Five-axis robot
First Claim
1. A five-axis robot having means for supporting a device and means for controlling the movement of said device to position said device for performing an operation on a workpiece comprising:
- an elongate carriage;
means for supporting said carriage for movement on a horizontal plane;
a first actuating means for moving said carriage on said plane along a first rectilinear axis;
a cart assembly operatively associated with said carriage for longitudinal movement on said carriage along said plane and a second rectilinear axis;
second actuating means for moving said cart assembly along said second rectilinear axis;
elongated support means extending upwardly along a third rectilinear axis perpendicular to said horizontal plane;
an elongated mast member extending upwardly along said third rectilinear axis parallel to said guide means and substantially perpendicular to said first and second rectilinear axis;
guide track means on said support means for movably supporting said mast assembly on said support means along said third rectilinear axis;
third actuating means for causing said mast assembly to move upwardly and/or downwardly along said third rectilinear axis;
said elongated mast assembly including a first elongated member having an elongated central passageway extending substantially the entire length thereof;
a second elongated member located in said passageway and extending substantially throughout the length of said passageway;
a fourth actuating means for rotating said second elongated member within said passageway;
said mast assembly including fifth actuating means for rotating said first elongated member on a first rotational axis located about said third rectilinear axis;
a rotatable support means for said device supported at the lower ends of said first and second elongated members;
translating means operatively connecting said second elongated member and said support means for translating the rotatable motion of said second elongated member about said third axis to a rotatable motion of said rotatable support means and thus said device on a second rotational axis substantially perpendicular to said second axis; and
means for controlling said first, second, third, fourth and fifth actuating means whereby said device can be moved on five axes including three rectilinear axes and two rotational axes as it performs an operation on a workpiece.
2 Assignments
0 Petitions
Accused Products
Abstract
A five-axis robot mechanism for moving an operative device along three rectilinear axes and two rotational axis including a carriage movable along one rectilinear axis, a cart movable on the carraige and a mast assembly having two elongated members movable along a third rectilinear axis. The two elongated members are rotatable together one rotatable with respect to the other to produce movement of the operative device on two rotatable axes. The carriage, cart and mast assemblies are uniquely arranged with respect to each other produce the five-axis desired movement of the operative device.
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Citations
21 Claims
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1. A five-axis robot having means for supporting a device and means for controlling the movement of said device to position said device for performing an operation on a workpiece comprising:
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an elongate carriage; means for supporting said carriage for movement on a horizontal plane; a first actuating means for moving said carriage on said plane along a first rectilinear axis; a cart assembly operatively associated with said carriage for longitudinal movement on said carriage along said plane and a second rectilinear axis; second actuating means for moving said cart assembly along said second rectilinear axis; elongated support means extending upwardly along a third rectilinear axis perpendicular to said horizontal plane; an elongated mast member extending upwardly along said third rectilinear axis parallel to said guide means and substantially perpendicular to said first and second rectilinear axis; guide track means on said support means for movably supporting said mast assembly on said support means along said third rectilinear axis; third actuating means for causing said mast assembly to move upwardly and/or downwardly along said third rectilinear axis; said elongated mast assembly including a first elongated member having an elongated central passageway extending substantially the entire length thereof; a second elongated member located in said passageway and extending substantially throughout the length of said passageway; a fourth actuating means for rotating said second elongated member within said passageway; said mast assembly including fifth actuating means for rotating said first elongated member on a first rotational axis located about said third rectilinear axis; a rotatable support means for said device supported at the lower ends of said first and second elongated members; translating means operatively connecting said second elongated member and said support means for translating the rotatable motion of said second elongated member about said third axis to a rotatable motion of said rotatable support means and thus said device on a second rotational axis substantially perpendicular to said second axis; and means for controlling said first, second, third, fourth and fifth actuating means whereby said device can be moved on five axes including three rectilinear axes and two rotational axes as it performs an operation on a workpiece. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A five-axis robot having means for supporting a device and means for controlling the movement of said device to position said device for performing an operation located in a closed compartment having at least two sides comprising:
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an elongated carriage spanning the distance between said two sides; means for supporting said carriage for movement along said sides substantially on a horizontal plane; first actuating means for moving said carriage on said plane along a first rectilinear axis; cover means secured to the opposite longitudinal edges of said carriage for continuously forming a closed ceiling for said compartment as said carriage moves; a cart assembly operatively associated with said carriage for longitudinal movement on said carriage along said plane and a second rectilinear axis; second actuating means for moving said cart assembly along said second rectilinear axis; elongated support means extending upwardly from said cart along a third rectilinear axis perpendicular to said horizontal plane; an elongated mast member extending upwardly along said third rectilinear axis parallel to said guide means and substantially perpendicular to said first and second rectilinear axis; guide track means on said support means for movably supporting said mast assembly on said support means along said third rectilinear axis; third actuating means for causing said mast assembly to move upwardly and/or downwardly along aid third rectilinear axis; said elongated mast assembly including a first elongated member having an elongated central passageway extending substantially the entire length thereof; second elongated member located in said passageway and extending substantially throughout the length of said passageway; a fourth actuating means for rotating said second elongated member within said passageway; said mast assembly including fifth actuating means for rotating said first elongated member on a first rotational axis located about said third rectilinear axis; a rotatable support means for said device supported at the lower ends of said first and second elongated members; translating means operatively connecting said second elongated member and said support means for translating the rotatable motion of said second elongated member about said third axis to a rotatable motion of said rotatable support means and thus said device on a second rotational axis substantially perpendicular to said second axis; and means for controlling said first, second, third, fourth and fifth actuating means whereby said device can be moved on five axes including three rectilinear axes and two rotational axes as it performs an operation on a workpiece. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A robot having means for supporting a device and means for controlling movement of said device to position said device for performing an operation on a workpiece comprising:
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elongated support means extending along a rectilinear axis perpendicular to a given plane; an elongated mast member extending upwardly along said rectilinear axis parallel to said guide means and substantially perpendicular to said given plane; guide track means on said support means for movably supporting said mast assembly on said support means along said rectilinear axis; first actuating means for causing said mast assembly to move in either direction along said rectilinear axis; said elongated mast assembly including a first elongated member having an elongated central passageway extending substantially the entire length thereof; a second elongated member located in said passageway and extending substantially throughout the length of said passageway; a second actuating means for rotating said second elongated member within said passageway; said mast assembly including third actuating means for rotating said first and second elongated members together on a first rotational axis located about said rectilinear axis; a rotatable support means for said device supported at one of the ends of said first and second elongated members; translating means operatively connecting said second elongated member and said support means for translating the rotatable motion of said second elongated member about said rectilinear axis to a rotatable motion of said rotatable support means and thus said device on a second rotational axis substantially perpendicular to said rectilinear axis; and means for controlling said first, second and third, actuating means whereby said device can be moved on three axes including one rectilinear axes and two rotational axes as it performs an operation on a workpiece. - View Dependent Claims (19, 20, 21)
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Specification