CN111439684A

CN111439684A - Large-span heavy-load truss manipulator

Info

Publication number: CN111439684A
Application number: CN202010344327.6A
Authority: CN
Inventors: 郭辉强; 谭坚羽; 文禄强
Original assignee: Changsha Huaheng Robot System Co ltd
Current assignee: Changsha Huaheng Robot System Co ltd
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2020-07-24

Abstract

The invention discloses a large-span heavy-load truss manipulator which comprises a gantry frame, a traveling cart, a traveling trolley, a lifting mechanism, a rotating table and a gripper, wherein cart rails are arranged on two sides of the gantry frame, the traveling cart comprises a cart traveling drive, a bridge and end beams arranged at two ends of the bridge, the end beams at the two ends are arranged on the cart rails, the cart traveling drive is connected with the two end beams, and drives the end beam to move along the cart track, the walking trolley comprises a trolley frame and a trolley walking drive, the trolley track is arranged on the bridge, the trolley frame is arranged on the trolley track, the trolley walking drive is arranged on the trolley frame and drives the trolley frame to move along the trolley track, the lifting mechanism comprises a lifting frame and a lifting drive driving the lifting frame to lift, the lifting frame and the lifting drive are both arranged on the trolley frame, the rotating platform is arranged on the lifting frame, and the grippers are arranged on the rotating platform. The invention has the advantages of four-degree-of-freedom motion, flexible operation, wide operation range, intellectualization and unmanned production.

Description

Large-span heavy-load truss manipulator

Technical Field

The invention relates to the field of heavy industry manufacturing, in particular to a large-span heavy-load truss manipulator.

Background

In the heavy industry manufacturing field, the large-scale equipment rack mostly adopts the rivet welding structure, and the rivet welding machined part is still accomplished the handling through tools such as artifical borrowing fork truck, purlin car at present among each process large-scale logistics operation in process of production. Because the rivet welding machined part has larger overall dimension and heavier weight, the manual hoisting difficulty is large, the operation is unsafe, the production efficiency is low, the manual hoisting positioning precision is low, and the like. At present, in the heavy industry manufacturing field, the intelligent manufacturing technology is gradually mature, like automatic assembly is quite stable and mature to stations and automatic welding equipment, light goods in a small range between the two stations can be transferred through a robot, but the robot is limited in use, small in operation range, light in load and high in manufacturing cost, and therefore the robot is not widely used, and most of the robot still adopts manual operation by means of auxiliary tools.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a large-span heavy-load truss manipulator which has four-degree-of-freedom motion, flexible operation, wide operation range, intellectualization and unmanned production.

In order to solve the technical problems, the invention adopts the following technical scheme:

a large-span heavy-load truss manipulator comprises a gantry frame, a walking cart, a walking trolley, a lifting mechanism, a rotating table and a gripper, wherein cart tracks are arranged on two sides of the gantry frame, the walking cart comprises a cart walking drive, a bridge and end beams arranged at two ends of the bridge, the end beams at two ends are arranged on the cart tracks, the cart walking drive is connected with the two end beams and drives the end beams to move along the cart tracks, the walking trolley comprises a trolley frame and a trolley walking drive, the bridge is provided with the trolley tracks, the trolley frame is arranged on the trolley tracks, the trolley walking drive is arranged on the trolley frame and drives the trolley frame to move along the trolley tracks, the lifting mechanism comprises a lifting frame and a lifting drive for driving the lifting frame to lift, the lifting frame and the lifting drive are both arranged on the trolley frame, the rotating table is arranged on the lifting frame, the tongs are arranged on the rotating platform.

As a further improvement of the above technical solution:

the crane includes a fixed arm section of thick bamboo and a movable arm section of thick bamboo, a fixed arm section of thick bamboo is fixed on the dolly frame, movable arm section of thick bamboo cover is in a fixed arm section of thick bamboo, and is located the below of dolly frame, lift drive includes hydraulic pressure station and pneumatic cylinder, hydraulic pressure station is located on the dolly frame, the cylinder body and the fixed arm section of thick bamboo of pneumatic cylinder are connected, and the piston rod is connected with a movable arm section of thick bamboo to can drive a movable arm section of thick bamboo along a fixed arm section of thick bamboo flexible, the revolving stage is installed on a movable arm section.

