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Brief Description of Functional Configuration of Truss Manipulator

2018-12-25 15:13:22 點擊數:

Truss manipulator is a kind of fully automatic industrial equipment, which is based on the right angle X, Y, Z [1] coordinate system to adjust the workpiece position or realize the function of workpiece trajectory movement. Its control core is realized by industrial controllers (such as PLC, motion control, single-chip computer, etc.). Through the analysis and processing of various input signals (sensors, buttons, etc.) by the controller, after making certain logical judgments, the output components (relays, motor drivers, indicator lights, etc.) are issued to execute commands to complete the joint movement of X, Y, Z axes, so as to achieve a complete set of automatic operation process.

Chinese Name Truss Manipulator Foreign Name Gantry Robot

Functional configuration of truss manipulator:

The manipulator consists of six parts: structure frame, X-axis component, Y-axis component, Z-axis component, fixture and control cabinet.

Among them:

1. Structural frame is mainly composed of pillars and other structural components. Its function is to elevate the axles to a certain height, mostly composed of aluminium profiles or square pipes, rectangular pipes, circular pipes and other welded parts.

2. X-axis component, Y-axis component and Z-axis component are the core components of the truss manipulator, and their definition rules follow Cartesian coordinate system [2].

The axle components are usually composed of five parts: structural parts, guide parts, transmission parts, sensor detection elements and mechanical limit components.

1) Structural parts usually consist of aluminium profiles or square tubes, rectangular tubes, channel steel, I-shaped steel and other structures. Its function is to serve as the installation base of guiding parts, transmission components and other components, as well as the main bearer of the load of the manipulator.

2) Guiding parts, commonly used with linear guide, V-type roller guide, U-type roller guide, square guide and dovetail groove and other common guiding structures, the specific use of which depends on the actual operating conditions and positioning accuracy.

3) Drive parts, usually there are three types of electric, pneumatic, hydraulic, including electric gear rack structure, ball screw structure, synchronous belt transmission, chain tradition and wire rope transmission.

4) Sensor detection components usually use stroke switches at both ends as electric limit. When mobile components move to limit switches at both ends, they need to lock the mechanism to prevent its overrun. In addition, there are origin sensors and position feedback sensors.

5) Mechanical limit group, whose function is rigid limit beyond electric limit stroke, commonly known as dead limit.

3. Fixtures have different forms according to the shape, size and material of the workpiece, such as vacuum suction, chuck clamping, lifting or pin-type fixture insertion.

4. The control cabinet, which acts as the brain of the truss manipulator, collects input signals of sensors or buttons through industrial controllers to send instructions to an executing element to execute according to the given action.

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