Truss manipulator as a fashion a delivery 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 conveyor parts 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 systems, high-speed machining centers and trusses composed of agile flexible production system is already the mainstream products, trusses in the high-altitude transport parts, directly to the 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.
The truss manipulator consists of three parts: the main body, the driving system and the 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, from y to the beam and guide rail, z to the ram, cross slide, column, the transition plate and the base and other components, z to the linear motion are AC servo motor through the worm reducer Drive the gear and y to the 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, and the rails and racks are mounted on the beams, and the whole robot is suspended by means of the rollers and the guide rails, as shown in Fig.
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 capacity to drive and brake, 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 servomotor, the displacement and trajectory of the servo system are calculated according to the distance of the movement of the material and the running beats, and the PID parameters of the drive are dynamically adjusted. The truss manipulator is transferred to the moving unit according to the received displacement, speed command, changed, amplified and adjusted, and then passed to the motion unit to detect 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, 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 mode, according to the shape of the workpiece being sent, the structure and the machine fixture clip to design.
Manipulators can handle and perform tasks with programmable procedures. The robot is mainly composed of a hand arm, a swivel device, a moving part and a driving part. By positioning the workpiece on the workpiece shape or the positioning point on the workpiece. For example, in the automatic processing of automobile engine processing, the clamping module of the truss manipulator will choose different positioning and clamping modes according to the shape characteristics of the cylinder, cylinder head and crankshaft. 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.