桁架机械手是一种建立在直角X，Y，Z三坐标系统基础上，对工件进行工位调整，或实现工件的轨迹运动等功能的全自动工业设备。桁架机械手由结构框架、X轴组件、Y轴组件、Z轴组件、工装夹具以及控制柜，六部分组成。各个轴的组件通常由结构件、导向件、传动件、传感器检测元件以及机械限位组件等五部分组成，下面我们具体来聊一聊各个轴的组成部分介绍。
The truss manipulator is a fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, the work station adjustment of the workpiece, or the movement of the workpiece. The truss manipulator consists of six parts: structural frame, X-axis assembly, Y-axis assembly, Z-axis assembly, fixture and control cabinet. The components of each shaft are usually composed of five parts: structural parts, guides, transmission parts, sensor detection elements and mechanical limit components. Let’s talk about the components of each axis.
结构件通常由铝型材或方管，矩形管，槽钢，工字钢等结构组成，其作用是作为导向件、传动件等组件的安装底座，同时也是机械手负载的主要承担者。
The structural members are usually composed of aluminum profiles or square tubes, rectangular tubes, channel steels, I-beams, etc., and their functions are used as mounting bases for components such as guides and transmission parts, and are also the main bearers of the robot load.
导向件，常用有直线导轨，v型滚轮导轨，U型滚轮导轨，方型导轨以及燕尾槽等常用导向结构，其具体运用需根据实际使用工况以及定位精度决定。
Guide members are commonly used in linear guides, v-shaped roller guides, U-shaped roller guides, square guide rails and dovetail slots. The specific application needs to be determined according to the actual working conditions and positioning accuracy.
传动件，通常有电动，气动，液压三种类型，其中电动有齿轮齿条结构，滚珠丝杠结构，同步带传动，链条传统以及钢丝绳传动等。
Transmission parts, usually electric, pneumatic, hydraulic three types, of which electric gear rack structure, ball screw structure, synchronous belt drive, chain tradition and wire rope transmission.
传感器检测元件，通常两端采用行程开关作为电限位，当移动组件移动至两端限位开关处时，需要对机构进行锁死，防止其超程；此外还有原点传感器以及位置反馈传感器。
The sensor detecting component usually uses a travel switch as an electric limit at both ends. When the moving component moves to the limit switch at both ends, the mechanism needs to be locked to prevent overtravel; in addition, an origin sensor and a position feedback sensor are also included.
机械限位组，其作用是在电限位行程之外的刚性限位，俗称死限位。
The mechanical limit group is used for the rigid limit outside the electric limit stroke, commonly known as the dead limit.
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