CN209396584U - Three axis gantry stacking machines - Google Patents

Abstract

The utility model provides a kind of three axis gantry stacking machines, the three-shaft linkage device including rack and in the rack, and the manipulator connecting with the three-shaft linkage device；The three-shaft linkage device includes in the rack and being used for the X-axis mechanism that driving manipulator is moved along the length direction of rack；The X-axis mechanism includes the X-axis sliding rack connecting with housing slide, and the X-axis driving assembly for driving X-axis sliding rack mobile；The X-axis driving assembly includes X-axis motor and is set to the transmission shaft on X-axis sliding rack, and the X-axis driving wheel set on the both ends of the drive shaft with the output axis connection of the X-axis motor and along the width direction of the rack.In the stacking machine of three axis provided by the utility model gantry, X-axis mechanism realizes double acting power drive by the transmission shaft of the width direction setting along rack, avoids improving the stability of X-axis mechanism because both ends imbalance leads to stuck situation when X-axis mechanism span is excessive.

Description

Three axis gantry stacking machines

Technical field

The utility model relates to machine-building manufacture fields, more particularly to a kind of three axis gantry stacking machines.

Background technique

Stacking machine is one of the important device realizing automated production and guaranteeing compared with high efficiency.Stacking machine is in stacking The application of industry is greatly saved labour, saves space, and its flexible in operation precisely, rapidly and efficiently, stability it is high, operation effect Rate is high.Currently, usually structure is complicated and intensity is not high for the multi-axis linkages of stacking machine on the market, simple structure is difficult reality again Existing high accuracy positioning, can not control well manipulator and be moved to designated position.

Utility model content

The three axis gantry stacking machines simple and high positioning accuracy the purpose of the utility model is to provide a kind of structure.

To achieve the goals above, the utility model the following technical schemes are provided:

A kind of three axis gantry stacking machines, the three-shaft linkage device including rack and in the rack, and with it is described The manipulator of three-shaft linkage device connection；The three-shaft linkage device includes being set in the rack and for driving the machinery The X-axis mechanism that hand is moved along the length direction of the rack, in the X-axis mechanism and for driving the manipulator along institute The mobile Y-axis mechanism of the width direction of rack is stated, and in the Y-axis mechanism and for driving the manipulator along vertical The Z-axis mechanism of direction lifting；The X-axis mechanism include along the rack length direction be set to the rack on X-axis guide rail, The X-axis sliding rack being slidably connected with the X-axis guide rail, and the X-axis driving assembly for driving the X-axis sliding rack mobile, The Y-axis mechanism and Z-axis mechanism are set on the X-axis sliding rack；The X-axis driving assembly include X-axis motor and with the X The output axis connection of spindle motor is simultaneously set to the transmission shaft on the X-axis sliding rack along the width direction of the rack, and is set to The X-axis driving wheel of the both ends of the drive shaft, the X-axis driving wheel can the drive rotations of the transmission shaft as described in the X-axis motor driven To drive the X-axis sliding rack mobile.

Preferably, the transmission shaft includes the first transmission shaft, second driving shaft and is driven for connecting described first, second The shaft coupling of axis, first, second transmission shaft are equipped with the X-axis driving wheel far from one end of the shaft coupling.

Further, the X-axis driving assembly further include along the rack length direction be set to the rack on and around X-axis transmission belt on the X-axis driving wheel.

Preferably, the X-axis driving assembly further includes set on X-axis driving wheel two sides and for the X-axis to be driven With abutting in the auxiliary wheel on the X-axis driving wheel.

Preferably, the Y-axis mechanism includes leading along the Y-axis that the width direction of the rack is set on the X-axis sliding rack Rail, the Y-axis sliding rack being slidably connected with the Y-axis guide rail, and the Y-axis driving group for driving the Y-axis sliding rack mobile Part offers pilot hole on the Y-axis sliding rack；The Z-axis mechanism includes being arranged in the pilot hole along the vertical direction simultaneously The elevating lever being slidably connected with the Y-axis sliding rack, and on the Y-axis sliding rack and for driving the lifter rod lifting Z axis driving assembly, the manipulator connect with the elevating lever.

Preferably, the Z-axis mechanism further includes the Z axis guide rail being vertically set on the elevating lever, and it is sliding to be set to the Y-axis The Z axis sliding block being slidably connected in moving frame and with the Z axis guide rail.

