EP0087448A1 - Track-mounted industrial robot - Google Patents

Track-mounted industrial robot

Info

Publication number
EP0087448A1
EP0087448A1 EP82902683A EP82902683A EP0087448A1 EP 0087448 A1 EP0087448 A1 EP 0087448A1 EP 82902683 A EP82902683 A EP 82902683A EP 82902683 A EP82902683 A EP 82902683A EP 0087448 A1 EP0087448 A1 EP 0087448A1
Authority
EP
European Patent Office
Prior art keywords
carriage
track
bars
bar
machine tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP82902683A
Other languages
German (de)
French (fr)
Inventor
Allan Michael Blackburn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Linde Material Handling UK Ltd
Original Assignee
Lansing Bagnall Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lansing Bagnall Ltd filed Critical Lansing Bagnall Ltd
Publication of EP0087448A1 publication Critical patent/EP0087448A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means

Definitions

  • This invention relates to an industrial robot of the kind which has no inherent locomotion, for example of the kind shown in British Patent Specification No. 2Q61872A.
  • the object of the invention is to provide a comparatively simple, precise means for effecting translational movement of the robot so that the robot can perform operations in different locations.
  • a machine tool comprises a robot manipulator, a carriage which supports the manipulator, a pair of parallel bars providing a track for the carriage, means mounting the carriage for sliding movement on the bars, and an elongate conductor extending parallel to and between the bars, said conductor constituting a stator for a linear motor of which an armature is mounted on the carriage.
  • OMPI Figure 1 is a side view of one embodiment of the invention, taken in the direction of the arrow A in Figure 3;
  • Figure 2 is a partial front view of a track forming part of the embodiment shovm in Figure 1; and Figure 3 is a partial plan view of the embodiment shown in Figure 1.
  • a robot manipulator 1 of the kind which includes a pedestal from which extend pivoted arms terminating in a wrist which can carry a tool for operating on workpieces.
  • a robot may be of the kind described in the aforementioned specification. It has no means of locomotion and is usually, as described in the aforementioned specification, mounted in a fixed location.
  • the robot 1 is mounted on a carriage which includes a plate 2.
  • This carriage is mounted, by means to be described, for movement along two parallel bars 3 and 4 which extend adjacent the various working stations between which the robot is to be moved.
  • the bars 3 are carried by respective rails 5 and 6 which are mutually connected by cross-ties 7 and 8.
  • OMPI programmed manner in accordance with the sequence of operations which are to be performed.
  • the carriage is mounted on the bars 3 and 4 by means of recirculating ball bushings.
  • Those bushings 9 which engage the bar 3 are fixed to the underside of the base plate 2 but the bearings 10 which engage the bar 4 are by means of a cross-head assembly 11 arranged to be laterally floating with respect to the plate 2.
  • the bars have to carry a considerable weight and although the position of the robot may be defined in the direction laterally of the track by the bar 9 , slight irregularities in the distance between the bars can be accommodated by the lateral float of the bearings 10.
  • a rail 13 which constitutes a stator for a linear motor of which the armature 14 is mounted on the carriage and is preferably mounted underneath the base plate 2.
  • This linear motor may be controlled by controlled equipment not shown which is responsive to both command signals and also signals obtained from an "Inductosyn" linear position transducer or other position measuring device which by cooperation with a scale 15a. or other elongate index extending lengthwise of the track provides signals indicating the position of the carriage and thereby the robot in the direction along the track.
  • the position sensing device may also provide signals relating to the speed of movement of the carriage as well as its position so that both position feedback and velocity feedback may be used to control the movement of the carriage.
  • the linear motor is preferably arranged so that it • can provide increments of movement of the carriage and robot lengthwise of the track.
  • a pneumatically operated caliper brake mechanism 16 mounted on the plate 2 and arranged to engage a rail 17 extending along the track beneath the carriage and to one side of the rail 13, may be provided to secure the robot in its desired working position. The operation of this brake will be included in the programmed control of the machine tool and robot.
  • One advantage of the described apparatus is its ability to make a long, very slow and steady movement suitable for a long, accurate weld.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Bearings For Parts Moving Linearly (AREA)

