GANTRY ROBOT Russian patent published in 1997 - IPC

FIELD: robot engineering. SUBSTANCE: gantry robot has rail track and gantry rigidly coupled with two carriages. Each carriage is placed on corresponding rail and is furnished with two roller supports. Robot has at least one truck with manipulator arranged on gantry for travel in direction square to rail track. Robot has carriage electric drives, toothed racks connected to rails, two groups of guide members placed on one of carriages in front and rear portions and program control system. One of rollers in each pair of guide members has flexible member to press roller to side surface of rail. Pickups connected with program control system measure deformation of flexible members. EFFECT: enlarged operating capabilities. 12 dwg