More preferably, the Z-axis mechanism includes at least two on the Y-axis sliding rack and mutually described with angle Z axis sliding block, the Z axis guide rail are arranged in a one-to-one correspondence with the Z axis sliding block.

Further, the Z axis driving assembly include Z axis motor on the Y-axis sliding rack and with the Z axis electricity The Z-axis transmission wheel of the output axis connection of machine, and be set on the elevating lever along the vertical direction and abut the Z-axis transmission wheel simultaneously It can be by the Z-axis transmission band of Z-axis transmission wheel drive movement.

Further, the Y-axis driving assembly include y-axis motor in the X-axis mechanism and with the y-axis motor Output axis connection Y-axis driving wheel, and be set in the X-axis mechanism and be set around described along the width direction of the rack Y-axis transmission belt on Y-axis driving wheel, the Y-axis sliding rack and the Y-axis are driven band connection.

Preferably, the rack includes being divided into two support frames and the described two supports of connection at its length direction both ends Frame and the first crossbeam for being used to support the X-axis mechanism, and along the vertical direction with the first crossbeam be arranged side by side second Crossbeam.

Compared with prior art, the embodiment of the utility model has the advantage that

1. in the stacking machine of three axis provided by the utility model gantry, X-axis mechanism passes through the width direction setting along rack Transmission shaft realizes double acting power drive, and both ends imbalance leads to stuck situation when avoiding span excessive, and transmission shaft includes docking The first transmission shaft and second driving shaft being arranged reduce the shake generated at runtime since transmission shaft is too long and noise, improve X The stability of axis mechanism.

2. in the stacking machine of three axis provided by the utility model gantry, Z-axis mechanism includes being arranged in described lead along the vertical direction The elevating lever being slidably connected into hole and with the Y-axis sliding rack, settable a plurality of Z axis guide rail and Y-axis sliding rack on elevating lever On multiple Z axis sliding blocks for being correspondingly arranged be slidably connected, to improve the guiding intensity of Z-axis mechanism, stability with higher is kept away Exempt to shake when operation.

3. in the stacking machine of three axis provided by the utility model gantry, three-shaft linkage device is matched by driving wheel and transmission belt The movement for realizing manipulator is closed, it can be achieved that stable drive noiseless when work, and the cost of toothed belt transmission structure is low, can reduce The manufacturing cost of three axis gantry stacking machine.

4. in the stacking machine of three axis provided by the utility model gantry, rack includes be used to support the X-axis mechanism first The second cross beam that crossbeam and the first crossbeam are arranged side by side send out the rack will not when supporting the operation of three-shaft linkage device Raw deformation, intensity is higher and rigidity is more preferable.

The additional aspect of the utility model and advantage will be set forth in part in the description, these will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

The utility model is above-mentioned and/or additional aspect and advantage from the following description of the accompanying drawings of embodiments will Become obvious and be readily appreciated that, in which:

Fig. 1 is the perspective view of three axis provided by the utility model gantry stacking machine；

Fig. 2 is the perspective view of the manipulator in the stacking machine of three axis shown in FIG. 1 gantry；

Fig. 3 is the perspective view of the second fixture of manipulator shown in Fig. 2；

Fig. 4 is the perspective view of three-shaft linkage device shown in FIG. 1；

Fig. 5 is the partial enlarged view of three-shaft linkage setting position A shown in Fig. 4；

Fig. 6 is the perspective view of Y-axis mechanism shown in Fig. 4；

Fig. 7 is the perspective view of Z-axis mechanism shown in Fig. 4.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and cannot be construed to the utility model Limitation.

Those skilled in the art of the present technique are appreciated that unless expressly stated, arrange used in the specification of the utility model Diction " comprising " refer to that there are the feature, integer, step, operation, zero/component and/or components, but it is not excluded that in the presence of or add Add other one or more features, integer, step, operation, zero/component, component and/or their group.It should be understood that working as us When zero/component being claimed to be "connected" to another zero/component, it can be directly connected to other zero/components, or there may also be in Between zero/component.Wording "and/or" used herein includes one or more associated wholes for listing item or any cell With whole combinations.

As shown in Figure 1, the utility model provides a kind of three axis gantry stacking machines 1000, including rack 1 and it is set to the machine Three-shaft linkage device 2 on frame 1, and connect with the three-shaft linkage device 2 and three can be driven by the three-shaft linkage device 2 The manipulator 3 of axis linkage, the manipulator 3 for clamp material 2000 (such as intelligent lock panel) and material box 3000 (such as Intelligent lock packaging box).Three axis gantry stacking machine 1000 further includes equal being electrically connected with the three-shaft linkage device 2 and manipulator 3 The control centre 4 connect, the control centre 4 is used to show working condition, adjustment parameter and the operation for manipulating stacking machine, due to it Structure is not belonging to where the improvement of the utility model, therefore is not repeated.

