CA2497249A1

CA2497249A1 - Saddle for a gantry robot and a gantry robot including the same

Info

Publication number: CA2497249A1
Application number: CA 2497249
Authority: CA
Inventors: Brian Mcluckie
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-02-14
Filing date: 2005-02-14
Publication date: 2006-08-14

Abstract

Disclosed is a gantry robot comprising a rail, stanchions, a saddle and an articulated robotic arm and bearing assembly. The rail defines a linear axis.
The stanchions support the rail such that the linear axis is horizontal. The saddle includes a main body which is mounted to the rail so as to permit movement of the main body along the linear axis. The assembly is of the type found in a 6-axis articulated robot wherein the arm is secured by the bearing to a mount for relative movement of the arm and mount about a pivot axis defined by the bearing. The bearing is secured to the main body such that the arm and bearing assembly is movable with the main body along the linear axis, such that the pivot axis is vertical and such that the arm is movable with respect to the main body about the pivot axis.

Description

SADDLE FOR A GANTRY ROBOT AND A GANTRY ROBOT INCLUDING THE SAME
FIELD OF THE INVENTION
[0001] The present invention relates to the field of automation, and more particularly, to saddles for use with robots in gantry robots.
BACKGROUND OF THE INVENTION

[0002] Gantry robots are well-known. These devices include a rail elevated on stanchions or supports, a saddle mounted to the rail for movement therealong, and a robot mounted to the saddle for movement therewith.

[0003] In one known type of gantry robot, the robot comprises an articulated arm. The arm is of the type found in a 6-axis articulated robot, wherein the arm is secured by a bearing to a mount to provide for relative movement of the arm and mount about a vertical axis. In this known type of gantry robot, the arm is secured to the saddle for movement therewith, to provide a 6-axis articulated gantry robot, inclusive of a,linear axis defined by the rail. This type of gantry robot suffers from a relatively limited range of movement.

[0004] In another known type of gantry robot, the robot comprises a 6-axis articulated robot. The robot includes an arm secured by a bearing to a mount to provide for relative movement of the arm and mount about a vertical axis. In this gantry robot, the mount is secured to the saddle, for movement therewith, to provide a 7-axis articulated gantry robot, inclusive of a linear axis defined by the rail. This type of gantry robot has improved range of movement, in comparison to the first type, but suffers from the need for increased clearance, which limits the applications for which the gantry robot can be utilized.

SUMMARY OF THE INVENTION

[0005] A saddle forms one aspect of the invention. The saddle is for use with a rail defining a linear axis. The saddle is also for use with an articulated robotic arm and bearing assembly of the type found in a 6-axis articulated robot, wherein the arm is secured by the bearing to a mount for relative movement about a pivot axis defined by the bearing. The saddle comprises a main body portion and means for mounting the main body portion to the rail in use to permit movement of the main body portion along the linear axis. The main body portion is adapted to, in use, fixedly receive the bearing such that the arm and bearing assembly is movable with the main body portion along the linear axis, such that the pivot axis is vertical and such that the arm is movable with respect to the main body portion about the pivot axis.

[0006] A gantry robot forms another aspect of the invention. The gantry robot comprises a rail, stanchions, a saddle and an articulated arm and bearing assembly. The rail defines a linear axis. The stanchions support the rail such that the linear axis is substantially horizontal. The saddle includes a main body portion and means for mounting the main body portion to the rail to permit movement of the main body portion along the linear axis. The articulated robotic arm and bearing assembly is of the type found in a 6-axis articulated robot wherein the arm is secured by the bearing to a mount for relative movement about a pivot axis defined by the bearing. The bearing of the articulated robotic arm and bearing assembly is secured to the main body portion such that the arm and bearing assembly is movable with the main body portion along the linear axis, such that the pivot axis is vertical and such that the arm is movable with respect to the main body portion about the pivot axis.

[0007] Advantages, features and characteristics of the present invention, as well as methods of operation and functions of the related elements of the structure, and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following detailed description and the appended claims with reference to the accompanying drawings, the latter being briefly described hereinbelow.
BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a perspective view of a gantry robot constructed according to a preferred embodiment of the invention;

[0009] Figure 2 is a top plan view of the structure of Figure 1;

[0010] Figure 3 is a front elevational view of the structure of Figure 1;

[0011] Figure 4 is a side elevational view of the structure of Figure 1;

[0012] Figure 5 is a perspective view of a portion of the structure of Figure 1;

[0013] Figure 6 is a side elevational view of the structure of Figure 5; and [0014] Figure 7 is a front elevational view of the structure of Figure 5.

DETAILED DESCRIPTION

[0015] A gantry robot 20 constructed according to a preferred embodiment of the present invention is shown in Figures 1-4.

[0016] The gantry robot 20 will be seen to include a rail 22, stanchions 24, a saddle 26, an articulated arm and bearing assembly 28,30 and a drive mechanism 32,34.

[0017] The rail 22 defines a straight linear axis X-X and is a square tube.

