Gantry-type automatic sheet handler

Abstract

The utility model discloses a gantry type automatic sheet taking machine relates to the technical field of hollow energy -conserving glass processing equipment manufacturing, including gantry, and the upper end of gantry is connected with X -axis mobile travelling crane, and the upper end of X -axis mobile travelling crane is connected with Y -axis mobile travelling crane, and is connected with Z -axis lifting mechanism on Y -axis mobile travelling crane, and the lower extreme of Z -axis lifting mechanism is connected rectangular suction disc frame through the direction adjusting mechanism of suction disc frame. The present application improves production efficiency, guarantees finished product quality, optimizes cost control, improves security and operation convenience, improves the comprehensive performance of glass production line significantly, and brings higher operation benefit for enterprise.

Description

Technical Field

[0001] This utility model relates to the technical field of manufacturing equipment for processing insulated energy-saving glass, specifically to a gantry-type automatic glass picker. Background Technology

[0002] With the rapid development of the insulated glass industry and the increasingly stringent global building energy efficiency standards, automatic sheet take-up machines have become a key fulcrum for the transformation of the insulated glass industry from "labor-intensive" to "intelligent manufacturing." Their technological evolution and market penetration have profoundly affected the restructuring of the competitiveness of the industrial chain. Intelligent insulated glass production lines supported by high-performance automatic sheet take-up machines can break through international trade technical barriers and help the energy-saving glass industry transform from "cost advantage" to "technological advantage" in the international market.

[0003] Traditional insulated glass production lines rely on manual glass handling, semi-automatic suction cup cranes with booms, semi-automatic suction cup cranes with gantry cranes, and automatic sheet-retrieving machines with back suction. Among these, manual sheet-retrieving and semi-automatic suction cup cranes suffer from three major drawbacks: low efficiency, high labor intensity, and high safety risks. Furthermore, they require frequent human intervention to adjust the glass posture to adapt to subsequent processes, which increases labor costs and reduces the production efficiency of automated production lines. Utility Model Content

[0004] In view of the above-mentioned technical problems in related technologies, this utility model provides a gantry-type automatic wafer picker, which can solve the above problems.

[0005] To achieve the above-mentioned technical objectives, the technical solution of this utility model is implemented as follows: A gantry-type automatic film unloading machine, comprising: The gantry frame includes a rectangular frame structure composed of two gantry frame crossbeams and two gantry frame longitudinal beams. The rectangular frame structure is supported by several gantry frame support columns. An X-axis trolley synchronous drive rack is arranged on the upper end face of the gantry frame crossbeams. The X-axis moving trolley is connected to the upper end of the gantry frame. The X-axis moving trolley includes an X-axis trolley frame composed of two X-axis trolley wheel frames and two Y-axis trolley track beams. An X-axis trolley drive mechanism is arranged on the side of the Y-axis trolley track beams. The X-axis trolley drive mechanism is connected to an X-axis trolley drive gear through an X-axis trolley drive shaft. The X-axis trolley drive gear is meshed with the X-axis trolley synchronous drive rack. A Y-axis trolley synchronous drive rack is arranged on the upper end face of the Y-axis trolley track beams. The Y-axis moving trolley is connected to the upper end of the X-axis moving trolley. The Y-axis moving trolley includes a Y-axis trolley frame, and a Y-axis trolley drive mechanism is arranged on the side of the Y-axis trolley frame. The Y-axis trolley drive mechanism is connected to a Y-axis trolley drive gear through a Y-axis trolley drive shaft. The Y-axis trolley drive gear is meshed with the Y-axis trolley synchronous drive rack. The Z-axis lifting mechanism includes a Z-axis lifting drive assembly connected to the upper end of the Y-axis trolley frame and two Z-axis lifting fixed frames suspended below the Y-axis trolley frame. A Z-axis lifting boom is slidably connected between the two Z-axis lifting fixed frames. The Z-axis lifting drive assembly is connected to the Z-axis lifting boom via chain drive. A rectangular suction cup frame is connected to the lower end of the Z-axis lifting arm via a suction cup frame direction adjustment mechanism. The suction cup frame direction adjustment mechanism includes a gear transmission assembly, which includes a suction cup frame steering drive unit. The output end of the suction cup frame steering drive unit is connected to a driven gear via a driving pinion. The upper end of the driven gear is connected to the bottom of the Z-axis lifting arm via a heavy-duty bearing. The lower end of the driven gear is fixedly connected to a crank arm. The crank arm is hinged to the rectangular suction cup frame. A suction cup frame angle adjustment drive unit is hinged to one side of the crank arm. One end of the electric push rod of the suction cup frame angle adjustment drive unit passes through the crank arm and is hinged to the rectangular suction cup frame.

