Truss robot Z-axis manipulator temperature compensation device and compensation method thereof
A technology of temperature compensation device and truss robot, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., and can solve problems such as thermal expansion and contraction, errors in handling goods, Z-axis manipulator offset of truss robots, etc.
Pending Publication Date: 2018-12-21
STON ROBOT CHANGZHOU
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is: in order to solve the problem that the manipulator of the existing truss robot is relatively long, thermal expansion and contraction will occur under the influence of the external temperature, thus causing the Z-axis manipulator of the truss robot to deviate from the end of the truss , which leads to the problem of errors in the handling of goods, a temperature compensation device and compensation method for the Z-axis manipulator of the truss robot are now provided
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[0018] Such as Figure 1-3 As shown, a Z-axis manipulator temperature compensation device for a truss robot includes a beam 1 and a vertical beam 2 arranged on the beam 1. The vertical beam 2 is provided with a manipulator, and also includes a column 3, a distance sensor 4 and a processing unit 5 , the beam 1 is provided with a first driving device 6 for driving the horizontal displacement of the vertical beam 2, the column 3 is installed on the ground, the distance sensor 4 is arranged on the column 3, the manipulator It includes two clamping jaws 8 arranged on the vertical beam 2, and there are two clamping jaws 8 arranged oppositely. The driving device 7 , the jaws 8 are arranged opposite to the distance sensor 4 , and the processing unit 5 is connected to the first driving device 6 , the distance sensor 4 and the second driving device 7 respectively. The first driving device 6 is provided with a third driving device for driving the vertical beam 2 to displace in the verti...
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The invention relates to the technical field of truss robot equipment, in particular to a truss robot Z-axis manipulator temperature compensation device and a compensation method thereof. The truss robot Z-axis manipulator temperature compensation device comprises a transverse beam and a vertical beam arranged on the transverse beam; the vertical beam is provided with a manipulator; the truss robot Z-axis manipulator temperature compensation device further comprises a vertical column, a distance sensor and a processing unit; and the transverse beam is provided with a first driving device usedfor driving displacement of the vertical beam in the horizontal direction, the vertical column is mounted on the ground, and the distance sensor is arranged on the vertical column. When the truss robot Z-axis manipulator temperature compensation device and the compensation method thereof are used, the vertical column is arranged on one sides of clamping claws of the manipulator, the distance sensor is arranged on the vertical column, the distance between the distance sensor and the clamping claws is judged by the distance sensor, thus the judged distance is transmitted to the processing unit,the processing unit analyzes and controls a second driving device, thus the clamping claws are located on the designated position, and the manipulator and a machine tool clamp doe not collide.
Description
technical field [0001] The invention relates to the technical field of truss robot equipment, in particular to a temperature compensation device and a compensation method for a Z-axis manipulator of a truss robot. Background technique [0002] The truss robot is used to carry goods, etc. The existing truss robot has a relatively long manipulator, which will expand and contract under the influence of external temperature, which will cause the end of the Z-axis manipulator of the truss robot away from the truss to deflect to one side. Shifting, resulting in errors in the handling of goods, affecting the handling accuracy, because high-precision fixtures generally have a small gap, and because the truss robot is affected by temperature, when the Z-axis is deformed, deviations are likely to collide with the fixture. Contents of the invention [0003] The technical problem to be solved by the present invention is: in order to solve the problem that the manipulator of the existi...
Claims
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Login to View More IPC IPC(8): B25J9/02B25J9/12B25J13/08
CPCB25J9/023B25J9/123B25J13/08
Inventor刘金石张有斌虞益中
OwnerSTON ROBOT CHANGZHOU