In the industrial automation production line, the workpiece is transported back and forth between the assembly line and the machine tool processing station. At present, loading and unloading of CNC machine tools are realized on automatic assembly lines, and universal industrial robot manipulators are widely used. The articulated industrial robot has large load, high precision and programmable action, but it is expensive. The robot system integration manufacturer thinks that at present, truss manipulator is used for the manipulator of loading and unloading link, which requires high positioning accuracy when machining workpieces with machine tools, but has relatively simple handling action, namely loading and unloading manipulator.

The truss includes several supporting parts of the gantry structure, on which there is a beam for installing the manipulator. The truss manipulator is a manipulator with three degrees of freedom. The truss robot includes a horizontal motion component installed on the beam and a vertical motion component installed vertically on the horizontal motion component. The bottom of the vertical motion component is connected with a three jaw holder, the horizontal motion component and the vertical motion component, which respectively include a gear and a rack for transmission, and the gear and rack are arranged as helical teeth that mesh with each other.

The space motion of the truss robot is realized by three mutually perpendicular linear motions. Because the linear motion is easy to realize the full closed loop position control, the truss robot may reach a high position capital. In order to achieve a certain movement space, the structural size of truss robot is much larger than that of other types of robots.

The truss manipulator has simple and reliable structure and low cost; Gear and rack transmission adopts helical gear mesh, which increases the load of mechanical work and improves the stability of movement. Truss manipulator of automatic assembly line manufacturer has simple structure, low cost and high precision, which can realize horizontal and vertical handling of workpieces between assembly line and corresponding machine tool processing station.