[0006] Furthermore, the outer end of the gantry support column is connected to the gantry column support member. A gantry column horizontal tie rod is connected between two adjacent gantry support columns on the left end, and a gantry column longitudinal tie rod is connected between two adjacent gantry support columns on the right end. Multiple sets of gantry beam column diagonal support members are provided between the gantry support column and the gantry beam, and between the gantry support column and the gantry beam. An X-axis trolley guide rail is also arranged on the upper end surface of the gantry beam.

[0007] Furthermore, the X-axis traveling wheel frame is provided with a traveling roller adapted to the X-axis traveling guide rail, and the upper end face of the Y-axis traveling track beam is also provided with a Y-axis traveling guide rail.

[0008] Furthermore, the bottom of the Y-axis traveling frame is provided with a second traveling roller that is adapted to the Y-axis traveling guide rail.

[0009] Furthermore, the inner side of the Z-axis lifting fixing frame is provided with a Z-axis lifting guide rail, and the Z-axis lifting boom is provided with a guide rail slider that is adapted to the Z-axis lifting guide rail. The lower end of the Y-axis trolley frame is provided with a chain guide cylinder, and a gravity balance cylinder is provided on the side opposite to the chain. One end of the gravity balance cylinder is connected to the Y-axis trolley frame, and the output shaft of the other end is connected to the Z-axis lifting boom.

[0010] Furthermore, an electrical control box for electrically connecting various electrical components is provided on one side of the upper end face of the Y-axis gantry frame.

[0011] Furthermore, one end of the X-axis wheel frame is connected to a C-shaped mounting bracket.

[0012] The beneficial effects of this utility model are as follows: This application significantly improves the overall performance of the glass production line by increasing production efficiency, ensuring finished product quality, optimizing cost control, enhancing safety and ease of operation, and bringing higher operating benefits to enterprises. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] The present invention will now be described in further detail with reference to the accompanying drawings.

[0015] Figure 1 This is a schematic diagram of the structure of a gantry-type automatic wafer picker according to an embodiment of the present invention; Figure 2 This is a front view of a gantry-type automatic wafer picker according to an embodiment of the present invention; Figure 3 This is a side view of a gantry-type automatic wafer picker according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the gantry frame structure described in an embodiment of the present utility model; Figure 5 This is a schematic diagram of the structure of the X-axis moving trolley according to an embodiment of the present invention; Figure 6 This is a front view of the X-axis moving trolley described in this embodiment of the utility model; Figure 7 This is a schematic diagram of the connection between the Y-axis moving trolley, the Z-axis lifting mechanism, the rectangular suction cup frame, and the suction cup frame direction adjustment mechanism described in this embodiment of the utility model. Figure 8 yes Figure 7A magnified view of the upper middle section; Figure 9 yes Figure 7 A magnified view of the lower middle section; Figure 10 This is a side view of the connection between the Y-axis moving trolley, Z-axis lifting mechanism, rectangular suction cup frame, and suction cup frame direction adjustment mechanism described in this embodiment of the utility model. Figure 11 This is a front view of the connection between the Y-axis moving trolley, Z-axis lifting mechanism, rectangular suction cup frame, and suction cup frame direction adjustment mechanism described in this embodiment of the utility model.

