Feeding and discharging truss robot claw for carrier and truss robot

Abstract

The utility model relates to the technical field of truss robots, and provides a feeding and discharging truss robot claw for a carrier and a truss robo.The claw comprises a mounting welding support, two hook moving driving mechanisms, a limiting mechanism and hooks are arranged on the mounting welding support, and the two hook moving driving mechanisms are linearly arranged on the mounting welding support at intervals; the hook moving driving mechanisms are arranged on the mounting welding support and can move in a reciprocating mode, a limiting mechanism is arranged on the moving path of at least one hook moving driving mechanism, each hook moving driving mechanism is connected with two hooks, and the two hooks are connected to the hook moving driving mechanisms at intervals in the width direction of the mounting welding support. The maximum moving distance of the hook moving driving mechanism can be adjusted through the limiting mechanism, so that the hook can adapt to and grab carriers of various specifications, and the problem that an existing clamping jaw can only grab the carriers of the same specification and size is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of truss robots, and more specifically, to a loading and unloading truss robot gripper for a vehicle and a truss robot. Background Technique

[0002] The existing gripper of the truss robot is an end tooling fixture widely used on the truss robot. It is installed at the end of the Z-axis of the truss robot according to the specific working conditions, and then uses the cylinder as the power source to work. When the cylinder is in the open state, the gripper can grab the vehicle; then, the truss robot transports the vehicle to the designated position. When reaching the target position, the cylinder acts again, and the gripper opens again to put down the vehicle. Through such opening and closing actions, the gripper realizes the functions of picking up and placing the vehicle.

[0003] At present, this type of gripper can only effectively grab vehicles of the same specification size in design, which means that its operating object must meet specific size and shape requirements. Therefore, the existing grippers lack flexibility and cannot adapt to vehicles of multiple specification sizes. This limitation restricts its application in the environment of grasping requirements for vehicles of multiple specifications, making it necessary to frequently replace the grippers when dealing with vehicles of different sizes and shapes, which affects the work efficiency and production flexibility. Content of the Utility Model

[0004] The purpose of the utility model is to provide a loading and unloading truss robot gripper for a vehicle and a truss robot, so as to solve the technical problem that the gripper of the existing truss robot can only grab vehicles of the same specification size and is not flexible enough.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is:

[0006] On the one hand, the utility model provides a loading and unloading truss robot gripper for a vehicle, including an installation and welding bracket, on which a hook moving driving mechanism, a limiting mechanism and hooks are provided. The number of the hook moving driving mechanisms is two, and the two hook moving driving mechanisms are arranged at intervals along a straight line on one side of the installation and welding bracket in the thickness direction and can reciprocate along the length direction of the installation and welding bracket. And a limiting mechanism is arranged on the moving path of at least one hook moving driving mechanism, and the limiting mechanism is arranged on the installation and welding bracket. Two hooks are connected to each hook moving driving mechanism, and the two hooks are connected to the hook moving driving mechanism at intervals along the width direction of the installation and welding bracket, and the hooked end of the hook is located on the other side of the installation and welding bracket in the thickness direction. When the hook moving driving mechanism drives the hook to move, the maximum moving distance of the hook moving driving mechanism can be adjusted through the limiting mechanism.

[0007] In one embodiment, at least two proximity switches are provided at intervals on the moving path of each of the hook moving drive mechanisms, and the at least two proximity switches are respectively fixed to the mounting and welding bracket through proximity switch brackets.

[0008] In one embodiment, the hook moving drive mechanism includes two sets of linear guide rail assemblies, a sliding plate, and a driving device. The linear guide rail assembly includes a guide rail and a slider. The guide rails of the two sets of linear guide rail assemblies are fixed to the mounting and welding bracket at intervals in the width direction of the mounting and welding bracket. The slider is slidably connected to the guide rail. The sliding plate is connected to the sliders of the two sets of linear guide rail assemblies. The driving device is fixedly connected to the mounting and welding bracket and is connected to the sliding plate. When the driving device works, it can drive the sliding plate to move on the guide rail.

