Truss manipulator

 Gantry-robot     |      2021-12-23 15:12
The truss manipulator is a kind of fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, which can adjust the position of the workpiece or realize the trajectory movement of the workpiece. Its control core is realized by industrial controllers (such as: PLC, motion control, single-chip microcomputer, etc.). After the controller analyzes and processes various input (various sensors, buttons, etc.) signals, and after making certain logical judgments, execute commands to each output component (relays, motor drivers, indicator lights, etc.) to complete X, Y , The joint movement between Z three-axis, in order to realize a complete set of fully automatic operation process.、
Function configurationedit
The manipulator is composed of six parts: a structural frame, X-axis components, Y-axis components, Z-axis components, fixtures and control cabinets.
1. The structural frame is mainly composed of columns and other structural parts. Its function is to raise each shaft to a certain height. It is mostly composed of aluminum profiles or welded parts such as square tubes, rectangular tubes, and round tubes;
2. X-axis components, Y-axis components, Z-axis components, the three motion components are the core components of the truss manipulator, and their definition rules follow the Cartesian coordinate system.
Each shaft assembly is usually composed of five parts: structural parts, guide parts, transmission parts, sensor detection elements, and mechanical limit components.
1) Structural parts are usually composed of aluminum profiles or square tubes, rectangular tubes, channel steels, I-beams and other structures. Their role is to serve as the installation base of guides, transmission parts and other components, and also the main bearer of the load of the manipulator.
2) The guides are usually linear guides, V-shaped roller guides, U-shaped roller guides, square guides and dovetail grooves and other common guide structures. The specific application needs to be determined according to the actual working conditions and positioning accuracy.
3) Transmission parts, usually electric, pneumatic, and hydraulic. Among them, electric has a rack and pinion structure, a ball screw structure, a timing belt drive, a traditional chain, and a wire rope drive.
4) The sensor detection element usually uses travel switches at both ends as the electrical limit. When the moving component moves to the limit switches at both ends, the mechanism needs to be locked to prevent it from overtravel; in addition, there are origin sensors and positions Feedback sensor.
5), the mechanical limit group, its function is the rigid limit outside the electric limit stroke, commonly known as the dead limit.
3. Tooling fixtures have different forms according to the shape, size and material of the workpiece, such as: vacuum suction, chuck clamping, picking or needle clamp insertion and other forms.
4. The control cabinet, which is equivalent to the brain function of the truss manipulator, collects the input signals of the sensors or buttons through the industrial controller, and sends instructions to each actuator to execute the predetermined action.