[0016] In the picture: 1. Gantry frame; 1-01. Gantry frame crossbeam; 1-02. Gantry frame longitudinal beam; 1-03. Gantry frame support column; 1-04. Gantry column support component; 1-05. Gantry column horizontal tie rod; 1-06. Gantry column longitudinal tie rod; 1-07. Gantry beam column diagonal support component; 2. X-axis traveling crane; 2-01. X-axis traveling crane wheel frame; 2-02. Y-axis traveling crane track beam; 2-03. X-axis traveling crane drive mechanism; 2-04. X-axis traveling crane drive shaft; 2-05. Traveling crane drive gear; 2-06. Mounting bracket; 3. Y-axis traveling crane; 3-01. Y-axis traveling crane frame; 3-02. Y-axis traveling crane drive mechanism; 3-03. Y-axis traveling crane drive shaft 3-04, Y-axis traveling gear; 4, Z-axis lifting mechanism; 4-01, Z-axis lifting drive assembly; 4-02, Z-axis lifting fixed frame; 4-03, guide rail slider; 4-04, Z-axis lifting boom; 4-05, gravity balance cylinder; 4-06, chain guide cylinder; 5, rectangular suction cup frame; 6, suction cup frame direction adjustment mechanism; 6-01, suction cup frame steering drive unit; 6-02, crank arm; 6-03, suction cup frame angle adjustment drive unit; 7, X-axis traveling guide rail; 8, X-axis traveling synchronous drive rack; 9, Y-axis traveling guide rail; 10, Y-axis traveling synchronous drive rack; 11, traveling roller one; 12, electrical control box; 13, traveling roller two. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0018] like Figure 1-3As shown, this utility model discloses a gantry-type automatic film picker, including a gantry frame 1. The upper end of the gantry frame 1 is connected to an X-axis moving carriage 2, the upper end of the X-axis moving carriage 2 is connected to a Y-axis moving carriage 3, the Y-axis moving carriage 3 is connected to a Z-axis lifting mechanism 4, and the lower end of the Z-axis lifting mechanism 4 is connected to a rectangular suction cup frame 5 through a suction cup frame direction adjustment mechanism 6.

[0019] In a specific embodiment of this application, such as Figure 4 As shown, the gantry frame 1 consists of two gantry frame crossbeams 1-01, two gantry frame longitudinal beams 1-02, and multiple gantry frame support columns 1-03, forming the main frame structure. The frame dimensions can be independently designed according to the maximum glass specifications that the production line can produce, the glass storage space planning, and the rotation space path requirements after grabbing the glass. The gantry frame support columns 1-03 are reinforced with gantry column support components 1-04. Gantry column horizontal tie rods 1-05 and gantry column longitudinal tie rods 1-06 are distributed between the gantry frame support columns 1-03. Multiple sets of gantry beam and column diagonal support components 1-07 are arranged between the gantry frame crossbeams 1-01 and gantry frame support columns 1-03, and between the gantry frame longitudinal beams 1-02 and gantry frame support columns 1-03, thereby increasing structural stability. The number, type, and connection method of the supports and tie rods can be changed according to the actual load-bearing conditions to change the overall stress state of the frame and ensure structural strength and stability. The X-axis traveling guide rail 7 and the X-axis traveling synchronous drive rack 8 are arranged on the gantry beam 1-01.

[0020] In a specific embodiment of this application, such as Figure 5-6 As shown, the X-axis moving trolley 2 includes an X-axis trolley frame consisting of two X-axis trolley wheel frames 2-01 and two Y-axis trolley track beams 2-02. The lower end of the X-axis trolley wheel frames 2-01 is provided with trolley rollers 11, which span the X-axis trolley guide rails 7 arranged on the gantry beam 1-01. The side of the Y-axis trolley track beams 2-02 is provided with an X-axis trolley drive mechanism 2-03. The drive motor in the X-axis trolley drive mechanism 2-03 can drive the X-axis trolley drive shaft 2-04 to rotate. The two ends of the X-axis trolley drive shaft 2-04 are equipped with trolley drive gears 2-05, which mesh with the X-axis trolley synchronous drive rack 8 arranged on the gantry beam 1-01, which can drive the X-axis moving trolley 2 to translate in a direction parallel to the X-axis. Additionally, a Y-axis trolley guide rail 9 and a Y-axis trolley synchronous drive rack 10 are arranged on the Y-axis trolley track beam 2-02. At the same time, a C-shaped mounting bracket 2-06 is connected to one end of the X-axis trolley wheel frame 2-01, and corresponding auxiliary devices can be mounted on the mounting bracket 2-06.