[0009] In one embodiment, the driving device includes a cylinder. The cylinder is fixed to the mounting and welding bracket, and the moving direction of the piston rod of the cylinder is the same as the direction of the guide rail. The front end of the piston rod of the cylinder is connected to the sliding plate.

[0010] In one embodiment, the front end of the piston rod of the cylinder is connected to the sliding plate through a floating joint. A floating joint mounting seat is installed on the sliding plate. The floating joint mounting seat is connected to one end of the floating joint. The front end of the piston rod of the cylinder is connected to the other end of the floating joint.

[0011] In one embodiment, a cylinder front mounting bracket and a cylinder rear mounting bracket are sequentially provided at the front and rear ends of the cylinder. The cylinder front mounting bracket tightly connects the front end of the cylinder to the mounting and welding bracket. The cylinder rear mounting bracket tightly connects the rear end of the cylinder to the mounting and welding bracket.

[0012] In one embodiment, a mounting through hole is provided at the middle position of the mounting and welding bracket. The two hook moving drive mechanisms and the hooks connected thereto are located on the radial two sides of the mounting through hole and are symmetrically arranged.

[0013] In one embodiment, the limiting mechanism includes a limiting adjustment block seat and a limiting adjustment block. The limiting adjustment block seat is fixedly connected to the mounting and welding bracket and includes a threaded through hole. The limiting adjustment block includes a stop block, a screw rod, and a locking nut. The stop block is connected to one end of the screw rod. The screw rod is fitted and connected to the threaded through hole. The locking nut is connected to the screw rod. When adjusting the position of the screw rod on the limiting adjustment block seat, the stop block can abut against the sliding plate to limit the extending distance of the hook relative to the driving device.

[0014] In one embodiment, the hook is fixedly connected to a connecting member on at least one side in the thickness direction, and the connecting member is fixedly connected to the sliding plate. On the other hand, the present utility model also provides a truss robot, including the above-mentioned loading and unloading truss robot gripper for the vehicle. The beneficial effects of the loading and unloading truss robot gripper for the vehicle provided by the present utility model are at least as follows: by installing a welding bracket, a hook moving driving mechanism, a limiting mechanism and a hook are provided on the welding bracket. The number of the hook moving driving mechanisms is two, and the two hook moving driving mechanisms are arranged at intervals along a straight line on one side of the welding bracket in the thickness direction and can reciprocate along the length direction of the welding bracket. And a limiting mechanism is arranged on the moving path of at least one hook moving driving mechanism. The limiting mechanism is arranged on the welding bracket. Two hooks are connected to each hook moving driving mechanism, and the two hooks are connected to the hook moving driving mechanism at intervals along the width direction of the welding bracket. And the hooked end of the hook is located on the other side of the welding bracket in the thickness direction. When the hook moving driving mechanism drives the hook to move, the maximum moving distance of the hook moving driving mechanism can be adjusted through the limiting mechanism. Since the limiting mechanism can adjust the maximum moving distance of the hook moving driving mechanism, the hook spacing between the two hook moving driving mechanisms can be realized. Therefore, the hook can grasp vehicles of various specifications, overcoming the problem that the existing clamping jaws can only grasp vehicles of the same specification size. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a perspective view of a loading and unloading truss robot gripper for a vehicle provided by an embodiment of the present utility model;

[0017] Figure 2 is a front view of a loading and unloading truss robot gripper for a vehicle provided by an embodiment of the present utility model;

[0018] Figure 3 is a top view of a loading and unloading truss robot gripper for a vehicle provided by an embodiment of the present utility model;

[0019] Figure 4 is a side view of a loading and unloading truss robot gripper for a vehicle provided by an embodiment of the present utility model.