Be equipped with rotary drive between revolving stage and the swing arm section of thick bamboo, rotary drive include servo motor, gear wheel and with gear wheel engagement's pinion, servo motor locates on the week side of swing arm section of thick bamboo, the pinion is located on servo motor's the output shaft, the rotatable tip of locating swing arm section of thick bamboo one end of gear wheel, revolving stage and gear wheel fixed connection.

The fixed arm cylinder is provided with a pull sensor, a steel wire rope of the pull sensor is connected with the movable arm cylinder and used for recording the telescopic position of the movable arm cylinder, and a guide sliding block is arranged between the movable arm cylinder and the fixed arm cylinder.

The trolley traveling drive comprises a trolley driving motor, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are mounted on a trolley frame through a supporting shaft and a bearing, the trolley driving motor is connected with the driving wheel, and trolley anti-collision pads are arranged at two ends of the bridge.

Still be equipped with safety barrier, first side leading wheel, anticreep gyro wheel, soft spacing and code reader on the dolly frame, first side leading wheel arranges in pairs, and every two first side leading wheels of pair are located the orbital both sides of dolly.

The cart travel drive includes cart driving motor and two sets of follower, cart driving motor fixes on the bridge, follower includes gearbox, sprocket and caterpillar track, and two caterpillar tracks distribute in the both sides of longmen frame, and the input of the gearbox of every group passes through the shaft coupling to be connected with cart driving motor, and the output is connected with the sprocket that corresponds, the one end of end beam is located to the sprocket, and the other end of end beam still is equipped with the walking wheel, the walking wheel passes through back shaft, bearing and installs on the end beam.

The end beam is provided with two cart anti-collision pads, a rear-end soft limit switch, a lateral-portion soft limit switch, two second side guide wheels, a code reader and optical communication, the two cart anti-collision pads are respectively arranged at the front end and the rear end of the end beam, the two second side guide wheels are arranged in pairs, every two second side guide wheels are respectively arranged at two sides of the cart track, and the lateral-portion soft limit switch, the code reader and the optical communication are all arranged on the lateral wall of the outer side of the end beam.

The end beam is provided with at least one unhook, the unhook is arranged at the rear end of the end beam when the unhook is arranged, the unhook is respectively arranged at the front end and the rear end of the end beam when the two unhooks are arranged, and the unhook is clamped on a track of the cart.

The gantry comprises a gantry frame and is characterized in that the gantry frame comprises two longitudinal beams which are arranged side by side, the longitudinal beams are supported on a foundation through a plurality of supporting legs, the two longitudinal beams are connected through a plurality of cross beams, the longitudinal beams are provided with a cart track, the front end and the rear end of the cart track are respectively provided with a hard limiting collision block, the two sides of the cart track are provided with soft limiting collision blocks, and the outer side of one longitudinal beam is provided with a sliding contact line for taking electricity.

Compared with the prior art, the invention has the advantages that:

(1) according to the large-span heavy-load truss manipulator, the rotating table drives the gripper to rotate, so that the gripper can rotate in the horizontal plane. The trolley walking drive drives the trolley frame to move back and forth along the bridge to realize the movement of the hand grab in the X-axis direction, the cart walking drive drives the end beam to move back and forth along the cart rails on two sides of the gantry frame to realize the movement of the hand grab in the Y-axis direction, and the lifting drive drives the lifting frame to ascend and descend to realize the movement of the hand grab in the Z-axis direction. The truss manipulator is a coordinate type four-axis robot, is flexible in operation, realizes workpiece carrying and rotation, is wide in operation range, is matched with each ground station for use, and really realizes an intelligent and unmanned manufacturing production line.

(2) According to the large-span heavy-load truss manipulator, the traveling cart adopts a trolley line for power taking, optical communication is adopted for data transmission, no moving cable is used, and the horizontal moving stroke is large. The walking systems of the walking cart and the walking trolley adopt supporting wheels (walking wheels, driving wheels and driven wheels), and the lifting system adopts a hydraulic system, so that the device is suitable for heavy-load operation. The positioning system adopts a code reader and a stay wire sensor, and the positioning is accurate. The walking cart has large span, adopts a motor with double output shafts to achieve synchronous operation, two sides of the motor are respectively connected with a gear box wheel set through a coupler, and a chain wheel is meshed with a caterpillar track, so that the problem of synchronization can be solved, the positioning precision is high, and the processing, the manufacturing, the installation and the maintenance are simple.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Figure 2 is a partially enlarged schematic view of a gantry housing of the present invention.

Fig. 3 is a schematic structural view of the walking cart of the present invention.