[0021] In a specific embodiment of this application, such as Figure 7-8As shown, the Y-axis traveling trolley 3 includes a Y-axis traveling frame 3-01, which is an integrally welded frame. An electrical control box 12 is mounted on the Y-axis traveling frame 3-01 for electrical connection of various electrical components. Travel rollers 13 are arranged at the bottom of the Y-axis traveling frame 3-01, spanning the Y-axis traveling guide rail 9 arranged on the Y-axis traveling track beam 2-02. A Y-axis traveling drive mechanism 3-02 is arranged on the side of the Y-axis traveling frame 3-01. The drive motor in the Y-axis traveling drive mechanism 3-02 can drive the Y-axis traveling drive shaft 3-03 to rotate. Y-axis traveling drive gears 3-04 are mounted at both ends of the Y-axis traveling drive shaft 3-03, meshing with the Y-axis traveling synchronous drive rack 10 arranged on the Y-axis traveling track beam 2-02, which can drive the Y-axis traveling trolley 3 to translate in a direction parallel to the Y-axis. The Z-axis lifting mechanism 4 is mounted and fixed on the Y-axis traveling trolley 3.

[0022] In a specific embodiment of this application, such as Figure 7 , 10 As shown in Figure 11, the Z-axis lifting mechanism 4 includes a Z-axis lifting drive assembly 4-01 connected to the upper end of the Y-axis gantry 3-01 and two Z-axis lifting mounting frames 4-02 suspended below the Y-axis gantry 3-01. A Z-axis lifting arm 4-04 is slidably connected between the two Z-axis lifting mounting frames 4-02. The Z-axis lifting drive assembly 4-01 is connected to the Z-axis lifting arm 4-04 via chain drive. The inner side of the Z-axis lifting mounting frame 4-02 is provided with a Z-axis lifting guide rail, and the Z-axis lifting arm 4-04 is provided with a guide rail slider 4-03 adapted to the Z-axis lifting guide rail. The Z-axis lifting arm 4-04 can be driven to move up and down along the Z-axis lifting guide rail by the Z-axis lifting drive assembly 4-01 and the chain. Furthermore, a gravity balance cylinder 4-05 is arranged on one side of the Z-axis lifting mounting frame 4-02, and its output end is connected to the Z-axis lifting arm 4-04 to counteract the gravitational load of the suspension structure.

[0023] In a specific embodiment of this application, such as Figure 9As shown, the rectangular suction cup frame 5 is connected to the lower end of the Z-axis lifting arm 4-04 via a suction cup frame direction adjustment mechanism 6. The suction cup frame direction adjustment mechanism 6 includes a gear transmission assembly (servo motor + reducer drives a pair of meshing gears to achieve rotational movement). The gear transmission assembly includes a suction cup frame steering drive unit 6-01. The output end of the suction cup frame steering drive unit 6-01 is connected to the driven large gear via a driving small gear. The upper end of the driven large gear is connected to the bottom of the Z-axis lifting arm 4-04 via a heavy-duty bearing. The lower end of the driven large gear is fixedly connected to the curved arm 6-02. The curved arm 6-02 is hinged to the rectangular suction cup frame 5, and the suction cup frame rotates... The motor in the drive unit 6-01 drives the driven gear to rotate via the driving pinion, thereby rotating the crank arm 6-02 and in turn rotating the rectangular suction cup frame 5 connected to the crank arm 6-02 to adjust its angle. A suction cup frame angle adjustment drive unit 6-03 is hinged to one side of the crank arm 6-02. One end of the electric push rod of the suction cup frame angle adjustment drive unit 6-03 passes through the crank arm 6-02 and is hinged to the rectangular suction cup frame 5. The suction cup frame angle adjustment drive unit 6-03 drives the electric push rod to extend or retract, thereby pushing or pulling the rectangular suction cup frame 5 and changing the angle of the rectangular suction cup frame 5 hinged to the crank arm 6-02.

[0024] In one specific embodiment of this application, the rectangular suction cup holder 5 is designed with a suction cup gripping structure that can provide sufficient load capacity according to the user's wafer retrieval requirements. The basic configuration of the wafer retrieval vacuum system is as follows: Vacuum pump: Ensures negative pressure power to maintain vacuum level between -60 and -90 kPa, providing stable adsorption force.

[0025] Air pressure buffer device: During adsorption, the air pressure is controlled to rise slowly through a throttle valve to prevent the glass from being damaged by vibration due to impact; during release, the pressure is released quickly to ensure that the glass is placed stably.