[0020] Among them, the reference numerals in the drawings are as follows:

[0021] 1. Install the welding bracket; 2. Hook moving drive mechanism; 21. Linear guide rail assembly; 211. Guide rail; 212. Slide block; 22. Slide plate; 23. Cylinder; 24. Floating joint; 25. Floating joint mounting seat; 26. Front mounting bracket of cylinder; 27. Rear mounting bracket of cylinder; 3. Limiting mechanism; 31. Limiting adjustment block seat; 32. Limiting adjustment block; 4. Hook; 5. Proximity switch; 6. Proximity switch bracket; 7. Outer connecting piece of hook; 8. Inner connecting piece of hook. Detailed implementation mode

[0022] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0023] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly located on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the directions or positions shown in the drawings, and are only for the convenience of description and cannot be construed as a limitation to the technical solution of the present application. The terms "first" and "second" are only used for the purpose of convenient description and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of technical features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0024] Please refer to Figure 1 , in the first embodiment of the present utility model, a loading and unloading truss robot gripper for a carrier is provided, which includes an installation welding bracket 1. A hook moving drive mechanism 2, a limiting mechanism 3 and a hook 4 are provided on the installation welding bracket 1. The number of the hook moving drive mechanisms 2 is two, and the two hook moving drive mechanisms 2 are arranged at intervals along a straight line on one side of the installation welding bracket 1 in the thickness direction ( Figure 2 in the H direction), and can reciprocate along the length direction ( Figure 2 in the L direction) of the installation welding bracket 1. And a limiting mechanism 3 is provided on the moving path of at least one hook moving drive mechanism 2. The limiting mechanism 3 is arranged on the installation welding bracket 1. Two hooks 4 are connected to each hook moving drive mechanism 2, and the two hooks 4 are arranged along the width direction of the installation welding bracket 1 ( Figure 3The hook moving driving mechanism 2 is connected at intervals in the middle W direction), and the hooked end of the hook 4 is located on the other side of the mounting and welding bracket 1 in the thickness direction. When the hook moving driving mechanism 2 drives the hook 4 to move, the maximum moving distance of the hook moving driving mechanism 2 can be adjusted through the limiting mechanism 3.

[0025] The above-mentioned loading and unloading truss robot gripper for vehicles can be installed on the truss robot. For example, in an application scenario, the loading and unloading truss robot gripper for vehicles can be installed at the end of the Z axis of the truss robot for grasping vehicles. When grasping a vehicle, the hooks 4 on the two hook moving driving mechanisms 2 are controlled to move away from each other to form an open state to grasp the vehicle. Then, after moving the gripper to the required position, the hooks 4 on the two hook moving driving mechanisms 2 are controlled to move towards each other to form a closed state, so that the hooks 4 are separated from the vehicle, thus completing the transfer of the vehicle. In this embodiment, since the limiting mechanism 3 can adjust the maximum moving distance of the hook moving driving mechanism 2, the distance between the hooks 4 between the two hook moving driving mechanisms 2 can be realized. Therefore, the hooks 4 can grasp vehicles of various specifications, overcoming the problem that the existing clamping jaws can only grasp vehicles of the same specification size.

[0026] The mounting and welding bracket 1 is used to connect the truss robot, and its specific structure is not unique. For example, refer to Figure 1 , the mounting and welding bracket 1 is a rectangular plate support structure, and there are hole positions for mounting components such as the hook moving driving mechanism 2 and the limiting mechanism 3.

[0027] In an alternative embodiment, referring to the figure, there is a mounting through hole in the middle position of the mounting and welding bracket 1, and the two hook moving driving mechanisms 2 and the hooks 4 connected thereto are located on the radial two sides of the mounting through hole and are symmetrically arranged. Specifically, the two hook moving driving mechanisms 2 and the hooks 4 connected thereto are mirror-symmetric with respect to the center line of the mounting and welding bracket 1 in the length direction.

[0028] In practice, the specific implementation manner of the hook moving driving mechanism 2 is not unique.

