桁架机械手，也被称为直角坐标机器人或龙门式机器人，是一种在工业自动化中广泛使用的设备。其设计基于直角坐标系统，即通过X、Y、Z三个轴向的线性运动来实现精确定位和作业。桁架机械手通常由坚固的桁架结构支撑，上面安装着可以在导轨上滑动的机械臂或滑块，这些部件通过精密的传动机构和控制系统协同工作，以完成各种复杂的作业任务。

桁架机械手的主要特点包括结构稳定、定位精确、运动灵活以及作业效率高。它们能够在预设的区域内进行高速、高精度的移动和作业，广泛应用于机械加工、物流仓储、焊接、喷涂等多个领域。在机械加工中，桁架机械手常用于数控机床的上下料、工件搬运等；在物流仓储领域，则用于货物的搬运、分拣和码垛等作业。

此外，桁架机械手还具备较高的自动化程度和可编程性，可以根据不同的作业需求进行灵活配置和编程，实现自动化生产线的优化和升级。随着工业自动化的不断发展，桁架机械手在未来将继续向智能化、模块化和绿色化方向发展，为工业自动化领域带来更多的创新和变革。

The gantry robot, also known as a Cartesian robot or portal robot, is a widely utilized device in industrial automation. Its design is based on the Cartesian coordinate system, enabling precise positioning and operations through linear movements along the X, Y, and Z axes. Typically supported by a robust gantry structure, the gantry robot features mechanical arms or sliders that slide along guide rails. These components work in harmony through precise transmission mechanisms and control systems to accomplish various complex tasks.

The main characteristics of gantry robots include structural stability, precise positioning, flexible movement, and high operational efficiency. They are capable of high-speed, high-precision movements and operations within a predefined area, with extensive applications in machining, logistics and warehousing, welding, painting, and numerous other industries. In machining, gantry robots are often used for loading and unloading CNC machines, workpiece handling, and so on. In logistics and warehousing, they are employed for cargo handling, sorting, and palletizing.

Furthermore, gantry robots possess a high level of automation and programmability, allowing for flexible configuration and programming according to different operational requirements. This facilitates the optimization and upgrading of automated production lines. As industrial automation continues to evolve, gantry robots are poised to advance towards intelligence, modularity, and environmental friendliness, bringing more innovations and transformations to the field of industrial automation.

1、HWHS桁架机械手

1.HWHS truss robot

主要性能/Main performance

- 提升能力/Lifting capacity:20kg

- 抓取零件重量/Grabbing weight: 3.5kg

- 本体快速移动速度/Fast moving speed of body: 300m/min

- 手臂快速移动速度/Fast arm movement speed: 150m/min

- 加速度/Acceleration: >10m/s²

- 重复定位精度/Accuracy of repeated positioning: ±0.05

- 传动方式：同步带+同步带轮/Transmission mode: synchronous belt + synchronous belt pulley

- 自动润滑/Automatic lubrication

- 控制系统/Control system

2、DRAGON重型桁架机械手

2.Dragon heavy truss robot

Dragon系列属于重型机械手系列，最大规格的抓取能力有3.5吨，主体横粱采用钢梁结构，导轨采用矩形的重载导轨，传动采用齿轮齿条方式，模块化的设计，独立的控制方式，配备用紧急情况下的安全急停装置，适合于大型设备和重载的场合使用。

The Dragon series belong to heavy manipulator series. The maximum grabbing capacity is 2.5 tons. The main body is made of steel beam structure. The guide rail adopts rectangular heavy-duty guide rails. The transmission adopts rack and pinion mode, modular design and independent control mode. Equipped with emergency stop device in emergency, it is suitable for large equipment and heavy load applications.

3、料仓系统

3.Silo system

采用多托盘堆垛的方式进行储料，由两轴伺服的堆垛机器人进行各个托盘间的转运，各个料位的分度也由堆垛的机器人来完成，适合于储存盘类、轴类、箱体类、异形件等零件，适用范围广，托盘可以整垛转运，可以非常灵活地整合到工厂的物流系统中。

This system adopts multi-tray stacking mode for storing materials. Two-axis servo stacking robots perform the transfer between the trays, and the indexing of each material level is also completed by the stacking robot. It is suitable for storage of discs, shafts, cabinets and special-shaped parts, with wide applications. The trays can be transported in an integrated manner and can be flexibly integrated into the logistics system of the factory.  

旋转料仓由驱动电机、减速机，链条、托盘、举升装置和控制系统等构成。料仓的旋转采用减速机带动链条旋转实现，由传感器控制料仓内托盘的位置，物料的进给采用电击和减速机带动链条上的托板升降来实现，自动料仓立的控制由独立的PLC控制器完成。

The rotating silo consists of a drive motor, a reducer, a chain, a tray, a lifting device and a control system, etc. The silo is rotated by a chain driven a reducer. The position of the tray in the silo is controlled by the sensor. The feeding of the materials is realized by lifting and lowering the supporting plate on the chain driven by the motor and reducer, and the automatic silo is controlled by an independent PLC controller.