[0026] Vacuum detection sensor: Monitors the suction cup air pressure in real time. When the vacuum level is insufficient, it will automatically alarm and stop operation to prevent the glass from falling off.

[0027] The aforementioned basic structural assembly enables multi-dimensional glass picking motion within a three-dimensional space, with the suction cup holder as the actuator, allowing for arbitrary positions, directions, and large angular variations. To cater to different user needs, various models with varying degrees of automation can be implemented by incorporating detection, sensing, and data feedback systems with different functions. For example, equipping the machine with a vision inspection system and a precision distance sensing system can detect the glass storage position in real time, automatically adjusting the machine's posture and trajectory to achieve accurate positioning, automatic obstacle avoidance, and other unmanned, fully automated production.

[0028] In summary, this application has the following advantages: (1) Production efficiency has been significantly improved High-speed automated operation: The gantry structure, combined with servo motor drive, enables precise and rapid movement along the X, Y, and Z axes. The wafer picking speed can be 3-5 times faster than manual operation, significantly shortening the production cycle of a single batch.

[0029] Continuous uninterrupted operation: The equipment can run continuously for a long time, avoiding work interruptions caused by human fatigue, and is especially suitable for large-scale order production, greatly increasing production capacity.

[0030] Seamless integration with production lines: It can be linked with equipment such as cleaning machines, laminating machines, and sealing machines, and realize the full automation of the entire process of picking up, transferring and processing through a PLC control system, reducing waiting time between processes.

[0031] (2) Assurance of finished product quality and precision High positioning accuracy: Closed-loop control using a grating ruler or encoder ensures low positioning error during glass pick-up, guaranteeing high-precision positioning of the glass during transmission and avoiding problems caused by positional deviations.

[0032] Consistent and stable: The robotic arm's movements are standardized, avoiding the randomness of manual operation. Especially when handling large-sized glass, it can ensure that the picking and placing posture of each piece of glass is consistent, improving the yield rate of subsequent processes.

[0033] (3) Optimization of labor costs and energy consumption Reduce reliance on manual labor: A single production line can reduce the number of film picking workers by 2-3. Based on an annual labor cost of 100,000-150,000 yuan per person, the equipment investment cost can be recovered in 2-3 years.

[0034] Reduce defective product loss: Reduce material waste caused by glass breakage (for every 1% reduction in breakage rate, annual material costs can be saved by approximately 30,000 to 50,000 yuan).

[0035] (4) Improved safety and ease of operation Reduce workplace injury risks: Avoid safety hazards such as slipping and collisions when manually handling large pieces of glass, especially in the process of retrieving pieces larger than 2 meters in size, which can prevent the risk of glass breakage and falling that could injure construction workers.

[0036] Lowering the barrier to entry: The touchscreen human-machine interface supports one-click switching of production modes, and new employees can start working after simple training without relying on the experience of skilled workers.