[0029] For example, referring to the figure, in an alternative embodiment, the hook movement driving mechanism 2 includes two sets of linear guide rail assemblies 21, a sliding plate 22, and a driving device. The linear guide rail assembly 21 includes a guide rail 211 and a slider 212. The guide rails 211 of the two sets of linear guide rail assemblies 21 are fixedly spaced on the mounting and welding bracket 1 in the width direction (i.e., the guide rails 211 of the two sets of linear guide rail assemblies 21 are fixedly connected to the mounting and welding bracket 1 along the width direction of the mounting and welding bracket 1), and the direction of the guide rail 211 is parallel to the length direction of the mounting and welding bracket 1. The slider 212 is slidably connected to the guide rail 211. The sliding plate 22 is connected to the sliders 212 of the two sets of linear guide rail assemblies 21. The driving device is fixedly connected to the mounting and welding bracket 1 and connected to the sliding plate 22. When the driving device operates, it can drive the sliding plate 22 to move on the guide rail 211.

[0030] Specifically, the two hook movement driving mechanisms 2 are respectively installed near the two ends of the mounting and welding bracket 1 in the length direction and are mirror-symmetrical structures. The guide rail 211 and the slider 212 of the linear guide rail assembly 21 are slidably connected to each other, so that the sliding plate 22 connected to the slider 212 can move along the guide rail 211. When the driving device applies a force to the sliding plate 22 in the direction of the guide rail 211, the sliding plate 22 will move along the corresponding guide rail 211 direction to Figure 1 take the shown as an example. Under the action of the driving device, the sliding plate 22 can move left or right on the guide rail 211.

[0031] It can be understood that two sets of linear guide rail assemblies 21 are adopted for each hook movement driving mechanism 2 here to ensure the stability and load performance of the movement of the sliding plate 22 on the mounting and welding bracket 1. Of course, in practice, each hook movement driving mechanism 2 can also adopt one set of linear guide rail assembly 21, or more than two sets of linear guide rail assemblies 21. The embodiments of the present invention do not limit this.

[0032] Among them, the driving device includes, but is not limited to, a motor or a cylinder 23. When the driving device is a motor, the motor can be connected to the sliding plate 22 or the slider 212 through a transmission component to apply a force to the sliding plate 22 or the slider 212, so that the sliding plate 22 moves on the guide rail 211. For example, the motor drives the sliding plate 22 or the slider 212 to move through a gear or a belt, so as to realize the movement of the sliding plate 22 on the guide rail 211. When the driving device is a cylinder 23, the movement direction of the piston rod (i.e., the power output shaft) of the cylinder 23 is the same as the direction of the guide rail 211, and the piston rod is connected to the sliding plate 22. When the cylinder 23 extends the piston rod, it will push the sliding plate 22 to move on the guide rail 211 in the direction of the piston rod extension. When the cylinder 23 shortens the piston rod, it will pull the sliding plate 22 to move on the guide rail 211 in the direction of the piston rod shortening. For example, in combination with the figure, the driving device includes a cylinder 23, the cylinder 23 is fixed on the mounting and welding bracket 1, and the movement direction of the piston rod of the cylinder 23 is the same as the direction of the guide rail 211. The front end of the piston rod of the cylinder 23 is connected to the sliding plate 22.

[0033] Among them, the connection method between the piston rod of the cylinder 23 and the sliding plate 22 is not unique. Preferably, referring to the figure, the front end of the piston rod of the cylinder 23 is connected to the sliding plate 22 through a floating joint 24. A floating joint mounting seat 25 is installed on the sliding plate 22. The floating joint mounting seat 25 is connected to one end of the floating joint 24, and the front end of the piston rod of the cylinder 23 is connected to the other end of the floating joint 24. Specifically, the floating joint 24 is a mechanical connecting piece used to connect two sections of shafts, pipelines or other structural elements, allowing relative displacement or angular deviation within a certain range. The types of the floating joint 24 include, but are not limited to, spherical joints, universal joints, elastic joints, sliding joints and flexible joints, etc. In this embodiment, the floating joint 24 is used to connect the piston rod of the cylinder 23 and the sliding plate 22. Since the floating joint 24 allows a certain centering error during the connection process, it can avoid stress concentration and wear caused by misalignment during installation. And the floating joint 24 can move freely within a certain range, so that the stress caused by factors such as mechanical vibration or thermal expansion can be reduced, the service life of the equipment can be extended, and the floating joint 24 allows a certain axial, radial and angular displacement, which can better adapt to complex movement trajectories. Even if there is a certain positional deviation between the sliding plate 22 and the piston rod after a long period of use, it will not affect the normal use of the sliding plate 22 on the guide rail 211.

