Industrial robot governed by a programmable controller
First Claim
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.
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Accused Products
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.
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Citations
5 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5)
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Specification