[0037] Environmental friendliness: The equipment operates at a noise level of less than 75dB. Combined with the silent guide rail design, it improves the workshop working environment and meets the environmental protection requirements of modern factories.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gantry-type automatic wafer picker, characterized in that, include: The gantry (1) includes a rectangular frame structure consisting of two gantry beams (1-01) and two gantry longitudinal beams (1-02). The rectangular frame structure is supported by several gantry support columns (1-03). An X-axis trolley synchronous drive rack (8) is arranged on the upper end face of the gantry beam (1-01). X-axis moving trolley (2), the X-axis moving trolley (2) is connected to the upper end of the gantry (1), the X-axis moving trolley (2) includes an X-axis trolley frame composed of two X-axis trolley wheel frames (2-01) and two Y-axis trolley track beams (2-02), the side of the Y-axis trolley track beams (2-02) is provided with an X-axis trolley drive mechanism (2-03), the X-axis trolley drive mechanism (2-03) is connected to an X-axis trolley drive gear (2-05) through an X-axis trolley drive shaft (2-04), the X-axis trolley drive gear (2-05) is meshed with the X-axis trolley synchronous drive rack (8), the upper end face of the Y-axis trolley track beams (2-02) is provided with a Y-axis trolley synchronous drive rack (10). Y-axis moving trolley (3), the Y-axis moving trolley (3) is connected to the upper end of the X-axis moving trolley (2), the Y-axis moving trolley (3) includes a Y-axis trolley frame (3-01), the side of the Y-axis trolley frame (3-01) is provided with a Y-axis trolley drive mechanism (3-02), the Y-axis trolley drive mechanism (3-02) is connected to a Y-axis trolley drive gear (3-04) through a Y-axis trolley drive shaft (3-03), the Y-axis trolley drive gear (3-04) is meshed with the Y-axis trolley synchronous drive rack (10); Z-axis lifting mechanism (4), the Z-axis lifting mechanism (4) includes a Z-axis lifting drive assembly (4-01) connected to the upper end of the Y-axis gantry (3-01) and two Z-axis lifting fixing frames (4-02) suspended below the Y-axis gantry (3-01). A Z-axis lifting boom (4-04) is slidably connected between the two Z-axis lifting fixing frames (4-02). The Z-axis lifting drive assembly (4-01) is connected to the Z-axis lifting boom (4-04) through chain drive. A rectangular suction cup frame (5) is connected to the lower end of the Z-axis lifting arm (4-04) via a suction cup frame direction adjustment mechanism (6). The suction cup frame direction adjustment mechanism (6) includes a gear transmission assembly, which includes a suction cup frame steering drive unit (6-01). The output end of the suction cup frame steering drive unit (6-01) is connected to a driven large gear via a driving small gear. The upper end of the driven large gear is connected to the bottom of the Z-axis lifting arm (4-04) via a heavy-duty bearing. The lower end of the driven large gear is fixedly connected to a crank arm (6-02). The crank arm (6-02) is hinged to the rectangular suction cup frame (5). A suction cup frame angle adjustment drive unit (6-03) is hinged to one side of the crank arm (6-02). One end of the electric push rod of the suction cup frame angle adjustment drive unit (6-03) passes through the crank arm (6-02) and is hinged to the rectangular suction cup frame (5).

2. The gantry-type automatic wafer picker according to claim 1, characterized in that, The outer end of the gantry support column (1-03) is connected to the gantry column support member (1-04). A gantry column horizontal tie rod (1-05) is connected between two adjacent gantry support columns (1-03) on the left side. A gantry column longitudinal tie rod (1-06) is connected between two adjacent gantry support columns (1-03) on the right side. Multiple sets of gantry beam column diagonal support members (1-07) are provided between the gantry support column (1-03) and the gantry beam (1-01), and between the gantry support column (1-03) and the gantry longitudinal beam (1-02). An X-axis traveling guide rail (7) is also arranged on the upper surface of the gantry beam (1-01).

3. The gantry-type automatic wafer picker according to claim 2, characterized in that, The X-axis traveling wheel frame (2-01) is provided with a traveling roller (11) that is compatible with the X-axis traveling guide rail (7), and the upper end face of the Y-axis traveling track beam (2-02) is also provided with a Y-axis traveling guide rail (9).

4. The gantry-type automatic wafer picker according to claim 3, characterized in that, The bottom of the Y-axis traveling frame (3-01) is provided with a second traveling roller (13) that is adapted to the Y-axis traveling guide rail (9).

5. A gantry-type automatic wafer picker according to claim 1, characterized in that, The inner side of the Z-axis lifting fixing frame (4-02) is provided with a Z-axis lifting guide rail, and the Z-axis lifting boom (4-04) is provided with a guide rail slider (4-03) adapted to the Z-axis lifting guide rail. The lower end of the Y-axis trolley frame (3-01) is provided with a chain guide cylinder (4-06), and a gravity balance cylinder (4-05) is provided on the side opposite to the chain. One end of the gravity balance cylinder (4-05) is connected to the Y-axis trolley frame (3-01), and the output shaft of the other end is connected to the Z-axis lifting boom (4-04).

6. A gantry-type automatic wafer picker according to claim 1, characterized in that, An electrical control box (12) for electrically connecting various electrical components is provided on one side of the upper end face of the Y-axis gantry frame (3-01).

7. A gantry-type automatic wafer picker according to claim 1, characterized in that, One end of the X-axis wheel frame (2-01) is connected to a C-shaped mounting bracket (2-06).

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