FIG. 4 is a schematic structural view of the traveling carriage of the present invention.

FIG. 5 is a schematic view of the position of the anti-drop roller of the traveling trolley.

Fig. 6 is a schematic structural view of the crane in the present invention.

The reference numerals in the figures denote:

1. a gantry frame; 101. a hard limit bump block; 102. a soft limit bump block; 103. a trolley line; 11. a cart track; 12. a stringer; 13. a support leg; 14. a cross beam; 15. walking; 16. bracing; 2. a cart is walked; 21. the cart is driven to walk; 211. a cart drive motor; 212. a gearbox; 214. a caterpillar track; 215. a coupling; 22. a bridge; 221. a trolley anti-collision pad; 23. an end beam; 231. a cart crash pad; 232. a rear end soft limit switch; 233. a side soft limit switch; 234. a second side guide wheel; 235. unhooking; 24. a trolley track; 3. a walking trolley; 31. a trolley frame; 311. a safety barrier; 312. a first side guide wheel; 313. an anti-drop roller; 314. soft limiting; 32. the trolley is driven to walk; 321. a trolley driving motor; 322. a drive wheel; 323. a driven wheel; 4. a lifting mechanism; 41. a lifting frame; 411. a fixed arm cylinder; 412. a movable arm cylinder; 413. a guide slider; 42. lifting and driving; 421. a hydraulic station; 422. a hydraulic cylinder; 43. a pull wire sensor; 5. a rotating table; 51. rotationally driving; 511. a servo motor; 512. a bull gear; 513. a pinion gear; 6. a gripper; 7. a code reader; 8. and (4) optical communication.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples of the specification.

As shown in fig. 1 to 6, the large-span heavy-duty truss manipulator of the embodiment includes a gantry frame 1, a traveling cart 2, a traveling trolley 3, a lifting mechanism 4, a rotary table 5 and a gripper 6, cart rails 11 are disposed on two sides of the gantry frame 1, the traveling cart 2 includes a cart traveling drive 21, a bridge 22 and end beams 23 disposed at two ends of the bridge 22, the end beams 23 at two ends are disposed on the cart rails 11, the cart traveling drive 21 is connected with the two end beams 23, and drives the end beams 23 to move along the cart rails 11, the traveling trolley 3 includes a trolley frame 31 and a trolley traveling drive 32, the trolley rails 24 are disposed on the bridge 22, and the bridge 22 not only has a function of connecting the two end beams 23 of the cart, but also provides a support for the traveling trolley 3 to operate. The trolley frame 31 is arranged on the trolley track 24, and the trolley travel drive 32 is arranged on the trolley frame 31 and drives the trolley frame 31 to move along the trolley track 24.

The lifting mechanism 4 comprises a lifting frame 41 and a lifting drive 42 for driving the lifting frame 41 to lift, the lifting frame 41 and the lifting drive 42 are both arranged on the trolley frame 31, the rotating platform 5 is arranged on the lifting frame 41, and the gripper 6 is arranged on the rotating platform 5. The hand grab 6 and the rotating table 5 are positioned on the bridge 22, and the hand grab 6 is used for clamping a workpiece.

The working principle is as follows: the rotating table 5 drives the gripper 6 to rotate, so that the gripper 6 can rotate in the horizontal plane; the trolley walking drive 32 drives the trolley frame 31 to move back and forth along the bridge 22, so that the movement of the gripper 6 in the X-axis direction is realized; the cart walking drive 21 drives the end beams 23 to reciprocate along cart rails 11 on two sides of the gantry frame 1, so that the gripper 6 moves in the Y-axis direction; the lifting drive 42 drives the lifting frame 41 to ascend and descend, so that the hand grip 6 moves in the Z-axis direction. The truss manipulator is a coordinate type four-axis robot (with four-degree-of-freedom motion), is flexible in operation, wide in operation range, and capable of carrying and rotating workpieces, is matched with each ground station for use, and really achieves an intelligent and unmanned manufacturing production line.

In this embodiment, the lifting frame 41 includes a fixed arm cylinder 411 and a movable arm cylinder 412, the fixed arm cylinder 411 is fixed on the trolley frame 31, the movable arm cylinder 412 is sleeved in the fixed arm cylinder 411 and is located below the trolley frame 31, the lifting drive 42 includes a hydraulic station 421 and a hydraulic cylinder 422, and the hydraulic station 421 is arranged on the trolley frame 31 to provide oil for the hydraulic cylinder 422. The cylinder body of the hydraulic cylinder 422 is connected to the fixed arm cylinder 411 by a pin, the piston rod is connected to the movable arm cylinder 412 and drives the movable arm cylinder 412 to extend and retract along the fixed arm cylinder 411, and a guide slider 413 is provided between the movable arm cylinder 412 and the fixed arm cylinder 411. The guide slider 413 is preferably provided on the fixed arm cylinder 411.

