GB2120202A - Industrial robot - Google Patents

Industrial robot Download PDF

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Publication number
GB2120202A
GB2120202A GB08311681A GB8311681A GB2120202A GB 2120202 A GB2120202 A GB 2120202A GB 08311681 A GB08311681 A GB 08311681A GB 8311681 A GB8311681 A GB 8311681A GB 2120202 A GB2120202 A GB 2120202A
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GB
United Kingdom
Prior art keywords
axis
arm structure
adjustment
linear
along
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Withdrawn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
GB08311681A
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GB8311681D0 (en
Inventor
John M Evans
John A Graham
Bela L Musits
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.)
Nova Robotics Inc
Original Assignee
* NOVA ROBOTICS INC
NOVA ROBOTICS INC
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
Priority to US37396182A priority Critical
Application filed by * NOVA ROBOTICS INC, NOVA ROBOTICS INC filed Critical * NOVA ROBOTICS INC
Publication of GB8311681D0 publication Critical patent/GB8311681D0/en
Publication of GB2120202A publication Critical patent/GB2120202A/en
Application status is Withdrawn legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/10Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025Means for supplying energy to the end effector
    • B25J19/0029Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0037Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type

Abstract

A five-axis laser robot (10) for for welding or cutting operations has a depending Z-axis column (12) with an internal Z-axis laser beam path and a wrist (14) at the lower end of the column with internal laser beam paths, wherein the laser robot is adjustable for applying the laser beam from a laser (180) to a workpiece from any point and at any angle within the working volume of the robot. <IMAGE>

Description

SPECIFICATION Industrial robot The present invention relates generally to industrial robots and more particularly to a multiple axis industrial robot having notable utility as a laser robot for automatically manipulating a laser beam for example for welding or cutting applications.

It is a principal aim of the present invention to provide a new and improved multiple axis laser robot for robot manipulation of a laser beam with precision and with minimum laser energy loss. In accordance with the present invention, a multiple axis laser robot is provided with a new and improved laser beam transmission system for transmitting the laser beam along or parallel to each of the axes of adjustment of the robot. Further, in accordance with a specific application of the present invention, a five-axis laser robot is provided having a new and improved laser beam transmission system which substantially simplifies the robot manipulation of the laser beam.

It is another aim of the present invention to provide a new and improved multiple axis robot of the type having three mutually perpendicular X, Y, and Z axes of operation and which is notably useful as a laser robot for precise robot manipulation of a laser beam.

It is a further aim of the present invention to provide a new and improved gantry or overhead type robot having an internal passageway providing notable robot utility in transmitting a laser beam or a special purpose fluid substance such as a fluid sealant or adhesive for precise robot application of the laser beam or fluid substance to a workpiece or notable robot utility in manipulating an optical sensor of a robot viewing system or an electrode of a robot arc welding system.

It is another aim of the present invention to provide in a robot of the type having a control arm with a control wrist at an outer free end of the arm, a new and improved system for the transmission of a laser or other optical beam or substance, or for conducting wiring or tubing along the axis of the arm and within the control wrist of the arm.

It is another aim of the present invention to provide in a robot of the type having a linearly reciprocable arm and a two-axis wrist assembly at the free end of the arm, a new and improved system for the transmission of a laser beam to, or for example a video camera input beam from, an optical terminal of the robot wrist.

It is another aim of the present invention to provide in a robot of the type having mutually perpendicular X, Y, and Z linear axes of adjustment, a new and improved Z-axis arm for linear adjustment control along the Z-axis. Also, in accordance with the present invention, a new and improved wrist assembly is provided at the outer end of the arm for two-axis angular adjustment about an A-axis coincident with the Z-axis and a B-axis which intersects and is perpendicular to the A-axis. The new and improved wrist assembly has a hollow structure designed for conducting a laser beam or other optical beam to or from an optical terminal of the wrist.

It is a further aim of the present invention to provide a new and improved multiple axis gantry or overhead type industrial robot having a rigid structural design which minimizes changes in the robot arm bending moment as the robot is adjusted within its available multiple axis control.

Other objects will be in part obvious and in part pointed out more in detail hereinafter.

A better understanding of the invention will be obtained from the following detailed description and the accompanying drawings of an illustrative application of the invention.