[0018] The stanchions 24 are tripod structures that support the rail 20 in elevated relation such that the linear axis X-X is substantially horizontal.

[0019] As best seen in Figures 5-7, the saddle 26 includes a main body portion 36; a plurality of pairs of cam followers 38 and a linear bearing 40. The main body portion 36 defines a rail-receiving channel 42 through which the rail 20 passes.
The cam followers 38 and the linear bearing 40, respectively, are disposed in horizontally-spaced relation on opposite sides of said rail-receiving channel 42, and together define means for mounting the main body portion 36 to the rail 22 to permit movement of the main body portion 36 along the linear axis X-X.

[0020] The articulated robotic arm and bearing assembly 28,30 is of the type found in the 6-axis articulated robot sold by ABB Robotics Corporation under model no. IRB 2400 (not shown). In this robot, the arm 28 is secured by the bearing to a mount for relative movement about a pivot axis A-A defined by the bearing 30.

[0021] The bearing 30 of the articulated robotic arm and bearing assembly 28,30 is secured to the main body portion 36 such that the arm 28 is disposed in underslung relation to the rail 22, such that the arm and bearing assembly 28,30 is movable with the main body portion 36 along the linear axis X-X, such that the pivot axis A-A is vertical and such that the arm 28 is movable with respect to the main body portion 36 about the pivot axis A-A.
[0021] The drive mechanism 32,34 comprises a rack 32 and a drive assembly 34.
The rack 32 is secured to the rail 22 and the drive assembly 34 is mounted to the main body portion 36 in mesh with the rack 32 to drive the saddle 26 along the linear axis A-A.
[0027] While but a single preferred embodiment of the present invention has been herein shown and described, it will be understood that various changes can be made without departing from the spirit or scope of the invention. For example, only, whereas the rail of the preferred embodiment is a square tube, other geometries could be employed; I-beams, for example, could be employed.
Further, whereas a plurality of pairs of cam-followers and a linear bearing are employed in the preferred embodiment illustrated for the purpose of mounting the main body portion to the rail, other arrangements, such as a pair of linear bearings, could be utilized for the purpose. Yet further, whereas the arm and bearing assembly utilized in the preferred embodiment is from an ABB Model IRB 2400 robot, other arm and bearing assemblies could be utilized, such as that found in the ABB
Model IRB 1400. In view of these potential variations, it should be understood that the invention is to be limited only by the claims appended hereto, purposively construed.

Claims

1. A saddle for use with a rail defining a linear axis and for use with an articulated robotic arm and bearing assembly of the type found in a 6-axis articulated robot, wherein the arm is secured by the bearing to a mount for relative movement of the arm and mount about a pivot axis defined by the bearing, the saddle comprising:
a main body portion; and means for mounting the main body portion to the rail to permit movement, in use, of the main body portion along the linear axis, the main body portion being adapted to fixedly receive the bearing such that, in use, the arm and bearing assembly is movable with the main body portion along the linear axis, such that the pivot axis is vertical and such that the arm is movable with respect to the main body portion about the pivot axis.

2. A saddle according to claim 1, wherein, in use, the arm is disposed in underslung relation to the rail.

3. A saddle according to claim 1, wherein the main body portion defines a rail-receiving channel through which the rail passes in use.

4. A saddle according to claim 3, wherein the means for mounting the main body portion comprises a plurality of pairs of cam followers and a linear bearing, respectively disposed, in use, in horizontally-spaced relation on opposite sides of said rail-receiving channel.

5. A gantry robot comprising:
a rail defining a linear axis;
stanchions supporting the rail such that the linear axis is substantially horizontal;
a saddle including a main body portion; and means for mounting the main body portion to the rail to permit movement of the main body portion along the linear axis; and an articulated robotic arm and bearing assembly of the type found in a 6-axis articulated robot wherein the arm is secured by the bearing to a mount for relative movement of the arm and mount about a pivot axis defined by the bearing, the bearing of the articulated robotic arm and bearing assembly being secured to the main body portion such that the arm and bearing assembly is movable with the main body portion along the linear axis, such that the pivot axis is vertical and such that the arm is movable with respect to the main body portion about the pivot axis.

6. A robot according to claim 5, wherein the arm is disposed in underslung relation to the rail.

7. A robot according to claim 5, wherein the main body portion defines a rail-receiving channel through which the rail passes.

8. A robot according to claim 7, wherein the means for mounting the main body portion comprises a plurality of pairs of cam followers and a linear bearing, respectively disposed in horizontally-spaced relation on opposite sides of said rail-receiving channel.

9. A robot according to claim 5, further comprising a rack secured to the rail; and a drive assembly mounted to the main body portion in mesh with the rack to drive the saddle along the linear bearing.

10. A robot according to claim 5, wherein the rail is a square tube.

11. A robot according to claim 5, wherein the articulated robotic arm and bearing assembly is of the type found in the articulated robot sold by ABB Robotics Corporation under model no. IRB 2400.