Industrial robot governed by a programmable controller

• US 4,620,831 A
• Filed: 05/31/1983
• Issued: 11/04/1986
• Est. Priority Date: 06/07/1982
• Status: Expired due to Term

• Current Assignee: ALLIBERT 129 AVENUE LEON BLUM, 38100 GRENOBLE
• Original Assignee: Allibert SA, Ateliers Bouvier, Merlin Gerin
• Inventors: Chevaleyre, Robert, Poncet, Jean-Pierre, Joumard, Michel, Bonneton, Robert
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US06/499,492
• Time in Patent Office: 1,253 Days
• Field of Search: 414/744 R, 414/744 A, 414/744 B, 414/744 C, 414/730, 414/7, 414/4, 901/14, 901/15, 901/17, 901/21, 901/23, 901/24, 901/25, 901/28, 901/30, 901/31, 901/49, 294/86 R, 294/86.4
• US Class Current: 414/744.3
• CPC Class Codes: B25J 9/044 with forearm providing vertical linear movement
• CPC Class Codes: B25J 9/1045 comprising tensioning means
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: B29C 45/42 using means movable from outside the mould between mould parts , e.g. robots

Abstract

The invention concerns a kinematic system of an industrial robot and a sequential control system of its operating cycle.

The robot comprises a vertical spindle supporting a main rotating arm and a forearm fixed to a gripping component. A first vertical transfer jack is provided at the end of the forearm. Arms are mounted via bearings on a loose spindle in a link and can swivel, driven by servo-motors in a horizontal plane so as to form a kinematic system functioning in cylindrical coordinates. The servo-motors are programmed to drive the gripping component through a linear trajectory at the beginning of the cycle. A releasable couping system with memory device is provided for the tool-holder. The controller control system is arranged to ensure the transitory readjustment of each arm to a starting position.

Claims

1. An industrial robot equipped with an articulated manipulator having a main arm rotatable relative to a stationary housing and coupled mechanically to a forearm attached to a gripping component, and controlled by a programmable controller directing and monitoring the robot'"'"'s operating cycle, the manipulator having a kinematic system comprising:

a first means for vertical transfer provided between said gripping component and the free end of said forearm,

a swivel link between the main arm and the forearm, comprising a first vertical free-turning, loose spindle onto which said main arm and forearm are mounted by means of ballbearings,

a second vertical spindle rotatably supported in the stationary housing and fixedly supporting said main arm and lying parallel to said first loose spindle of said swivel link in such a way that both main and forearms pivot in a fixed horizontal plane to constitute a kinematic system functioning in cylindrical coordinates,

a first servo-motor for driving said main arm in rotation around said second spindle,

a second servo-motor for driving said forearm in rotation around said first spindle,

an auxiliary transmission to transmit the movement of said main arm and forearm, and composed of a pair of first and second gear-wheels fixed permanently at opposite ends of said first loose spindle of said swivel link and co-operating respectively with a pair of first and second endless drive belts lying respectively in the direction of the forearm and the main arm,

said first belt being wound between said first gear-wheel and a third gear-wheel fixed to said first means for vertical transfer,

said second belt wound between said opposite second gear-wheel on said first spindle and a fourth gear-wheel mounted coaxially on the second supporting spindle and fixed to said housing,

and programming means co-operating with said servo-motors for coordinating the two servo-controlled rotating motions of said main arm and forearm so as to drive the gripping component through a linear trajectory at the beginning of the robot'"'"'s operating cycle.

2. An industrial robot according to claim 1, wherein said first, second, third and fourth gear-wheels have approximately the same outer diameter.

3. An industrial robot according to claim 1, wherein said second servo-motor is supported by a fastening lug attached to said second spindle, and is coupled to said forearm by means of a reducing gear mechanism (R₃) composed of a ball-mounted drive screw extending parallel to said main arm.

4. An industrial robot according to claim 1, wherein said first means for vertical transfer comprises a first jack having a movable piston cooperating with a driving rod moving in either direction of linear travel F between two pre-set upper and lower end positions, said driving rod of said jack being radially offset with respect to the axis of said piston so as to form an anti-rotation guide system.

5. An industrial robot according to claim 4, wherein said driving rod of said first jack is coupled mechanically to a tool-holder of said gripping component and wherein a second jack cooperates with said gripping component which is mounted about a horizontal spindle of said tool-holder which is further associated with a releasable coupling system in order to ensure the momentary disconnection of the gripping component from said tool-holder in the event of abnormal load.