As shown in Fig. 2, the manipulator 3 includes the fixing seat 31 being fixedly connected with the three-shaft linkage device 2 and is all provided with In the first fixture 32 in the fixing seat 31 and for folding up material 2000 and the second fixture for folding up material box 3000 33, first fixture 32 is set within the scope of the clamping of second fixture 33.The manipulator 3 can pass through first fixture After in 32 clamping materials 2000 to material box 3000, then material box 3000 is clamped by second fixture 33 and carries out stacking, led to Crossing a manipulator 3 can be achieved at the same time the vanning and stacking of product, reduce manpower and material resources cost, improve stacking efficiency.

Further, the fixing seat 31 is equipped with the connector 311 for connecting the three-shaft linkage device 2, described Connector 311 is set in the fixing seat 31 vertically, to increase the connection of the manipulator 3 and the three-shaft linkage device 2 End face is more firmly mounted the connection of the manipulator 3, guarantees it with biggish intensity.

Preferably, the manipulator 3 further includes the elevating mechanism 34 in the fixing seat 31, is used to drive described Relatively described second fixture, 33 lifting moving of first fixture 32.The elevating mechanism 34 includes the liter affixed with the fixing seat 31 Sending down abnormally ascending cylinder 341, the lifting seat for being connect with the piston rod of the lifting cylinder 341 and lifting being driven by the lifting cylinder 341 342, first fixture 32 is set on the lifting seat 342.First fixture 32 is being clamped by telescopic design Material 2000 can be placed in material box 3000 more flexiblely after material 2000, and easily facilitate second fixture 33 and press from both sides Take material box 3000.

Specifically, horizontally disposed waist-shaped hole 3421, first fixture 32 are offered on the lifting seat 342 The clamping piece 321 on the lifting seat 342 is set to by the waist-shaped hole 3421 interval including two, the clamping piece 321 is It is adapted to the Pneumatic clamping jaw of the material 2000.Since the clamping piece 321 is connected by waist-shaped hole 3421 and the lifting seat 342 Connect, can according to the spacing between two clamping pieces 321 of different adjustment of material 2000, so as to stacking multiple product, make this three Axis gantry stacking machine 1000 can be adapted to more conglomerate, and cost is relatively low for Pneumatic clamping jaw, can reduce by three axis gantry stacking machine 1000 production cost.

It should be understood that in other embodiments, the clamping piece 321 can also be electronic clamping jaw, it can be by electricity Accurately control clamping point is realized in the adjusting of motor start and stop and revolving speed in dynamic clamping jaw, will be to material 2000 in clamping movement Impact minimize.

As shown in figure 3, second fixture 33 include actuator 331 in the fixing seat 31, be divided into it is described The both ends of fixing seat 31 and two claws 332 being slidably connected with the fixing seat 31, and two claws 332 of connection Link mechanism 333.

The actuator 331 is pusher cylinder, any one claw 332 in push-pull rod and two claws 332 Connect and can drive the claw 332 fixing seat 31 sliding relatively, the both ends of the link mechanism 333 respectively with two institutes It states claw 332 hingedly and makes two claws 332 that can synchronize opposite or movement backwards, to pass through an actuator 331 Two 332 synchronizing movings of claw can be driven, and be driven the shift motion that can increase the claw 332 by link mechanism 333, In addition 333 occupied space of link mechanism is smaller, convenient for the first fixture of setting 32 in the second fixture 33 clamping range and makes the One fixture 32 can clamp bigger material 2000.

Further, the link mechanism 333 include two first connecting rods 3331 and both ends respectively with two described first The hinged second connecting rod 3332 of connecting rod 3331, the midpoint of the second connecting rod 3332 and the fixing seat 31 are hinged, described in two The one end of first connecting rod 3331 far from the second connecting rod 3332 is hinged with two claws 332 respectively.Pass through described first While connecting rod 3331 and second connecting rod 332 realize reversed push-and-pull transmission, the lifting can be worn between the first, second connecting rod Cylinder 341 does not influence the normal work of the elevating mechanism 34.