Brief Description of the Drawings: In the drawings: Figure 1 is a generally diagrammatic isometric view, without details, of a laser robot installation incorporating an embodiment of an industrial robot of the present invention; Figure 2 is an enlarged top plan view, partly broken away and with parts removed, showing a main frame support plate and an X-axis adjustment mechanism of the robot; Figure 3 is an enlarged top plan view, partly broken away and with parts removed, showing Y-axis and Z-axis carriages of the robot; Figure 4 is an enlarged side elevation view, partly broken away and with parts removed, showing the Y-axis and Z-axis carriages; Figure 5 is an enlarged top plan view, partly broken away and with parts removed, showing a Y-axis position feedback sensor between the Y-axis and Z-axis carriages;; Figure 6 is an enlarged partial elevation view, partly broken away and with parts removed, showing in part a fluid and electrical interconnect system between the Y-axis and Z-axis carriages; Figure 7 is an enlarged partial elevation section view, partly broken away and partly in section, showing the interconnect system between the Y-axis and Z-axis carriages; Figure 8 is an enlarged elevation section view, partly broken away and with parts removed, showing a Z-axis column and a column support structure of the robot; Figure 9 is an enlarged elevation view, partly broken away and with parts removed, showing the Z-axis column, its support structure and a Z-axis drive system; Figure 10 is an enlarged top plan view, with parts removed, showing the Z-axis carriage, the Z-axis column and its support structure and a drive motor of the Z-axis drive system;; Figure 11 is an enlarged transverse section view, partly in section and with parts removed, of the Z-axis column, showing the bottom end plate thereof and a pair of A-axis drive motors for a wrist assembly of the robot; Figure 12 is an enlarged partial elevation section view, partly broken away and partly in section and with parts removed, showing the lower end plate of the Z-axis column, a support collar of the wrist assembly and an A-axis drive motor; Figure 13 is an enlarged elevation section view, partly broken away and partly in section, of a wrist assembly of the robot; and Figure 14 is an enlarged elevation section view, partly broken away and partly in section and with parts removed, of a nozzle subassembly of the wrist assembly.

Description of the Preferred Embodiment Referring now to the drawings in detail wherein like numerals represent the same or like parts throughout the several figures, a laser robot 10 incorporating an embodiment of the present invention is shown designed as an overhead or gantry type robot having a five axis adjustment for directing a laser beam at a workpiece (not shown) for example for cutting or welding applications. A suitable computer based control system (not shown) is provided for five axis adjustment of the robot 10 as desired for each application. The computer based control system may be of conventional design and operation and therefore is not described herein.

As described hereinafter in detail, the five axis adjustment of the gantry robot 10 includes linear adjustment along each of three mutually perpendicular X, Y and Z axes and angular wrist adjustment about A and B axes. The linear adjustment stroke along both the X and Y axes is for example 36 inches and the linear Z-axis adjustment stroke is for example 24 inches. The design of the robot 10 is such that it could be readily structured for establishing any practical adjustment stroke length along the X, Y and Z axes as may be desired for any particular application or installation. Thus the working volume of the robot 10 can be readily extended along any one or more of its X, Yand Z axes of operation as may be needed.

In the gantry robot 10 shown, the X and Y axes lie in a generally horizontal plane and the Z-axis is generally vertical and is normal to the generally horizontal X-Y plane. Linear Z-axis adjustment is provided by linear adjustment of an elongated, depending Z-axis operating column or arm 12. A robot wrist assembly 14 is provided at the bottom of the vertical Z-axis column.

The laser robot 10 has a box-like frame structure with four vertical corner posts 16 and an upper rectangular base or support plate 18 with a large generally rectangular opening 20 for receiving the depending Z-axis column 12. The four corner posts 16 have adjustable leveling pads or spindles at their lower ends to accommodate any irregularity in the floor where the robot is stationed. A pair of parallel side rails 22 are provided along two opposite sides of the base plate 18 for supporting a main or Y-axis carriage 26 for linear adjustment along the X-axis.

The side rails 22 are cylindrical rods and the main carriage 26 has a pair of linear ball bushings or pillow blocks 28 on each side rail 22 for mounting the Y-axis carriage 26 for X-axis adjustment along the rails 22. An electric X-axis motor 30 is provided for linear adjustment of the Y-axis carriage 26 by means of a conventional ball screw 32 rotated by the motor 30 and a ball nut 34 secured to a projecting arm 36 of the Y-axis carriage 26. For example, the X-axis motor 30 is computer controlled to operate from 0 to 2400 rpm and the ball screw 32 and nut 34 have a one inch pitch to provide a corresponding linear adjustment rate of from 0 to 2400 inches per minute. A suitable electrically operated brake is mounted on the ball screw 32 to automatically brake the motor drive shaft when the motor is deenergized.

