GB1493193A - Mechanical manipulator or robot - Google Patents

Abstract

1493193 Spring power-storing mechanisms ELECTROLUX AB 6 Feb 1975 [18 Feb 1974] 5094/75 Heading F2S [Also in Divisions B8 and H1] An article transfer mechanism for moving an article from one location to another comprises a vertical movement unit 10, a rotational movement unit 11 mounted on the unit 11 and an arm 12, with a gripper unit 13, mounted on the unit 11. The unit 10 comprises a base-plate 14 with a pillar 18 vertically mounted thereon and a pair of plates (23), Fig. 4 (not shown) vertically displaceable along the pillar. A mounting plate 25 is mounted on the plates (23) and a coil spring 30 acts between the mounting plate 25 and the base-plate 14. A pair of electromagnets 36, 37 are adjustably mounted on the base-plate 14 to define the end positions of the vertical movement and a pair of permanent magnets 48, 49 associated with respective electromagnets 36, 37 are mounted on the plates 23. The unit 11 comprises a base-plate 52 mounted on the mounting plate 25 and a tube 53 mounted on said base-plate 52. A shaft 54 is rotatably mounted in the tube 53 and carries a sleeve 56 to which the arm 12 is mounted. A pair of electromagnets 57, 58 are adjustably mounted on the tube 53 to define the angular end positions of the arm and a pair of permanent magnets 73, 74 are mounted on the shaft 54 to co-operate respectively with the electromagnets 57, 58. A helical spring 62 is connected between the tube 53 and the sleeve 56. The gripper unit 13 is cable activated by an electromagnet 69. In operation to move the arm from the end positions shown to the other end positions, the electromagnet 36 is energized to repulse the permanent magnet 48 and the electromagnet 37 is energized to attract the permanent magnet 49 and the energy in the spring 30 causes the plates 23 and thus the plate 25 and the unit 11 to move vertically. The energy in the spring is substantially dissipated by the time the mid-point of the vertical movement is reached, whereupon energy is then returned to the spring and the vertical motion is completed by the attraction between the electromagnet 37 and the permanent magnet 49, which combination also serves to retain the system in the new end position. The rotary motion is achieved in a similar manner by energizing the electromagnets 57, 58 and the spring 62.