Preferably, second fixture 33 further include clamp rail 334 in the fixing seat 31 and with the folder The fixture slide block 335 that tool guide rail 334 is slidably connected, the claw 332 are connect with the fixture slide block 335, and the claw 332 can Improving stability is oriented to by the fixture slide block 335 and the cooperation of clamp rail 334.

As shown in figure 4, the three-shaft linkage device 2 includes being located in the rack 1 and for driving the manipulator 3 The X-axis mechanism 21 moved along the length direction of the rack 1, in the X-axis mechanism 21 and for driving the manipulator 3 The Y-axis mechanism 22 moved along the width direction of the rack 1, and in the Y-axis mechanism 22 and for driving the machine The Z-axis mechanism 23 that tool hand 3 is gone up and down along the vertical direction carry out the manipulator 3 can by the driving of the three-shaft linkage device 2 Multi-faceted movement, to carry out stacking.

Preferably, the X-axis mechanism 21 include along the rack 1 length direction be set to the rack 1 on X-axis guide rail 211 (being shown in FIG. 1), the X-axis sliding rack 212 being slidably connected with the X-axis guide rail 211, and for driving the X-axis sliding The X-axis driving assembly 213 that moving frame 212 is moved along the X-axis guide rail 211, the Y-axis mechanism 22 and Z-axis mechanism 23 are set to institute It states on X-axis sliding rack 212 and can be driven by the X-axis sliding rack 212 and moved together.

Incorporated by reference to Fig. 4 and Fig. 5, the X-axis driving assembly 213 is including X-axis motor 2131 and passes through transmission component 100 and institute The transmission shaft 2132 of the output shaft of X-axis motor 2131 is stated, the transmission shaft 2132 is set to described along the width direction of the rack 1 On X-axis sliding rack 212.The X-axis driving assembly 213 further includes the X-axis driving wheel 2133 set on 2132 both ends of transmission shaft, And the X-axis transmission belt in the rack 1 and being set around on the X-axis driving wheel 2133 is set to along the length direction of the rack 1 2134.The X-axis sliding rack 212 can realize movement by the transmission of the X-axis driving wheel 2133 and X-axis transmission belt 2134, and The double acting power drive at both ends is realized by the transmission of the transmission shaft 2132, both ends imbalance causes stuck when avoiding span excessive The case where.

The X-axis driving assembly 213 further includes the two sides set on the X-axis driving wheel 2133 and is used to pass the X-axis Dynamic band 2134 is pushed against in the auxiliary wheel 2135 on the X-axis driving wheel 2133, to guarantee the X-axis driving wheel described in transmission process 2133, which will not occur slipping, influences driving effect, to improve the positioning accuracy of stacking.

Preferably, the transmission shaft 2132 is including the first transmission shaft 2132a, second driving shaft 2132b and for connecting The shaft coupling 2132c of the first, second transmission shaft is stated, the one end of first, second transmission shaft far from the shaft coupling 2132c is equal Equipped with the X-axis driving wheel 2133, by the first transmission shaft 2132a and second driving shaft 2132b docking setting, reduce by In the too long shake generated at runtime of the transmission shaft 2132 and noise, the stability of the X-axis mechanism 21 is improved.

Preferably, the X-axis driving assembly 213 further includes subtracting with the planet of the output axis connection of the X-axis motor 2131 Fast machine 200 can ensure that the X-axis motor 2131 has enough torques in the running by the planetary reducer 200, into one Step improves the stability of X-axis mechanism 21.

As shown in fig. 6, the Y-axis mechanism 22 includes the width direction along the rack 1 set on the X-axis sliding rack 212 On Y-axis guide rail 221, the Y-axis sliding rack 222 that is slidably connected with the Y-axis guide rail 221, and for driving the Y-axis to slide The Y-axis driving assembly 223 that frame 222 is slided along the Y-axis guide rail 221, the Z-axis mechanism 23 are set on the Y-axis sliding rack 222 It can be driven and be moved together by the Y-axis sliding rack 222.

Further, the Y-axis driving assembly 223 includes the y-axis motor on the end of the X-axis sliding rack 212 2231 and by the Y-axis driving wheel 2232 of transmission component 100 and the output shaft of the y-axis motor 2231, and along the rack 1 Width direction be set on the X-axis sliding rack 212 and the Y-axis transmission belt 2233 that is set around on the Y-axis driving wheel 2232, institute Y-axis sliding rack 222 is stated to connect with the Y-axis transmission belt 2233.It should be understood that the X-axis sliding rack 212 is far from the Y The other end of spindle motor 2231 also is provided with a Y-axis driving wheel 2232, and the Y-axis transmission belt 2233 is set around two Y-axis On driving wheel 2232.

