桁(heng)架機(ji)械(xie)手是一(yi)種建立在直(zhi)角(jiao)X，珠海桁(heng)架，Y，Z  三(san)(san)坐標(biao)系統基(ji)礎上，對(dui)工(gong)(gong)件進行工(gong)(gong)位調整，或實現(xian)工(gong)(gong)件的軌跡運動(dong)等(deng)功能的全自動(dong)工(gong)(gong)業(ye)(ye)設備。其控制(zhi)(zhi)(zhi)通過(guo)工(gong)(gong)業(ye)(ye)控制(zhi)(zhi)(zhi)器(qi)（如：PLC，運動(dong)控制(zhi)(zhi)(zhi)，單片機(ji)等(deng)）實現(xian)。通過(guo)控制(zhi)(zhi)(zhi)器(qi)對(dui)各(ge)種輸(shu)入（各(ge)種傳感器(qi)，桁(heng)架機(ji)械(xie)手報價，按(an)鈕等(deng)）信號的分析處理，做(zuo)出一(yi)定(ding)的邏輯(ji)判(pan)斷后(hou)，對(dui)各(ge)個輸(shu)出元件（繼電器(qi)，電機(ji)驅(qu)動(dong)器(qi)，指示燈等(deng)）下達執(zhi)行命(ming)令(ling)，完成X，Y，Z三(san)(san)軸(zhou)之間(jian)的聯合運動(dong)，以(yi)此實現(xian)一(yi)整套的全自動(dong)作業(ye)(ye)流程。

桁(heng)(heng)架(jia)包括(kuo)若干(gan)龍門結構的(de)支(zhi)撐部，在支(zhi)撐部上(shang)設有(you)用(yong)于安裝機械(xie)手的(de)橫梁，桁(heng)(heng)架(jia)式機械(xie)手為三(san)(san)個自(zi)由(you)度機械(xie)手，桁(heng)(heng)架(jia)機器人包括(kuo)安裝于橫梁上(shang)的(de)水(shui)(shui)平運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)及(ji)垂(chui)直(zhi)安裝于水(shui)(shui)平運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)上(shang)的(de)垂(chui)直(zhi)運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)，垂(chui)直(zhi)運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)的(de)底部連接有(you)三(san)(san)爪夾持器，機器人桁(heng)(heng)架(jia)廠家，水(shui)(shui)平運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)和垂(chui)直(zhi)運(yun)動(dong)組(zu)(zu)(zu)件(jian)(jian)(jian)分別包括(kuo)用(yong)于傳動(dong)的(de)齒(chi)(chi)輪和齒(chi)(chi)條(tiao)，齒(chi)(chi)輪和齒(chi)(chi)條(tiao)設為相互嚙合的(de)斜齒(chi)(chi)。

桁(heng)架(jia)式機(ji)器人結構(gou)簡(jian)單(dan)可靠，成本低(di);齒(chi)輪和齒(chi)條傳動采用斜齒(chi)嚙合，增加了(le)機(ji)械工(gong)作載荷、提(ti)高了(le)運行平(ping)穩性。桁(heng)架(jia)機(ji)械手其結構(gou)簡(jian)單(dan)、成本低(di)廉、精度較高，實現將(jiang)工(gong)件在流水(shui)線與相應機(ji)床加工(gong)工(gong)位間(jian)水(shui)平(ping)和垂(chui)直搬運。