Multi-axis articulated arm robots are characterized by their small footprint and flexible movement, but their working range is obviously too small, and the kinematic characteristics of the multiple joints also limit their working path. Traditional three-axis trusses with dual X-axis and movable bridges can indeed cover a larger working range, but because they require two support beams, the overall space occupied by the equipment is very large.
So, is there a motion device that can cover a large working area with a small footprint when grasping and transporting materials?
In this article, we'll discuss a CP series three-axis cantilever beam linear robot.
In terms of appearance, this CP cantilever beam robot adopts Gudel's signature light gray beam arm + red carrier plate design, and is composed of a horizontal fixed beam on the X-axis, a horizontal moving arm on the Y-axis and a vertical moving arm on the Z-axis.
Specifically:
The X-axis is a fixed horizontal beam with a movable carrier plate mounted on its track;
The Y-axis is a movable horizontal beam arm perpendicular to the X-axis, with a base plate fixed at one end for suspending the Z-axis;
The Y-axis beam arm is horizontally supported by rollers on the X-axis moving platform, and can reciprocate laterally along the X-axis with the base platform. It can also move longitudinally along the Y-axis via gear and rack transmission.
The Z-axis is a vertically moving arm suspended on a fixed plate at one end of the Y-axis. It can move horizontally along the X and Y directions on one side of the X main axis with the Y-axis beam arm within a plane range, or it can move vertically along the Z-axis through the drive of a gear and rack.
It can be seen that the CP series robots have the following main characteristics in their mechanical structure:
The Y-axis moving beam arm is supported on an X-axis main axis and can move laterally along the X-axis with the carrier plate, or reciprocate as a whole along the Y-axis direction;
The base plate of the Z-axis is fixedly installed at one end of the Y-axis, and the movement of its lifting arm in both the X and Y directions is achieved by the overall movement of the Y-axis beam arm.
Because it has only one X-axis, in actual operation, the Y-axis moving beam and Z-axis lifting arm of this product appear to be suspended in mid-air, hence its product name – CP (Cantilever Portal). A significant benefit of this cantilever structure is the reduction of space occupied by the handling device itself, while ensuring coverage of a larger working range. On one hand, compared to a three-axis truss with a movable bridge and dual X-axis, the CP does not require a second supporting beam, resulting in a more compact overall structure and a smaller footprint. On the other hand, compared to the six-axis articulated robots commonly used in industrial settings, the cantilever beam robot can cover a significantly larger working range. Furthermore, without the limitations of axis kinematics, its operation is more flexible and efficient.
In terms of specific performance indicators, this product is rated with the following relevant specifications:
Effective load: 50–500 kg;
Scope of work:
X: 100 m
Y: 0.6 ~ 2.5 m
Z: The repeatability of positioning within a payload range of 0.6 to 2.5 m can reach ±0.02 mm;
Maximum speed 3 m/s;
Maximum acceleration 4 m/s²;
In addition, the CP robotic arm also provides:
An optional telescopic axis can extend the Z-axis travel to a maximum of 3 m;
Three different methods of integrated lubrication:
Battery powered | Autonomous control
External 24V DC power supply | Autonomous control
External control
According to Gudel's official statement, the CP series three-axis cantilever robots are suitable for material (product, workpiece) loading and unloading, picking, palletizing, stacking, handling and conveying applications in industries such as plastics, electrical, general machinery, machine tool processing, automobile manufacturing, logistics, etc.