Two hydraulic shock absorbers 40 are provided at each end of the base plate 18 to limit the axial movement of the Y-axis carriage 26 without damage to the robot mechanism. Although the robot computer controls the X-axis motor 30 to prevent carriage overtravel and physical damage, the shock absorbers 40 are provided as a safety backup in case of computer malfunction. Also, for additional overtravel protection a pair of limit switches (not shown) are provided to automatically deenergize the X-axis motor, and thereby also engage the X-axis brake, when the Y-axis carriage 26 reaches established stroke limits.

A Z-axis carriqge 46 is mounted on the Y-axis carriage 26 for linear adjustment along a Y-axis which is perpendicular to the X-axis. The Z-axis carriage 26 is mounted on a pair of parallel rails 48 on the Y-axis carriage 26 by means of linear ball bushings or pillow blocks 28 in the same manner that the Y-axis carriage 26 is mounted on the base plate 18. Also, the Z-axis carriage 46 is linearly adjusted along the Y-axis by a Y-axis adjustment motor 50 via a ball screw 32 and ball nut 34 in the same manner the Y-axis carriage 26 is linearly adjusted along the X-axis.Also, the Y-axis ball screw 32 has an electrically operated brake for automatically braking the Y-axis motor 5G when the motor is deenergized, and Y-axis stroke limit switches (not shown) are provided for deenergizing the Y-axis motor 50 and thereby also engage the Y-axis brake when the Y-axis can-iage 46 reaches established stroke limits.

The Y-axis carriage 26 has a generally rectangular opening 52 for receiving the vertical Z-axis column 12 and the opening 52 is elongated along the Y-axis to permit the Z-axis carriage 46 to be linearly adjusted along its full 36 inch Y-axis stroke. A pair of hydraulic shock absorbers 54 are provided for limiting the axial movement of the Z-axis carriage 46 and to provide a safety backup if the computer malfunctions. One of the two hydraulic shock absorbers 54 is mounted on a rectanguiar frame 56 of the Z-axis carriage 46 for engagement with a bumper 59 secured to the Y axis carriage 26. The other shock absorber 54 is mounted on the Y-axis carriage 26 for engagement with the Z-axis carriage frame 56 The latter and the Y-axis carriage drive rrm m 36 are designed to permit transmission of a laser beam along an X-axis of the beam extending above the side of the main frame support plate 18 and parallel to the X-axis ball screw 32 to the centerline of the Y-axis carriage.

As best shown in Figure 3 and 4, the Z-axis carriage 46 is formed by its outer rectangulsr frame 56, four upright corner posts 58 secured to the frame 56 and a raised support plate 60 secured to the top of the four corner posts 58. The four linear bail bushings 28 of the Z-axis carriage 46 are mounted at the bottom of the corner posts 58, and the raised support plate 60 has a generally rectangular but truncated opening 62 for receiving the vertical Z-axis column 12. As shown in Figure 3, the Y-axis ball nut 34 is secured to the carriage frame 56 by an outwardly extending arm 64 mounted on one side of the frame.

The vertical Z-axis column 12 is supported on the Z-axis carriage 46 by means of an elongated, depending box-like frame 70 received within the opening 62 of the raised support plate 60 and having an enlarged top plate 72 mounted on and secured to the raised support plate 60. The column support frame 70 has three depending structural side and back plates 74 - 76, a structural bottom plate 78 and a sheet metal cover 80 extending between the two side plates 74, 76.

The vertical Z-axis column 12 is structurally formed by three long parallel rods 84-86 consisting of two linear guide rails 84,85 and a non-rotatable ball screw 86. The guide rails and ball screw are angularly spaced about the vertical Z-axis to provide a two (2) inch diameter central opening or conductor passageway along the Z-axis substantially the entire length of the column 12.

The upper ends of the three parallel rods 84-86 are secured to a generally circular top plate 88 of the Z-axis column, and the lower ends of the three rods 84-86 are similarly secured to a larger, generally circular bottom plate 90. The top and bottom plates 88, 90 have angularly spaced contoured notches for receiving the upper and lower ends of the three parallel rods 84 - 86 and suitably contoured shoes 92, 94 are mounted within the notches and secured to the plates 88, 90 for clamping the upper and lower rod ends to the plates.

