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Kingda Crane Truss Manipulator

DATE: May 10th, 2024

1. Truss manipulator brief introduction

A truss manipulator is a fully automatic industrial equipment that is built on the basis of a right angle X, Y, Z coordinate system to adjust the workstation or achieve functions such as trajectory movement of the work piece. Its control core is achieved through industrial controllers (such as PLC, motion control, micro controller, etc.). By analyzing and processing various input signals (such as sensors and buttons) through the controller, making certain logical judgments, and issuing execution commands to various output components (relays, motor drivers, indicator lights, etc.), the joint movement between the X, Y, and Z axes is completed, thereby achieving a complete set of fully automatic operation processes.

2. Truss manipulator function configuration

The robotic arm consists of six parts: a structural framework, X-axis components, Y-axis components, Z-axis components, tooling fixtures, and a control cabinet.

Among them:
2.1 The truss manipulator
It is mainly composed of structural components such as columns, which are used to lift each axis to a certain height. It is mostly composed of welded components such as aluminum profiles or square tubes, rectangular tubes, and circular tubes.
2.2 The X-axis component, Y-axis component, and Z-axis component
They are the core components of the truss manipulator, and their definition rules follow the Cartesian coordinate system. Each shaft component usually consists of five parts: structural components, guide components, transmission components, sensor detection components, and mechanical limit components.
(1) Structural components
Are usually composed of aluminum profiles or square tubes, rectangular tubes, channel steels, I-beams, and other structures. Their function is to serve as the installation base for components such as guide and transmission components, and also to be the main carrier of mechanical arm loads.
(2) Guiding components
Commonly include linear guide rails, V-shaped roller guide rails, U-shaped roller guide rails, square guide rails, and dovetail grooves. Their specific application depends on the actual operating conditions and positioning accuracy.
(3) Transmission components
Typically come in three types: electric, pneumatic, and hydraulic. Among them, electric components include gear and rack structures, ball screw structures, synchronous belt drives, traditional chain drives, and wire rope drives.
(4) Sensor detection components
Usually use travel switches as electrical limit switches at both ends. When the moving component moves to the limit switches at both ends, the mechanism needs to be locked to prevent it from exceeding the limit; In addition, there are origin sensors and position feedback sensors.
(5) Mechanical limit group
Serves as a rigid limit beyond the electric limit stroke, commonly known as a dead limit.
2.3 Jig and fixture
There are different forms depending on the shape, size, material, etc. of the work piece, such as vacuum suction cup suction, chuck clamping, pallet or needle type fixture insertion, etc
2.4 The control cabinet
which functions as truss manipulator’s brain, through industrial controllers, Collect input signals from various sensors or buttons, To send instructions to an executing element to execute according to a predetermined action.

3 Truss manipulator features

Efficient  its axes run in a straight line at extremely high speeds, and can be quickly responded to by servo motors;
Stable minimal repeatability error, up to 0.05mm;
High intensity 7x24 hours of work, no need to eat, sleep, etc;
High precision positioning accuracy can reach 0.02m m (due to production cost reasons, positioning accuracy can be appropriately enlarged according to usage conditions);
High cost-effectiveness Compared to articulated robots, they have a larger load weight and lower production costs, making them suitable for the basic national conditions of "China's intelligent manufacturing";
Easy to operate based on the Cartesian coordinate system, its motion parameters are relatively simple.

4. Kingda crane intelligent truss manipulator

Kingda truss manipulator mainly consist of long traveling beam, long traveling motors, sliding rail main beam, sliding mechanical arm, sliding motor, energy chain, lifting motor, lifting mechanical arm, slewing robot arm and other parts.

1. Smart scan and three-dimensional imaging and remember the scanning results;
2. Follow system's instruction, Truss Manipulator adjusts posture automatically, intelligently plan path;
3. Based on the system's 3D scanning positioning, accurately grasp workpieces;
(Robot manipulator has an anti loosening design)
4. Truss manipulator automatically plan paths and accurately feeds idle machines;
(can avoid obstacles intelligently during the traveling)
5. According to system instructions, Automatically go to the station where the processing has been finished;
6. Accurately remove finished workpieces;
7. And based on the memory of 3D scanning results, Intelligently stack the finished workpieces.
Developed by kingda crane independently, truss manipulator has been produced, installed, and put into use
A manipulator can serve multiple CNC machining centers simultaneously
Intelligent truss Manipulator can be paired with various truss lifting tools
Suitable for various working conditions in different industries

5. Truss manipulator development History

Truss manipulator was first developed in the United States and have been widely used abroad.
In 1958, the United States Joint Control Company developed the first robotic arm.
Its structure is: a rotating long arm is installed on the body, and a work piece gripping and releasing mechanism with an electromagnetic block is installed on the top. The control system is in a teaching shape.

In 1962, United Control Company of the United States developed a CNC teaching and reproducing robotic arm based on the above plan, with the commercial name Unimate (Universal Automatic). The motion system is modeled after a tank turret, with arms that can rotate, pitch, retract, and be hydraulically driven; The control system uses magnetic drums as storage devices.

Many spherical coordinate universal robotic arms hav e developed on this basis.n the same year, the American mechanical manufacturing company also successfully experimented with a robotic arm called Vewrsatran. The central pillar of this robotic arm can rotate and lift using a hydraulic drive control system, which is also a demonstration and reproduction type. These two types of robotic arms that emerged in the early 1960s laid the foundation for the development of industrial robotic arms abroad.

In 1978, Unimate and Stanford University, along with the Massachusetts Institute of Technology, jointly developed a Unimate Vicart industrial robotic arm equipped with a small electronic computer for control during assembly operations, with a positioning error of less than ± 1 millimeter. KnKa, a German company, also produces a spot welding robot arm with a joint structure and program control.

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