The rotary table 5 is mounted on the boom cylinder 412. A rotary drive 51 is arranged between the rotary table 5 and the movable arm cylinder 412, the rotary drive 51 comprises a servo motor 511, a large gear 512 and a small gear 513 meshed with the large gear 512, the servo motor 511 is arranged on the peripheral side surface of the movable arm cylinder 412, the small gear 513 is arranged on an output shaft of the servo motor 511, the large gear 512 is rotatably arranged at the end part of one end of the movable arm cylinder 412, the rotary table 5 is fixedly connected with the large gear 512, the servo motor 511 drives the small gear 513 to rotate, the small gear 513 drives the large gear 512 to rotate, the large gear 512 drives the rotary table 5 to rotate, and a servo control system is applied to realize accurate positioning.

The fixed arm cylinder 411 is further provided with a pull sensor 43, a steel wire rope of the pull sensor 43 is connected with the movable arm cylinder 412, and when the movable arm cylinder 412 stretches, the pull sensor 43 can accurately record the stretching position of the movable arm cylinder 412.

In this embodiment, the gantry frame 1 includes two side-by-side longitudinal beams 12, the longitudinal beams 12 are supported on a foundation (bottom surface) through a plurality of supporting legs 13, and inclined struts 16 are further disposed between the supporting legs 13 and the longitudinal beams 12. The two longitudinal beams 12 are connected by a plurality of cross beams 14 to form a structural frame shaped like a Chinese character 'men'. The cart track 11 is arranged on the longitudinal beam 12, the front end and the rear end of the cart track 11 are respectively provided with a hard limiting collision block 101 for preventing the traveling cart 2 from separating from the cart track 11 in the Y-axis direction, and the two sides of the cart track 11 are provided with soft limiting collision blocks 102 for preventing the traveling cart 2 from separating from the rail in the X-axis direction. The hard limit collision block 101 and the soft limit collision block 102 form a double safety device to prevent the walking cart 2 from derailing, and a sliding contact line 103 for taking electricity is arranged on the outer side of one longitudinal beam 12 to be used for a mobile terminal to take electricity. The outer side of the longitudinal beam 12 is provided with a walking platform 15, which is convenient for debugging and maintenance.

In this embodiment, the cart traveling drive 21 includes a cart driving motor 211 and two sets of driven mechanisms, and the cart driving motor 211 is fixed in the middle of the bridge 22. The driven mechanism comprises a gearbox 212, chain wheels (not shown in the figure) and chain rails 214, the two chain rails 214 are distributed on two sides of the gantry frame 1, the input end of each group of gearbox 212 is connected with the cart driving motor 211 through a coupler 215, the output end of each group of gearbox 212 is connected with the corresponding chain wheel, the chain wheel is arranged at one end of the end beam 23, the other end of the end beam 23 is also provided with a walking wheel (not shown in the figure), and the walking wheel is installed on the end beam 23 through a support shaft and a bearing. One cart driving motor 211 realizes the large-span and synchronous movement of the two end beams 23 through two groups of driven mechanisms. The walking cart 2 has large span, if double drive is adopted, the end beams 23 at two sides are difficult to walk to achieve synchronous operation, in order to achieve synchronous operation, a double-output-shaft motor (cart driving motor 211) is adopted, two sides are respectively connected with a gearbox 212 through a coupler 215, and a chain wheel is meshed with a chain track 214, so that the problem of synchronization can be solved, the positioning precision is high, and the processing, the manufacturing, the installation and the maintenance are simple.