Two pairs of aligned linear ball bushings or pillow blocks 28 are mounted on the support frame back plate 75 for receiving the two guide rails 84, 85. The Z-axis column 12 is thereby rigidly supported for vertical linear adjustment along the Z-axis. A suitable rotatable ball nut 96 is mounted on the Z-axis bail screw 86 for linear adjustment of the Z axis column 12. A timing belt drive 98 is provided for rotating the ball screw nut 96 with a Z-axis drive motor 100 mounted on the raised top plate 60 of the Z-axis carriage 46. The Z-axis drive motor 100 has a depending vertical drive shaft 102 and the belt drive 98 is provided just below the raised top plate 60 of the Z-axis carriage 46. A belt drive pulley 104 is secured to the depending drive shaft 102 of the Z-axis motor 100 and a driven pulley 106 is secured onto the Z-axis ball nut 96.A motor mounting plate 108 has elongated mounting screw openings for tightening the timing belt 110 as desired. A suitable electrically operated brake 112 for the Z-axis motor 100 is provided at the lower end of the motor drive shaft 102 to automatically brake the motor shaft when the motor 100 is deenergized. Hydraulic shock absorbers 116 are mounted on the top and bottom plates 72, 78 of the column support frame 70 for engagement with the column top plate 88 and an upstanding bumper 118 mounted on the column bottom plate 90 to provide a safety limit in the event of computer malfunction. Also, stroke limit switches (not shown) are provided for deenergizing the Z-axis motor 100, and thereby also engage the Z-axis brake 112, when the Z-axis column reaches established stroke limits.The rotatable Z-axis ball nut 96 is carried by the top plate 72 of the column support frame 70 by suitable ball bearings (not shown). The weight of the vertical Z axis column 12 is thereby carried by the column support frame 70 and Z-axis carriage 46 via the Z-axis ball nut 96.

Each of the X, Y and Z-axis ball nuts 34,96 comprises a pair of axially spaced ball nuts which are axially preloaded to eliminate any linear play in the ball nut drive.

The two-axis wrist assembly 14 is mounted on the lower end plate 90 of the vertical Z-axis column 12.

For that purpose, an upstanding wrist support collar assembly 130 is rotatably mounted within a central opening 134 in the column end plate 90 by a pair of suitable ball bearings 134. The wrist support collar 130 has a central two (2) inch opening coaxial with the Z-axis for continuing the two (2) inch diameter axial passageway into the interior of the wrist assembly 14.

A pair of A-axis drive motors 136 are provided for angularly adjusting the wrist assembly 14 about an A-axis coincident with the vertical Z-axis. The A-axis drive motors 136 are mounted on the column bottom plate 90 generally between the elongated parallel rods 84-86 of the column 12. Drive spur gears 138 are mounted on depending drive shafts of the A-axis motors for engagement with a driven spur gear 139 of the wrist collar 130. Each A-axis drive motor 136 has a suitable harmonic drive providing a gear reduction of for example 88 to 1. The drive and driven spur gears 138, 139 provide an additional gear reduction of for example 1.28 to 1. The two A-axis drive motors 136 bias the wrist assembly 14 in opposite angular directions to take up any backlash in the gearing. Accurate A-axis angular adjustment is thereby provided by the two motor system.Also, a suitable Geneva operated limit switch mechanism (not shown) is provided as a safety backup to limit the freedom of rotation of the wrist assembly 14 about the A-axis to approximately 720 degrees.

A laser nozzle subassembly 146 of the wrist assembly 14 is rotatably mounted about a B-axis which intersects and is perpendicular to the A-axis.

For that purpose, an inner hub-like structure or rotor 148 of the nozzle subassembly 146 having a forward mounting collar 150 and a rear end plate 151 is rotatably mounted within an outer hub or rotor 154 of the wrist assembly 14 by a pair of spaced coaxial ball bearings 156. The forward mounting collar 150 has a central opening 158 coaxial with the B-axis to provide a coaxial conductor passageway along the B-axis at a right angle to the A-axis. The forward mounting collar 150 and rear plate 151 of the inner hub 148 are connected by an outer arcuate flange or web 160. The web or flange 160 extends angularly less than 120 deg. so that the inner hub 148 may be rotated over 180 deg. and to about 200 deg. without intersecting the two (2) inch diameter conductor passageway extending along the Z-axis and into the interior of the wrist assembly 14.The B-axis drive motor 162 is mounted on the outer hub 154 coaxially with the inner hub 148 for angular adjustment of the laser nozzle subassembly 146 about the B-axis. The B-axis drive motor 162 has a suitable harmonic drive providing a gear reduction of for example 100 to 1.

