POSITIONING APPARATUS MOUNTED WITH VIBRATION ISOLATORS AND ROBOT

• US 20160116017A1
• Filed: 10/22/2015
• Published: 04/28/2016
• Est. Priority Date: 10/23/2014
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: EBIHARA, Kenzo
• Granted Patent: US 9,765,846 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: F16F 15/02 Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems F16F15/005 takes precedence ; layered products B32B; suppression of vibration in ships B63; relieving load on bearings, using magnetic means F16C39/06
• CPC Class Codes: F16G 11/103 deforming the cable by bending it around or inserting it into the fastener
• CPC Class Codes: F16M 11/04 Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
• CPC Class Codes: F16M 11/12 in more than one direction
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/22 with approximately constant height, e.g. with constant length of column or of legs F16M11/42 takes precedence
• CPC Class Codes: F16M 2200/04 Balancing means
• CPC Class Codes: F16M 7/00 Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks elastic or equivalent mounting for absorbing vibrations F16F, especially F16F15/04

Abstract

A positioning apparatus mounted with at least one linear axis or axis of rotation and a robot on a base and mounted with vibration isolators and the robot includes vibration isolators that are capable of seating and suspending the base and a controller that controls suspension and seating of the vibration isolators in accordance with an operating condition of the robot.

Claims

1. A positioning apparatus mounted with at least one linear axis or axis of rotation and a robot on a base and mounted with vibration isolators and the robot, the positioning apparatus comprising:

vibration isolators that are capable of seating and suspending the base and

a controller that controls suspension and seating of the vibration isolators in accordance with an operating condition of the robot.

2. The positioning apparatus mounted with the vibration isolators and the robot according to claim 1, wherein the vibration isolators have a structure that is suspended with use of pneumatic pressure or electromagnetic force and the controller controls the suspension and the seating at discretion by control signals.

3. The positioning apparatus mounted with the vibration isolators and the robot according to claim 1, wherein a state of the suspension or the seating is controlled so as to be maintained by the vibration isolators during a series of operations of the robot that are delimited by at least one program, based on comparison between maximum value of instruction speed in the series of operations of the robot and a predetermined threshold.

4. The positioning apparatus mounted with the vibration isolators and the robot according to claim 1, wherein the controller has a function of outputting the control signals at timing specified in a program and controls the suspension or the seating of the vibration isolators by the control signals.

5. The positioning apparatus mounted with the vibration isolators and the robot according to claim 1, further comprising:

at least one set of joint members by which position and posture of the base are uniquely determined when the vibration isolators are seated.