The walking cart 2 is provided with a plurality of protection devices to ensure reliable and safe operation. The end beam 23 is provided with a cart crash pad 231, a rear soft limit switch 232, a side soft limit switch 233 and a second side guide wheel 234. The cart anti-collision pads 231 are arranged at the front end and the rear end of the end beam 23 respectively, when the traveling cart 2 moves to the front end or the rear end, the cart anti-collision pads 231 can collide with the hard limiting collision block 101 on the gantry frame 1 in a contact manner, the rear end soft limiting switch 232 is arranged at the rear end of the longitudinal beam 12, and when the traveling cart 2 travels to the rear end of the gantry frame 1, the traveling cart can stop. The second side guide wheels 234 are provided in pairs, and two second side guide wheels 234 of each pair are respectively provided on both sides of the cart rail 11, and the second side guide wheels 234 can be prevented from falling off and can guide movement. The two side soft limit switches 233 are respectively arranged on the outer sides of the end beams 23, and when the walking distance of the two end beams 23 exceeds a set value, the vehicle stops. In order to ensure accurate operation, the walking cart 2 is provided with a code reader 7 at one side end beam 23, and the control is accurate. In order to realize information exchange between the mobile terminal and the ground station, optical communication 8 is adopted for data transmission. The code reader 7 and the optical communication 8 are both mounted on the outer side wall of the end beam 23.

The end beam 23 is provided with at least one unhooking 235, when setting up one unhooking 235, the unhooking 235 sets up the rear end at the end beam 23, when setting up two unhooking 235, the branch locates the front end and the rear end of end beam 23, and the unhooking 235 card is on big car track 11 to prevent walking 2 derailments of big car and direction. In this embodiment, the end beam 23 is provided with the unhooking 235 at both the front end and the rear end.

In this embodiment, the trolley frame 31 is formed by welding sheet metal, and the safety fence 311 and the first side guide wheel 312 are arranged on the trolley frame 31. The first side guide wheels 312 are arranged in pairs, with the two first side guide wheels 312 of each pair being located on either side of the trolley rail 24 for guiding and derailing prevention. The trolley walking drive 32 comprises a trolley drive motor 321, a drive wheel 322 and a driven wheel 323, the drive wheel 322 and the driven wheel 323 are both mounted on the trolley frame 31 through a support shaft and a bearing, the trolley drive motor 321 is connected with the drive wheel 322 and used for driving the drive wheel 322 to roll and dragging the walking trolley 3 to move, and the driven wheel 323 is mounted at the other end of the frame and plays a role in supporting. Two ends of the bridge 22 are provided with trolley crash pads 221. An anti-drop roller 313 is arranged near each supporting wheel (the driving wheel 322 or the driven wheel 323), the anti-drop roller 313 is arranged below the trolley guide rail 24, and when the trolley is driven to be separated from the rail by the tipping force, the anti-drop roller 313 can be clamped below the trolley rail 24 to prevent the trolley from being separated from the rail. The walking trolley 3 is also provided with a soft limit 314 and a code reader 7. The soft limit 314 and the trolley crash pads 221 (hard limit) at both ends of the bridge 22 are double protections for protecting the trolley from falling off the track in the traveling direction. The soft limit 314 is composed of a travel switch, when the travel switch detects that a signal can be transmitted to the control center to drive the trolley to brake and stop, if the soft limit 314 breaks down, the trolley can directly collide against the trolley anti-collision pad 221, the trolley anti-collision pad 221 is provided with a buffer pad, certain kinetic energy of the trolley can be absorbed, and damage to equipment is reduced as much as possible.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. The utility model provides a large-span heavy load truss manipulator which characterized in that: comprises a gantry frame (1), a walking cart (2), a walking trolley (3), a lifting mechanism (4), a rotating platform (5) and a gripper (6), wherein cart tracks (11) are arranged on two sides of the gantry frame (1), the walking cart (2) comprises a cart walking drive (21), a bridge (22) and end beams (23) arranged at two ends of the bridge (22), the end beams (23) at two ends are arranged on the cart tracks (11), the cart walking drive (21) is connected with the two end beams (23) and drives the end beams (23) to move along the cart tracks (11), the walking trolley (3) comprises a trolley frame (31) and a trolley walking drive (32), a trolley track (24) is arranged on the bridge (22), the trolley frame (31) is arranged on the trolley tracks (24), the trolley walking drive (32) is arranged on the trolley frame (31) and drives the trolley frame (31) to move along the trolley tracks (24), elevating system (4) are including lift drive (42) that crane (41) and drive crane (41) go up and down, crane (41) and lift drive (42) are all installed on dolly frame (31), on crane (41) were located in revolving stage (5), on revolving stage (5) were located in tongs (6).