[0034] In addition, when the driving device is the cylinder 23, since the output shaft direction of the cylinder 23 is the same as the direction of the guide rail 211, the cylinder 23 can fix either end of the guide rail 211. In this embodiment, the cylinder 23 is arranged on the mounting and welding bracket 1 between the two sliding plates 22 and is arranged along the same straight line. Optionally, a cylinder front mounting bracket 26 and a cylinder rear mounting bracket 27 are sequentially arranged at the front and rear ends of the cylinder 23. The cylinder front mounting bracket 26 tightly connects the front end of the cylinder 23 to the mounting and welding bracket 1, and the cylinder rear mounting bracket 27 tightly connects the rear end of the cylinder 23 to the mounting and welding bracket 1. Here, the front and rear ends of the cylinder are fixed to the mounting and welding bracket 1 through the cylinder front mounting bracket 26 and the cylinder rear mounting bracket 27, which can not only ensure that the cylinder 23 will not loosen or shift during operation, providing stable support, but also absorb a certain amount of vibration and impact when the cylinder 23 is working, reducing the impact of the cylinder 23 on the surrounding structure, thereby prolonging the service life of the equipment and the cylinder 23.

[0035] The limiting mechanism 3 can adjust the range within which the hook moving drive mechanism 2 drives the hook 4 to move. In combination with the above-described implementation manner of the hook moving drive mechanism 2, when replacing the specification of the vehicle to be grabbed, the moving distance of the hook 4 on the guide rail 211 can be adjusted through the limiting mechanism 3, so that the gripper can be adapted to grab the vehicle with the replaced specification, realizing the function that the same gripper can grab vehicles with multiple specification sizes.

[0036] Among them, the specific implementation manner of the limiting mechanism 3 is not unique.

[0037] For example, referring to the figure, in an alternative embodiment, the limiting mechanism 3 includes a limiting adjustment block seat 31 and a limiting adjustment block 32. The limiting adjustment block seat 31 is fixedly connected to the mounting and welding bracket 1 and includes a threaded through hole. The limiting adjustment block 32 includes a stop block, a screw rod, and a locking nut. The stop block is connected to one end of the screw rod. The screw rod is cooperatively connected to the threaded through hole, and the locking nut is connected to the screw rod. When adjusting the position of the screw rod on the limiting adjustment block seat 31, the stop block can abut against the sliding plate 22 to limit the extending distance of the hook 4 relative to the driving device.

[0038] Specifically, the direction of the screw is the same as that of the guide rail 211. When the screw is rotated, the stopper on the screw will move relative to the limit adjustment block seat 31 in the direction of the guide rail 211. Since the stopper is used to contact and abut against the sliding plate 22, and the sliding plate 22 is driven by the air cylinder 23, therefore, adjusting the position of the limit adjustment block 32 is equivalent to adjusting the extension distance of the piston rod of the air cylinder 23. In combination with the figure, the closer the stopper is to the air cylinder 23, the shorter the extension distance of the air cylinder 23. On the contrary, the farther the stopper is from the air cylinder 23, the longer the extension distance of the air cylinder 23. Then, in combination with the above embodiment of the hook moving driving mechanism 2, each time the gripper specification is changed, the extension distance of the gripper air cylinder 23 can be adjusted by adjusting the limit adjustment block 32, so as to finally realize the function of being able to grasp carriers of multiple specification sizes.

