Two arm robot

• US 5,031,441 A
• Filed: 01/23/1990
• Issued: 07/16/1991
• Est. Priority Date: 07/29/1988
• Status: Expired due to Fees

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Jones, Everett E.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Underwood, Donald W.
• Application Number:
  US07/469,022
• Time in Patent Office: 539 Days
• Field of Search: 414/749, 414/751-753, 901/8, 901/16, 901/29, 901/41, 901/9, 72/420, 72/422
• US Class Current: 72/420
• CPC Class Codes: G05B 19/4097 characterised by using design data to control NC machines, e.g. CAD/CAM G05B19/4093 takes precedence
• CPC Class Codes: G05B 19/41835 characterised by programme execution
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A two arm robot for selectively manipulating a workpiece comprising an elongated cross beam assembly having an elongated axis extending between opposed ends, a frame assembly supported by the cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about the elongated axis, the elongated axis being parallel to the X axis and the X, Y and Z axis being orthogonal, a pair of arm assemblies supported by the cross beam assembly for selective independent linear movement parallel to the X and Y axes, a wrist assembly operatively supported by each arm assembly and including a motor for selectively moving the wrist assembly about a rotation axis parallel to the Z axis, and motor and mounting structure for moving the arm assemblies relative to the cross beam assembly parallel to the X and Y axes.

Claims

1. A two-arm robot for selectively manipulating a workpiece, said robot comprising:

an elongated cross beam assembly having an elongated axis extending between opposed ends;

a frame assembly including translation means supporting said cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about said elongated axis, said elongated axis being parallel to a X axis and said X, Y and Z axes being orthogonal;

a pair of arm assemblies supported by said cross beam assembly for selective, independent linear movement parallel to said X and Y axes;

a wrist assembly operatively supported by each arm assembly and including power means for selectively moving said wrist assembly about a rotation axis parallel to said Z axis; and

means for selectively moving said arm assemblies relative to said cross beam assembly.

2. The robot of claim 1 wherein said frame assembly comprises a pair of opposed support structures disposed in spaced parallel relation to said Y axis.

3. The robot of claim 2 wherein each said support structure includes translation means comprising:

first drive means supporting an opposed end of said cross beam assembly for selective pivotal movement about said elongated axis;

second drive means supporting said first drive means for selective linear movement parallel to said Z axis, said second drive means being supported by said respective support structure for linear movement parallel to said Y axis; and

third drive means for selectively moving said second drive means relative to said respective support structure parallel to said Y axis.

4. The robot of claim 3 wherein each said support structure includes tracks supporting and guiding the respective second drive means and wherein said third drive means comprises a third drive motor and screw assembly fixed to said support structure and being operatively connected to said respective second drive means for selective linear movement along said tracks.

5. The robot of claim 4 wherein said second drive means comprises a guide structure movably disposed on the tracks of said respective support structure and a second drive motor and screw assembly fixed to said guide structure and being operatively connected to said respective first drive means for selective linear movement parallel to said Z axis, said guide structure including tracks for guiding linear movement of said respective first drive means parallel to said Z axis.

6. The robot of claim 5 wherein said first drive means comprises a housing movably supported by the screw of said respective second drive motor and screw assembly and slidably engaging the tracks of said respective guide structure, a motor operatively supported by said housing and engaging a respective one opposed end of said cross beam assembly for selective pivotal movement thereof, and means for selectively braking said pivotal movement.

7. The robot of claim 1 wherein said cross beam assembly comprises a base structure extending between said opposed ends, an elongated track extending parallel to said elongated axis between said opposed ends, and a pair of first attachment plates carried by said elongated track for independent linear movement along said elongated axis.

8. The robot of claim 7 wherein each said arm assembly comprises an elongated beam structure having first and second opposed ends, an arm track fixed to and extending between the first and second ends of said beam structure, and a second attachment plate slidably carried by said arm track for linear movement relative to said beam structure, said second attachment plate being fixed to a respective one of said first attachment plates.

9. The robot of claim 8 wherein the moving means for said arm assemblies comprises:

a pair of first arm drive and screw assemblies, one said first arm drive and screw assembly being fixed to the base structure proximate each opposed end of said cross beam assembly and being operatively connected to a respective one of said first attachment plates for selective linear movement thereof along the elongated track of said cross beam assembly relative to said base structure and independent of said other first attachment plate; and

a second arm drive and screw assembly fixed to the beam structure of each said arm assembly in operative engagement with the second attachment plate thereof for selective linear movement of said arm assembly relative to said cross beam assembly and parallel to said Y axis.

10. The robot of claim 1 wherein each said wrist assembly comprises a shaft fixed to a respective one of said arm assemblies, a wrist housing mounted on said shaft for rotation about said rotation axis, brake means for selectively holding said housing in a desired annular position, and gripper socket means projecting from said housing for selectively operatively engaging and selectively releasing a gripper element.

11. The robot of claim 10 wherein said power means comprises a motor disposed in said wrist housing for selectively annularly moving said wrist housing relative to said shaft.

12. The robot of claim 10 also including a plurality of gripper elements disposed for interchangeable engagement by the gripper socket means of each said wrist assembly.

13. The robot of claim 1 also including means for sensing the amount, direction and rate of movement of each said arm assembly, wrist assembly, and cross beam assembly.

14. The robot of claim 13 also including computer means in operative communication with said sensing means, translation means, power means and moving means for controlling operation of said robot.

15. The robot of claim 3 also including means for sensing the amount, rate and direction of movement of said first, second and third drive means and means for synchronizing movement thereof.

16. The robot of claim 15 also including means interposed between each opposed end of said cross beam assembly and the respective first drive means for compensating for deviations from synchronized movement of said first, second and third drive means.

17. The robot of claim 1 further including a press break apparatus for bending generally planar workpieces, said apparatus comprising:

means for presenting a workpiece to the apparatus in position for selective gripping and manipulation by said robot; and

a press break having two adjacent operative areas between a bed and a ram, each operative area being disposed to place a bend on a workpiece disposed therein in a direction opposite the other area, said press break being disposed for selective placement by said robot of said workpiece in said operative areas.

18. A computer-controlled press break apparatus for bending generally planar workpieces, said apparatus comprising:

means for presenting a workpiece to the apparatus;

a press break having two adjacent operative areas between a bed and a ram, each operative area being disposed to place a bend on a workpiece disposed therein in a direction opposite the other area;

a two-arm robot disposed between said presenting means and said press break for selectively moving and manipulating a work piece from said presenting means to said press break to selectively place bends in said workpiece, said robot comprising;

an elongated cross beam assembly having an elongated axis extending between opposed ends;

a frame assembly including translation means supporting said cross beam assembly for selective linear movement parallel to Y and Z axes and for selective pivotal movement about said elongated axis, said elongated axis being parallel to a X axis and said X, Y and Z axes being orthogonal;

a pair of arm assemblies supported by said cross beam assembly for selective, independent linear movement parallel to said X and Y axes;

a wrist assembly operatively supported by each arm assembly and including power means for selectively moving said wrist assembly about a rotation axis parallel to said Z axis;

means for selectively moving said arm assemblies relative to said cross beam assembly; and

means for sensing the amount, direction and rate of movement of said gripper assemblies, arm assemblies and cross beam assembly; and

a computer in operative communication with said receiving means, press break, translation means, power means, moving means and sensing means for controlling operation of said apparatus to manipulate and bend a workpiece in accordance with a predetermined design therefor stored in said computer.