Preferably, the Y-axis driving assembly 223 further includes subtracting with the planet of the output axis connection of the y-axis motor 2231 Fast machine 200 can ensure that the y-axis motor 2231 has enough torques in the running by the planetary reducer 200.

As shown in fig. 7, the Z-axis mechanism 23 includes the elevating lever being arranged on the Y-axis sliding rack 222 along the vertical direction 231, and the Z axis driving assembly 232 on the Y-axis sliding rack 222 and for driving the elevating lever 231 to go up and down, it is described Manipulator 3 is set to the bottom end of the elevating lever 231 and can drive a lifting by the elevating lever 231.

Incorporated by reference to Fig. 6, the pilot hole 2221 for the elevating lever 231 to be arranged is offered on the Y-axis sliding rack 222, The elevating lever 231 be arranged in the pilot hole 2221 and can the relatively described Y-axis sliding rack 222 along the vertical direction on move down It is dynamic.

As shown in fig. 7, the Z-axis mechanism 23 further includes along the Z axis guide rail 233 being set on the elevating lever 231 vertically, sets In the Z axis sliding block 234 being slidably connected on the Y-axis sliding rack 222 and with the Z axis guide rail 233.

Preferably, the elevating lever 231 is square bar, i.e., the cross section of the described elevating lever 231 is rectangle, the Z-axis mechanism 23 include at least two Z axis guide rails 233 being divided into 231 different sides of elevating lever, on the Y-axis sliding rack 222 Also multiple Z axis sliding blocks 234 are correspondingly provided with, to improve the guiding intensity of the Z-axis mechanism 23, are made it have higher steady It is qualitative, it avoids shaking when operation.

Correspondingly, the pilot hole 2221 is the rectangular opening for being adapted to the elevating lever 231, and the Y-axis sliding rack 222 is corresponding The pilot hole 2221 is surrounded by stiffening plate 2222, and the Z axis sliding block 234 is set in the stiffening plate 2222.More preferably, The Y-axis sliding rack 222 is equipped with the stiffening plate 2222, every piece of stiffening plate along the upper and lower ends of the pilot hole 2221 It is equipped with the Z axis sliding block 234 on 2222, further increases the stability that the elevating lever 231 is gone up and down.

Further, the Z axis driving assembly 232 includes the Z axis motor and 2321 on the Y-axis sliding rack 222 With the Z-axis transmission wheel 2322 of the output axis connection of the Z axis motor 2321, and along the vertical direction be set to the elevating lever 231 Above and abuts the Z-axis transmission wheel 2322 and mobile Z-axis transmission band 2323 can be driven by the Z-axis transmission wheel 2322.

Preferably, the Z-axis transmission band 2323 is the rack gear being fixedly arranged on the elevating lever 231 along the vertical direction, the Z Axis driving wheel 2322 is gear, to realize that the manipulator 3 moves in the vertical direction by the cooperation of gear and rack gear transmission Precise positioning.

Preferably, the Z axis driving assembly 232 further includes subtracting with the planet of the output axis connection of the Z axis motor 2321 Fast machine 200 can ensure that the Z axis motor 2321 has enough torques in the running by the planetary reducer 200.

Three-shaft linkage device 2 provided by the utility model realizes the shifting of manipulator 3 by the cooperation of driving wheel and transmission belt It is dynamic, it can be achieved that stable drive noiseless when work, and the cost of toothed belt transmission structure is low, can reduce by three axis gantry stacking The manufacturing cost of machine 1000.

As shown in Figure 1, the rack 1 includes being divided into it in three axis provided by the utility model gantry stacking machine 1000 Two support frames 11 at length direction both ends, two support frames as described above 11 are connected by two first crossbeams 12, the three axis connection Dynamic device 2 is set up on the first crossbeam 12.

Preferably, the rack 1 further includes the second cross beam 13 being arranged side by side along the vertical direction with the first crossbeam 12, The both ends of the second cross beam 13 are connect with two support frames as described above 11 respectively, make the machine by the way that the second cross beam 13 is arranged The intensity of frame 1 is higher and rigidity is more preferable, will not deformation occurs when supporting the three-shaft linkage device 2 operation.

More preferably, the rack 1 further includes multiple companies that interval is set between the first crossbeam 12 and second cross beam 13 Beam 14 is connect, the support strength of the first crossbeam 12 is further promoted.