[0039] In addition, after rotating the screw to adjust the stopper to the target position, a nut can be used to connect to the screw and be close to the threaded through hole. This can lock the screw on the limit adjustment block seat 31 to prevent the screw from shifting during use due to factors such as vibration, thereby changing the moving range of the hook 4 and causing the failure of grasping the carrier.

[0040] According to the technical solution of the limit mechanism 3 provided by the embodiment of the present invention, by arranging a limit adjustment block 32 that contacts the sliding plate 22 in the direction of the guide rail 211, the moving range of the sliding plate 22 on the guide rail 211 is adjusted, so as to realize the adjustment of the specification size of the carrier grasped by the hook 4, enabling the same gripper to have the function of grasping carriers of multiple specification sizes.

[0041] In this embodiment, the hook 4 has a certain angle, that is, the connecting part between the hook body and the hook arm is an inclined structure. Since the hook 4 has a certain angle, and the object of the gripper to grasp is a cylindrical object, when the gripper has a certain position deviation, it can be adjusted back by this angled hook 4 to ensure the accuracy of the final grasp.

[0042] The hook 4 is fixedly connected to the sliding plate 22, and the connection method between the hook 4 and the sliding plate is not unique.

[0043] For example, in an alternative embodiment, the hook is fixedly connected to a connecting member on at least one side in the thickness direction, and the connecting member is fixedly connected to the sliding plate 22. Preferably, the connecting member includes an outer hook connecting member 7 and an inner hook connecting member 8. The hook 4 is fixedly connected to the sliding plate on both sides in the thickness direction through the outer hook connecting member 7 and the inner hook connecting member 8 respectively. Among them, in combination with Figure 4As shown, the outer hook connecting member 7 is closely attached to the hook 4 on one side in the thickness direction of the hook and is fixedly connected to the hook 4 by the cooperation of bolts and nuts. Moreover, the outer hook connecting member 7 and the sliding plate are also fixedly connected to the sliding plate by the cooperation of bolts and nuts. In addition, the inner hook connecting member 8 is also closely attached to the hook 4 on the other side in the thickness direction of the hook and is fixedly connected to the hook 4 by the cooperation of bolts and nuts. Moreover, the inner hook connecting member 8 and the sliding plate are also fixedly connected to the sliding plate by the cooperation of bolts and nuts, so that the hook 4 is fixedly connected to the sliding plate 22 on both sides in the thickness direction of the hook. In this embodiment, the outer hook connecting member 7 and the inner hook connecting member 8 are of a connecting plate structure.

[0044] In addition, the above-mentioned gripper is controlled by a control device. In order to achieve a closed loop and in-place feedback in the control program, at least two proximity switches 5 are arranged at intervals on the moving path of each hook moving driving mechanism 2. The at least two proximity switches 5 are respectively fixed on the mounting and welding bracket 1 through proximity switch brackets 6. Among them, multiple mounting positions for the proximity switches 5 can be preset on the mounting and welding bracket 1, and these mounting positions correspond to the defined positions for the gripper to grasp carriers of various specifications. When adjusting the moving range of the hook 4 through the limiting mechanism 3, the positions of the proximity switches 5 can also be adjusted accordingly through the preset mounting positions. In this embodiment, the proximity switches 5 are installed on the mounting and welding bracket 1 to achieve a closed loop and in-place feedback in the control program. In addition, in the second embodiment of the present utility model, a truss robot is further provided, which includes the above-mentioned gripper for the carrier loading and unloading truss robot. In practical applications, the gripper for the carrier loading and unloading truss robot can be installed at the end of the Z-axis of the truss machine and uses the hook 4 to grasp the carrier. Since the moving distance of the hook 4 on the hook moving driving mechanism 2 can be adjusted by the limiting mechanism 3, the hook 4 can be adapted to grasp carriers of multiple specifications and sizes, thus overcoming the problem that the existing truss robot can only grasp carriers of the same specification and size.