Abstract

Un robot (1) est monté sur une plaque de base (2) pouvant coulisser, au moyen de roulements à billes en recirculation (9) et (10), le long d'une voie constituée par des barres parallèles (3) et (4). Un rail (13) s'étendant entre les barres (3) et (4) et parallèlement à celles-ci constitue un stator pour un moteur linéaire dont l'armature (14) est montée sur le chariot.A robot (1) is mounted on a base plate (2) which can slide, by means of recirculating ball bearings (9) and (10), along a track formed by parallel bars (3) and ( 4). A rail (13) extending between and parallel to the bars (3) and (4) constitutes a stator for a linear motor whose armature (14) is mounted on the carriage.

Description

"TRACK-MOUNTED INDUSTRIAL ROBOT"
This invention relates to an industrial robot of the kind which has no inherent locomotion, for example of the kind shown in British Patent Specification No. 2Q61872A. The object of the invention is to provide a comparatively simple, precise means for effecting translational movement of the robot so that the robot can perform operations in different locations.
In a preferred embodiment of the invention a machine tool comprises a robot manipulator, a carriage which supports the manipulator, a pair of parallel bars providing a track for the carriage, means mounting the carriage for sliding movement on the bars, and an elongate conductor extending parallel to and between the bars, said conductor constituting a stator for a linear motor of which an armature is mounted on the carriage. In the accompanying drawings:
OMPI Figure 1 is a side view of one embodiment of the invention, taken in the direction of the arrow A in Figure 3;
Figure 2 is a partial front view of a track forming part of the embodiment shovm in Figure 1; and Figure 3 is a partial plan view of the embodiment shown in Figure 1.
The embodiment illustrated in the drawings includes, as shown in Figure 1, a robot manipulator 1 of the kind which includes a pedestal from which extend pivoted arms terminating in a wrist which can carry a tool for operating on workpieces. Such a robot may be of the kind described in the aforementioned specification. It has no means of locomotion and is usually, as described in the aforementioned specification, mounted in a fixed location.
In this embodiment of the invention the robot 1 is mounted on a carriage which includes a plate 2. This carriage is mounted, by means to be described, for movement along two parallel bars 3 and 4 which extend adjacent the various working stations between which the robot is to be moved. The bars 3 are carried by respective rails 5 and 6 which are mutually connected by cross-ties 7 and 8.
It is normally desirable for the robot to be moved along the track constituted by the bars 3 and 4 in a
- 3RE ^>
OMPI programmed manner in accordance with the sequence of operations which are to be performed. However, the programming of control equipment for this purpose does not form any essential part of the present invention. The carriage is mounted on the bars 3 and 4 by means of recirculating ball bushings. Those bushings 9 which engage the bar 3 are fixed to the underside of the base plate 2 but the bearings 10 which engage the bar 4 are by means of a cross-head assembly 11 arranged to be laterally floating with respect to the plate 2. It will be understood that the bars have to carry a considerable weight and although the position of the robot may be defined in the direction laterally of the track by the bar 9 , slight irregularities in the distance between the bars can be accommodated by the lateral float of the bearings 10.
As is shown in Figures 2 and 3, between the carriage and each end of the track constituted by the bars is a respective bellows 12, 12a., which serves to protect the track from dust and dirt.
Extending parallel to and between the bars 3 and 4 is a rail 13 which constitutes a stator for a linear motor of which the armature 14 is mounted on the carriage and is preferably mounted underneath the base plate 2. This linear motor may be controlled by controlled equipment not shown which is responsive to both command signals and also signals obtained from an "Inductosyn" linear position transducer or other position measuring device which by cooperation with a scale 15a. or other elongate index extending lengthwise of the track provides signals indicating the position of the carriage and thereby the robot in the direction along the track. The position sensing device may also provide signals relating to the speed of movement of the carriage as well as its position so that both position feedback and velocity feedback may be used to control the movement of the carriage. The linear motor is preferably arranged so that it•can provide increments of movement of the carriage and robot lengthwise of the track.
A pneumatically operated caliper brake mechanism 16, mounted on the plate 2 and arranged to engage a rail 17 extending along the track beneath the carriage and to one side of the rail 13, may be provided to secure the robot in its desired working position. The operation of this brake will be included in the programmed control of the machine tool and robot.
One advantage of the described apparatus is its ability to make a long, very slow and steady movement suitable for a long, accurate weld.
The invention is not limited to any feature set forth and anything herein to the contrary notwithstanding.
OMPI we reserve the right to assert monopoly in any novel and useful combination of features herein disclosed.
_OMPI_
" "

