3), and comprises: a loading and unloading mechanism (1), a plurality of turning mechanisms (2) and a pallet area (4), wherein the plurality of turning mechanisms (2) and the pallet area (4) are distributed around the loading and unloading mechanism (1), and the pallet area (4) is stacked with floor panels, and the loading and unloading mechanism (1) is provided with a gripping assembly (15), and the gripping assembly (15) is used to grip the floor panels, and the loading and unloading mechanism (1) drives the gripped floor panels to move between the angle milling machine (3), the turning mechanisms (2) and the pallet area (4).

2. The truss manipulator for floor angle milling machine according to claim 1 is characterized in that: The loading and unloading mechanism (1) comprises: Pillar (11); Two x-direction components (12), the two x-direction components (12) being symmetrically arranged on the support (11); A y-direction component (13), wherein the y-direction component (13) is arranged between the two x-direction components (12), and the two x-direction components (12) drive the y-direction component (13) to move along the x-direction; A z-direction component (14), wherein the z-direction component (14) is mounted on the y-direction component (13), and the y-direction component (13) drives the z-direction component (14) to move along the x-direction; and the gripping component (15) is mounted on the z-direction component (14), and the z-direction component (14) drives the gripping component (15) to move along the z-direction.

3. The truss manipulator for floor angle milling machine according to claim 2, characterized in that: The x-direction component (12) comprises: X-direction beam (121); Two x-direction slide rails (122), the two x-direction slide rails (122) being arranged at intervals on a side of the x-direction crossbeam (121) facing the y-direction component (13); An x-direction rack (123), wherein the x-direction rack (123) is arranged on the x-direction crossbeam (121) and is located between the two x-direction slide rails (122).

4. The truss manipulator for a floor angle milling machine according to claim 3 is characterized in that: A side plate (130) is provided at the end of the y-direction component (13), and a gear (1301) meshing with the x-direction rack (123) and a sliding block (1302) slidably connected to the x-direction slide rail (122) are mounted on the side plate (130).

5. The truss manipulator for floor angle milling machine according to claim 4, characterized in that: The y-direction component (13) comprises: A y-direction crossbeam (131), wherein an x-direction transmission mechanism is provided on one side of the y-direction crossbeam (131), and the x-direction transmission mechanism is in transmission connection with the two x-direction components (12); Two y-direction slide rails (132), the two y-direction slide rails (132) being arranged at intervals on the other side of the y-direction crossbeam (131); A y-direction rack (133), wherein the y-direction rack (133) is arranged on the y-direction crossbeam (131) and is located between the two y-direction slide rails (132).

6. The truss manipulator for floor angle milling machine according to claim 5, characterized in that: The x-direction transmission mechanism comprises: A connecting rod (135), the connecting rod (135) being rotatably mounted on the y-direction crossbeam (131) via a plurality of first bearing seats (134), and the two x-direction components (12) are both drivingly connected to the connecting rod (135); An x-direction motor (136) is mounted on the y-direction crossbeam (131); an output end of the x-direction motor (136) is connected to a first reducer (139); an output end of the first reducer (139) is provided with a driving gear (137) meshing with the x-direction rack (123); and the other output end of the first reducer (139) is connected to the connecting rod (135) via a coupling (138).

7. The truss manipulator for a floor angle milling machine according to claim 5, characterized in that: The z-direction component (14) comprises: A mounting seat (140), the mounting seat (140) being slidably connected to the y-direction slide rail (132), a y-direction motor (144) being mounted on the mounting seat (140), and an output end of the y-direction motor (144) meshingly transmitting with the y-direction rack (133); A z-direction column (141), wherein a z-direction slide rail (142) and a z-direction rack (143) are provided on the z-direction column (141), and the z-direction column (141) is slidably connected to the mounting seat (140) via the z-direction slide rail (142); A z-direction motor (145) is mounted on the mounting seat (140), and an output end of the z-direction motor (145) is meshed with the z-direction rack (143) for transmission, so as to drive the z-direction column (141) to move along the z-axis.

8. The truss manipulator for a floor angle milling machine according to claim 7, characterized in that: The grabbing component (15) comprises: A mounting frame (150), one end of the mounting frame (150) being rotatably mounted on the lower end of the z-direction column (141) via a gear rotating device (153); A plurality of clamping cylinders (151), wherein the plurality of clamping cylinders (151) are mounted on the mounting frame (150), and a gripping space for accommodating a floor is formed between the plurality of clamping cylinders (151); A trigger (152) is installed on the installation frame (150), and when grabbing, the lower end of the trigger (152) is against the floor.

9. The truss manipulator for a floor angle milling machine according to claim 1, characterized in that: The turning mechanism (2) comprises: A base (21), wherein two second bearing seats (23) are arranged on the base (21); A frame (22), wherein the frame (22) is provided with two clamping assemblies (25) arranged opposite to each other, the clamping assemblies (25) are rotatably connected to the second bearing seat (23) via a support shaft (24), and the two clamping assemblies (25) are capable of relative movement to clamp the floor; A flip motor (26), the flip motor (26) being mounted on the base (21), and the flip motor (26) being transmission-connected to the support shaft (24) via a second reducer (27).

10. The truss manipulator for a floor angle milling machine according to claim 9, characterized in that: The clamping assembly (25) comprises: A mounting plate (251), and a first clamping element and a second clamping element arranged below the mounting plate (251), wherein the first clamping element comprises a first pressing plate (252), a No. 1 cylinder (253) and a plurality of polyurethane pressing blocks (254), wherein the first pressing plate (252) is arranged at the output end of the No. 1 cylinder (253), the first pressing plate (252) is used to define the lower surface of the floor, and the plurality of polyurethane pressing blocks (254) are installed on the side of the first pressing plate (252) facing the floor; and the second clamping element comprises a No. 2 cylinder (255) and a second pressing plate (256) arranged at the output end of the No. 2 cylinder (255), and the second pressing plate (256) is used to define the upper surface of the floor.

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