High-speed truss manipulator

Abstract

The invention discloses a high-speed truss manipulator. A first sliding block is arranged on an X-direction track on a supporting frame in a sliding mode; a Y-direction track is arranged on a second sliding block fixed to the first sliding block in a linearly reciprocated sliding mode; a Z-direction track is arranged on a third sliding block fixed to the Y-direction track in a longitudinally and linearly reciprocated sliding mode; a mechanical clamping jaw installation support is rotationally positioned at the lower end of the Z-direction track; an included angle of 135 degrees is formed between the axial direction of a rotary shaft of the mechanical clamping jaw installation support and the Z direction; first and second mechanical clamping jaws are symmetrically distributed on the two sides of the rotary shaft of the mechanical clamping jaw installation support; an included angle of 90 degrees is formed between the axial directions of the first and second mechanical clamping jaws; first, second and third drive devices are used for driving the first sliding block, the Y-direction track and the Z-direction track to move respectively; a rotary drive device is used for driving the mechanical clamping jaw installation support to rotate. The manipulator can operate stably at high speed, the vibration amplitude is small after movement is finished, the speed is high as two manipulators operate alternately, and the occupied space is small.

Description

technical field [0001] The invention relates to a truss manipulator, in particular to a high-speed truss manipulator. Background technique [0002] The truss manipulator is a fully automatic industrial equipment based on the three-coordinate system of right angles X, Y, and Z, which can adjust the position of the workpiece or realize the trajectory movement of the workpiece. It controls the manipulator through the industrial controller to complete X, The joint movement between the Y and Z axes is used to realize a complete set of fully automatic operation processes. It is often used on large-scale processing equipment. The traditional truss manipulator is heavy in weight and has low guiding precision. The manipulator is prone to large vibrations during operation, resulting in The position accuracy of the manipulator is low, and the running speed is slow. Most of the manipulators are one or two manipulators flipped along the 180-degree direction to achieve alternate operation...

AI Technical Summary

Problems solved by technology

[0002] The truss manipulator is a fully automatic industrial equipment based on the three-coordinate system of right angles X, Y, and Z, which can adjust the position of the workpiece or realize the trajectory movement of the workpiece. It controls the manipulator through the industrial controller to complete X, The joint movement between the Y and Z axes is used to realize a complete set of fully automatic operation processes. It is often used on large-scale processing equipment. The traditional truss manipulator is heavy in weight and has low guiding precision. The manipulator is prone to large vibrations during operation, resulting in The position accuracy of the manipulator is low, and the running speed is slow. Most of the manipulators are one or two manipulators flipped along the 180-degree direction to achieve alternate operation, which takes up a lot of space, and the alternating operation speed is low. Because of its large size and weight, the vibration amplitude of the manipulator is aggravated, and the movement of the manipulator It cannot stop immediately after it is in place, but only stops after swinging in situ for a certain period of time, resulting in low processing accuracy and low processing efficiency, which brings great troubles to actual production

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