CNC machine tool loading and unloading manipulator, also known as loading and unloading robot, can be divided into two categories according to the structure, namely truss manipulator and joint manipulator, among which truss manipulator is also called rectangular coordinate manipulator and gantry manipulator.

Gantry robot, also known as rectangular coordinate robot or truss robot, is an automatic control, repeatable programming, multi degree of freedom, and automation equipment suitable for different tasks based on the space XYZ rectangular coordinate system. The gantry robot has effectively improved the working environment, provided digitalized, informationized, sparsely manned and unmanned management of parts processing, reliably guaranteed the product quality, and greatly improved the labor productivity, so that modern manufacturing technology has reached a new level.

During the loading and unloading process, coordinate with the movement of the machine tool workbench and the tension of the chuck, and control the loading and unloading process strictly according to the signal flow sequence. When putting down the processed parts and taking new parts to be processed, they must also coordinate with their supporting facilities. The CNC system and CNC machine tools, stepping motors, servo motors, pneumatic grippers and other related products can reasonably arrange and design each movement beat in a short time to ensure that the loading and unloading robots can work in a coordinated, safe, long-term and reliable manner.

In order to realize the flexible movement function and rapid response processing function of truss robot, the robot needs a brain - control system. The function of the control system is to send out motion instructions, process data, judge motion, etc. It can send out control instructions, receive feedback signals and judge and process information at any time according to the numbered program.

The robot system integration manufacturer tells you that the CNC machine tool manipulator requires high positioning accuracy when picking up and placing workpieces, loading and unloading workpieces. Therefore, in the manipulator control, in addition to the open-loop control of the vertical arm, the actuating claw hydraulic cylinder and the waist step drive, the horizontal arm should also be subject to closed-loop servo control.