2. The large-span heavy-duty truss robot of claim 1, wherein: crane (41) are including deciding a boom section of thick bamboo (411) and a movable arm section of thick bamboo (412), decide a boom section of thick bamboo (411) and fix on dolly frame (31), move boom section of thick bamboo (412) cover in deciding a boom section of thick bamboo (411), and be located the below of dolly frame (31), lift drive (42) are including hydraulic pressure station (421) and pneumatic cylinder (422), on dolly frame (31) is located in hydraulic pressure station (421), the cylinder body and the fixed boom section of thick bamboo (411) of pneumatic cylinder (422) are connected, and the piston rod is connected with a boom section of thick bamboo (412) to can drive a boom section of thick bamboo (412) along deciding a boom section of thick bamboo (411) flexible, revolving stage (5) are installed on boom section of thick bamboo (412).

3. The large-span heavy-duty truss robot of claim 2, wherein: rotating table (5) and move and be equipped with rotary drive (51) between arm section of thick bamboo (412), rotary drive (51) include servo motor (511), gear wheel (512) and with pinion (513) of gear wheel (512) meshing, servo motor (511) are located on the week side of moving arm section of thick bamboo (412), pinion (513) are located on the output shaft of servo motor (511), the rotatable tip of locating of moving arm section of thick bamboo (412) one end of gear wheel (512), rotating table (5) and gear wheel (512) fixed connection.

4. The large-span heavy-duty truss robot of claim 2, wherein: a pull sensor (43) is arranged on the fixed arm cylinder (411), a steel wire rope of the pull sensor (43) is connected with the movable arm cylinder (412) and used for recording the telescopic position of the movable arm cylinder (412), and a guide sliding block (413) is arranged between the movable arm cylinder (412) and the fixed arm cylinder (411).

5. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: the trolley walking drive (32) comprises a trolley drive motor (321), a drive wheel (322) and a driven wheel (323), the drive wheel (322) and the driven wheel (323) are both mounted on a trolley frame (31) through a support shaft and a bearing, the trolley drive motor (321) is connected with the drive wheel (322), and trolley anti-collision pads (221) are arranged at two ends of the bridge (22).

6. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: the trolley is characterized in that the trolley frame (31) is further provided with safety guardrails (311), first side guide wheels (312), anti-falling idler wheels (313), soft limiting blocks (314) and code readers (7), the first side guide wheels (312) are arranged in pairs, and the two first side guide wheels (312) of each pair are located on two sides of the trolley track (24).

7. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: big car travel drive (21) include big car driving motor (211) and two sets of follower, big car driving motor (211) are fixed on bridge (22), follower includes gearbox (212), sprocket and caterpillar track (214), and two caterpillar tracks (214) distribute in the both sides of longmen frame (1), and the input of gearbox (212) of every group passes through shaft coupling (215) and is connected with big car driving motor (211), and the output is connected with the sprocket that corresponds, the one end of end beam (23) is located to the sprocket, and the other end of end beam (23) still is equipped with the walking wheel, the walking wheel passes through back shaft, bearing and installs on end beam (23).

8. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: the utility model discloses a cart track, including end roof beam (23), soft limit switch of rear end (232), soft limit switch of lateral part (233), second side guide wheel (234), code reader (7) and optical communication (8) are equipped with cart crash pad (231), soft limit switch of rear end (232), soft limit switch of lateral part (233), second side guide wheel (234), code reader (7) and optical communication (8), cart crash pad (231) sets up two, divides the front end and the rear end of locating end roof beam (23), second side guide wheel (234) set up in pairs, and every two second side guide wheels (234) of pair divide and establish the both sides at cart track (11), the soft limit switch of lateral part (233), code reader (7) and optical communication (8.

9. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: the end beam (23) is provided with at least one unhook (235), when one unhook (235) is arranged, the unhook (235) is arranged at the rear end of the end beam (23), when two unhooks (235) are arranged, the unhook (235) is clamped on the cart track (11) and is respectively arranged at the front end and the rear end of the end beam (23).

10. The large-span heavy-duty truss manipulator of any one of claims 1 to 4, wherein: the gantry frame (1) comprises two side-by-side longitudinal beams (12), the longitudinal beams (12) are supported on a foundation through a plurality of supporting legs (13), the two longitudinal beams (12) are connected through a plurality of cross beams (14), a cart track (11) is arranged on the longitudinal beams (12), hard limiting collision blocks (101) are arranged at the front end and the rear end of the cart track (11), soft limiting collision blocks (102) are arranged on two sides of the cart track (11), and a trolley line (103) used for taking electricity is arranged on the outer side of one longitudinal beam (12).