The above is only some embodiments of the utility model, it is noted that for the common skill of the art For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and Retouching also should be regarded as the protection scope of the utility model.

Claims (10)

1. a kind of three axis gantry stacking machines, which is characterized in that the three-shaft linkage device including rack and in the rack, with And the manipulator being connect with the three-shaft linkage device；

The three-shaft linkage device includes being set in the rack and for driving the manipulator along the length side of the rack To mobile X-axis mechanism, in the X-axis mechanism and for driving the manipulator to move along the width direction of the rack Y-axis mechanism, and in the Y-axis mechanism and for the Z-axis mechanism that drives the manipulator to go up and down along the vertical direction；

The X-axis mechanism include along the rack length direction be set to the rack on X-axis guide rail, with the X-axis guide rail The X-axis sliding rack being slidably connected, and the X-axis driving assembly for driving the X-axis sliding rack mobile, the Y-axis mechanism and Z Axis mechanism is set on the X-axis sliding rack；

The X-axis driving assembly includes X-axis motor and with the output axis connection of the X-axis motor and along the width side of the rack To the transmission shaft being set on the X-axis sliding rack, and set on the X-axis driving wheel of the both ends of the drive shaft, the X-axis driving wheel Can the transmission shaft as described in the X-axis motor driven drive rotation to drive the X-axis sliding rack mobile.

2. three axis according to claim 1 gantry stacking machine, which is characterized in that the transmission shaft include the first transmission shaft, Second driving shaft and shaft coupling for connecting first, second transmission shaft, first, second transmission shaft is far from described One end of axis device is equipped with the X-axis driving wheel.

3. three axis according to claim 1 gantry stacking machine, which is characterized in that the X-axis driving assembly further includes along institute The length direction for stating rack is set to the X-axis transmission belt in the rack and being set around on the X-axis driving wheel.

4. three axis according to claim 3 gantry stacking machine, which is characterized in that the X-axis driving assembly further includes being set to X-axis driving wheel two sides simultaneously are used to push against the X-axis transmission belt in the auxiliary wheel on the X-axis driving wheel.

5. three axis according to claim 1 gantry stacking machine, which is characterized in that the Y-axis mechanism includes along the rack The width direction Y-axis guide rail being set on the X-axis sliding rack, the Y-axis sliding rack that is slidably connected with the Y-axis guide rail, and For driving the Y-axis driving assembly of the Y-axis sliding rack movement, pilot hole is offered on the Y-axis sliding rack；

The Z-axis mechanism includes being arranged in the liter being slidably connected in the pilot hole and with the Y-axis sliding rack along the vertical direction Bar drops, and on the Y-axis sliding rack and for driving the Z axis driving assembly of the lifter rod lifting, the manipulator with The elevating lever connection.

6. three axis according to claim 5 gantry stacking machine, which is characterized in that the Z-axis mechanism further includes vertically setting Z axis guide rail on the elevating lever, the Z axis sliding block being slidably connected on the Y-axis sliding rack and with the Z axis guide rail.

7. three axis according to claim 6 gantry stacking machine, which is characterized in that the Z-axis mechanism is set including at least two It is corresponded on the Y-axis sliding rack and mutually with the Z axis sliding block of angle, the Z axis guide rail and the Z axis sliding block Setting.

8. three axis according to claim 5 gantry stacking machine, which is characterized in that the Z axis driving assembly includes being set to institute The Z axis motor on Y-axis sliding rack and the Z-axis transmission wheel with the output axis connection of the Z axis motor are stated, and is set along the vertical direction In on the elevating lever and the Z-axis transmission band that abuts the Z-axis transmission wheel and can be moved by the Z-axis transmission wheel drive.

9. three axis according to claim 5 gantry stacking machine, which is characterized in that the Y-axis driving assembly includes being set to institute Y-axis motor in ShuXZhou mechanism and the Y-axis driving wheel with the output axis connection of the y-axis motor, and the width along the rack Degree direction is set in the X-axis mechanism and the Y-axis transmission belt that is set around on the Y-axis driving wheel, the Y-axis sliding rack with it is described Y-axis is driven band connection.

10. three axis according to claim 1 gantry stacking machine, which is characterized in that the rack includes being divided into its length It two support frames at direction both ends and connects described two support frames and is used to support the first crossbeam of the X-axis mechanism, and The second cross beam being arranged side by side along the vertical direction with the first crossbeam.