[0045] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A loading and unloading truss robot gripper for a carrier, characterized in that: It includes an installation welding bracket, which is provided with a hook moving drive mechanism, a limiting mechanism and a hook. The number of the hook moving drive mechanisms is two, and the two hook moving drive mechanisms are arranged at intervals along a straight line on one side of the installation welding bracket in the thickness direction, and can reciprocate along the length direction of the installation welding bracket, and a limiting mechanism is provided on the moving path of at least one hook moving drive mechanism, the limiting mechanism is arranged on the installation welding bracket, each hook moving drive mechanism is connected to two hooks, the two hooks are connected to the hook moving drive mechanism at intervals along the width direction of the installation welding bracket, and the hooked end of the hook is located on the other side of the thickness direction of the installation welding bracket, and when the hook moving drive mechanism drives the hook to move, the maximum moving distance of the hook moving drive mechanism can be adjusted by the limiting mechanism.

2. The robot gripper for loading and unloading truss according to claim 1, characterized in that: At least two proximity switches are arranged at intervals on the moving path of each hook moving drive mechanism, and each of the at least two proximity switches is fixed on the mounting welding bracket through a proximity switch bracket.

3. The robot gripper for loading and unloading truss according to claim 1, characterized in that: The hook movement driving mechanism includes two sets of linear guide rail assemblies, a sliding plate and a driving device. The linear guide rail assemblies include guide rails and sliders. The guide rails of the two sets of linear guide rail assemblies are fixed on the mounting welding bracket at intervals in the width direction of the mounting welding bracket. The sliders are slidably connected to the guide rails. The sliding plate is connected to the sliders of the two sets of linear guide rail assemblies. The driving device is fixedly connected to the mounting welding bracket and connected to the sliding plate. When the driving device is working, it can drive the sliding plate to move on the guide rails.

4. The robot gripper for loading and unloading truss according to claim 3 is characterized in that: The driving device comprises a cylinder, which is fixed on a mounting welding bracket, and the movement direction of the piston rod of the cylinder is the same as the direction of the guide rail, and the front end of the piston rod of the cylinder is connected to the sliding plate.

5. The robot gripper for loading and unloading truss according to claim 4, characterized in that: The front end of the piston rod of the cylinder is connected to the sliding plate through a floating joint. A floating joint mounting seat is installed on the sliding plate. The floating joint mounting seat is connected to one end of the floating joint. The front end of the piston rod of the cylinder is connected to the other end of the floating joint.

6. The robot gripper for loading and unloading truss according to claim 5, characterized in that: A cylinder front mounting bracket and a cylinder rear mounting bracket are provided at the front and rear ends of the cylinder respectively. The cylinder front mounting bracket fastens the front end of the cylinder to the mounting welding bracket, and the cylinder rear mounting bracket fastens the rear end of the cylinder to the mounting welding bracket.

7. The robot gripper for loading and unloading truss according to claim 3, characterized in that: A mounting through hole is provided in the middle of the mounting welding bracket, and the two hook moving drive mechanisms and the hooks connected thereto are located on both radial sides of the mounting through hole and are symmetrically arranged.

8. The truss robot gripper for loading and unloading according to any one of claims 3 to 7, characterized in that: The limit mechanism includes a limit adjustment block seat and a limit adjustment block. The limit adjustment block seat is fixedly connected to the mounting welding bracket and includes a threaded through hole. The limit adjustment block includes a stopper, a screw and a locking nut. The stopper is connected to one end of the screw, the screw is cooperatively connected to the threaded through hole, and the locking nut is connected to the screw. When the position of the screw on the limit adjustment block seat is adjusted, the stopper can abut against the sliding plate to limit the extension distance of the hook relative to the driving device.

9. The robot gripper for loading and unloading truss according to claim 8, characterized in that: The hook is fixedly connected to a connecting member on at least one side in the thickness direction, and the connecting member is fixedly connected to the sliding plate.

10. A truss robot, characterized in that: A loading and unloading truss robot gripper for a carrier comprising any one of claims 1-9.

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