Claims

-fi-CLAIMS :
1. A machine tool comprising a robot manipulator, a carriage which supports the manipulator, a pair of parallel bars providing a track for the carriage, means mounting the carriage for sliding movement on the bars, an elongate conductor extending parallel to and between the bars and constituting a stator for a linear motor of which an armature is mounted on the carriage.
2. A machine tool according to claim 1 in which for mounting the carriage on the track there are provided two recirculating ball bushings for each bar, the bushings for one bar being fixed relative to the carriage and the bushings for the other bar being mounted for lateral movement relative to the bushings for the one bar.
3. A machine tool according to claim 1 or claim 2 in which the carriage has a brake cooperative with a rail extending along the track.
4. A machine tool according to any foregoing claim, including a linear position transducer arranged to provide signals denoting the position of the carriage along the track.
- JZ
OMP
EP82902683A 1981-09-08 1982-09-08 Track-mounted industrial robot Withdrawn EP0087448A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8127147 1981-09-08
GB08127147A GB2105278A (en) 1981-09-08 1981-09-08 Track-mounted industrial robot

Publications (1)

Publication Number Publication Date
EP0087448A1 true EP0087448A1 (en) 1983-09-07

Family

ID=10524379

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82902683A Withdrawn EP0087448A1 (en) 1981-09-08 1982-09-08 Track-mounted industrial robot

Country Status (3)

Country Link
EP (1) EP0087448A1 (en)
GB (1) GB2105278A (en)
WO (1) WO1983000833A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2145046B (en) * 1983-07-12 1987-07-29 Gd Spa Automated system for supplying packing material on manufacturing and/or packing lines
US4557663A (en) * 1984-01-09 1985-12-10 Westinghouse Electric Corp. Modular, low cost, pogrammable assembly system
JPH01301080A (en) * 1988-05-30 1989-12-05 Mitsubishi Electric Corp Travel type robot system
DE3902076C1 (en) * 1989-01-25 1990-08-23 Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De
DE102010005446A1 (en) * 2010-01-24 2011-07-28 A2 Anlagentechnik Automation GmbH, 73240 Device for e.g. milling elongated work pieces, has support plate adjustable in guide rails along longitudinal axes by programmable drive using rotating movement of movable adjustment device, and robot secured on support plate
CN111550660A (en) * 2020-05-07 2020-08-18 中自机器人技术(安庆)有限公司 Portable piping lane inspection robot
CN112318475A (en) * 2020-11-02 2021-02-05 河南大学 Two-wheeled robot for detecting steering by using two-wheeled differential chassis

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2057515A1 (en) * 1969-11-24 1971-06-03 Steelweld Ltd Mechanical handling device
DE2516471A1 (en) * 1975-04-15 1976-10-28 Blocher Motor Kg Drive unit for industrial manipulators - has three cylinders each of which is fitted with air bearings and one of air bearings rotates and translates
FR2344374A1 (en) * 1976-03-19 1977-10-14 Guilliet Ets IMPROVEMENTS TO MACHINE-TOOLS INCLUDING A MANUAL STRAIGHT-LINE TOOL-HOLDER OR PART HOLDER
US4326137A (en) * 1981-01-23 1982-04-20 The United States Of America As Represented By The United States Department Of Energy Low-drag electrical contact arrangement for maintaining continuity between horizontally movable members

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8300833A1 *

Also Published As

Publication number Publication date
WO1983000833A1 (en) 1983-03-17
GB2105278A (en) 1983-03-23

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Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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AK Designated contracting states

Designated state(s): AT BE CH DE FR GB LI LU NL SE

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 19831116

RIN1 Information on inventor provided before grant (corrected)

Inventor name: BLACKBURN, ALLAN MICHAEL