Truss manipulator as a fashion a transport tool, more and more favored. At present, the mainstream of domestic and foreign flexible automatic line logistics system has two main forms: by the truss manipulator to send the workpiece composed of automatic production system and the robot handling system for the composition of automatic production line. In Europe and the United States and other developed industrial system, from the high-speed machining centers and truss manipulator composed of agile flexible production system is already the mainstream products, truss robots in the high-altitude transport parts, directly processed parts from one machine to another machine , Truss robots with both between the transport and automatic loading and unloading materials and other auxiliary functions. Because of its fast delivery, precision, flexibility, structure is relatively simple, easy to combine. Thus, by the machine tool manufacturers are important.
Truss manipulator consists of three parts: main body, drive system and control system. According to the robot structure is classified as Cartesian coordinates, the robot moves along the two-dimensional Cartesian coordinate system. The main part is usually made of gantry structure, which consists of y-direction beam and guide rail, z-ram, cross slide, column, transition connection plate and base. The z-direction linear motion is AC servo motor through worm reducer Drive gear and y-direction beam, z to the ram on the fixed rack for rolling, driving the moving parts along the rail fast movement. The moving parts are of a lightweight cross slide and a z-ram, and the ram is made of an aluminum alloy drawn profile. The beam is made of square steel, the rails are equipped with rails and racks, through the roller and rail contact, the entire robot are hanging on it,
As the truss robots transport speed, acceleration, acceleration and deceleration time is short. When transporting heavier workpieces, the inertia is large, so the servo drive motor has enough drive and braking capability, and the support element must have sufficient rigidity and strength. Only in this way can the servo motor meet the high response, high stiffness and high precision requirements of the truss manipulator delivery. In the case of selecting the appropriate servo motor, according to the distance of the material movement and running the beat, calculate the servo system displacement and trajectory, the dynamic adjustment of the driver PID parameters. The truss robot moves to the moving unit according to the received displacement and speed command, changes, amplifies and adjusts it, and realizes the running state through the optical fiber sensor. During the high speed handling, the moving part arrives in a very short time Given the speed, and in the high-speed trip in the moment quasi-stop, through the high-resolution absolute encoder interpolation operation, control the mechanical error and measurement error on the impact of motion accuracy. As the workpiece is different delivery, the quality is different, so the truss robot has a variety of specifications and series. In the selection, according to the quality of the workpiece being sent, the processing of the beat to select. But the arm of the manipulator, clamping method, according to the shape of the workpiece being sent, the structure and the machine fixture set clip to design
Manipulators can handle and perform tasks with programmable procedures. The robot is mainly composed of hand arm 1, rotary device, moving parts and driving parts. The workpiece is positioned by positioning the workpiece or the positioning point on the workpiece. For example, in the automotive engine processing flexible automatic line logistics, the truss manipulator clamping module will be based on the cylinder, cylinder head, crankshaft and other parts of the shape characteristics, select a different positioning and clamping method. Flexible manipulator on the use of cylinder and motor positioning and clamping module switching drive, a set of manipulators to complete the different types of workpiece handling work. The clamping positioning module can be designed according to the product quality and the size of the shape. The clamping part of the manipulator is installed in the same way. For the different series of workpieces, simply switch the corresponding clamping and positioning module to meet the fast switching need. In this way, when the processing of different varieties of the workpiece, only the need to change the clamping module can be achieved to improve the flexibility of the truss robot.