Since such harmonic drives have essentially no play or backlash and the harmonic drive output is connected directly to the inner hub 148, a B-axis adjustment system using the single motor 162 is employed. A suitable overtravel or limit switch mechanism (not shown) is provided as a safety backup to limit the freedom of rotation of the inner hub 148 about the B-axis to approximately 186 deg.

A suitable displacement feedback sensor is provided for each of the robot's five axes of adjustment for computer calculation of the robot position at each of its five axes of adjustment. Linear sensors are provided for sensing linear adjustment along the X, Y and Z axes, and rotlary sensors are provided for sensing angular adjustment about the A and B axes.

Precision linear and rotary sensors or transducers of the type manufactured by Farrand Controls under the trademark "Inductosyn" can be employed for exanmple, but any other sufficiently accurate displacement feedback sensor could be used which provide independent feedback of the robot position.

A linear feedback sensor system 170 for the Y-axis carriage is generally shown in Figure 5.

A suitable high powered laser 180 is mounted to transmit a laser beam along a beam X-axis extending along the side of the main frame support plate 60 to the centerline of the Y-axis carriage 46. A suitable water cooled, Y-axis reflecting mirror 182 (preferably having a gold, dielectric or other reflective coating suitable to the laser wavelength used) is mounted on the Y axis carriage 26 for receiving the laser beam and reflecting it at a right angle along the Y-axis of the beam to intersect the vertical Z-axis of the Z-axis column 12.A second water cooled, Z-axis reflecting mirror 184 of smaller diameter but of the same or like construction is mounted on the Z-axis by a bracket 186 secured to the side plates 74, 76 of the column support frame 70 for receiving the laser beam and reflecting it at a right angle downwardly directly along the Z-axis, through the wrist support collar 130 and along the A-axis to the inside of the inner hub 148 of the wrist assembly 14.A third water cooled, B-axis reflecting mirror 188 of the same or like construction, is mounted at the intersection of the A and B axes, by a generally L-shaped arm 190 depending from the wrist support collar 130 to receive the laser beam and reflect it at a right angle directly along the B-axis. Afourth, or output axis water cooled reflecting mirror 192 of the same or like construction is provided in the nozzle subassembly 146 for reflecting the laser beam from the B-axis at a right angle along a laser projection or discharge axis through a nozzle outlet 194. The nozzle 146 has a suitable focusing lens (not shown) between the mirror 192 and nozzle outlet 194 for focusing the laser onto a workpiece (not shown) and thereby to reduce the diameter of the laser beam to for example 0.025 inch at the nozzle outlet 194.If desired. a focusing mirror (not shown) could be provided in place of both the final stage reflecting mirror 192 and the nozzle focusing lens to focus the laser onto the workpiece.

The nozzle outlet opening has for example a 0.050 inch diameter for transmitting the laser beam to the workpiece for laser welding or cutting or like applications of the laser robot (including laser drilling, engraving, heat treating and marking applications).

A gas conduit 198 connected to the nozzle outlet 194 provides for conducting oxygen or inert gas to the nozzle outlet opening. In a conventional manner, oxygen is employed where the laser robot 10 is used as a cutting tool and a suitable inert gas is employed where the laser robot 10 is employed as a welding tool.

As indicated, the laser nozzle 146 can be angularly adjusted aboutthe B-axis along an arc of at least 180 degrees. In the shown embodiment, the nozzle 146 is adjustable within a vertical plane with a minimum 90 deg. arc of adjustment in either direction from a vertical radial centerline. However, the radial centerline of the 180 deg. adjustment range can be changed merely by mounting the nozzle head 200 at a different angular position on its support hub 148.

From the foregoing, it can be seen that the hollow vertical Z-axis column 12 provides for transmitting the laser beam along the Z and A axes to intersect the B-axis within the wrist assembly 14. The laser beam remains fully enclosed within the Z-axis column 12 and wrist assembly 14 and can be transmitted with fewer reflecting mirrors (e.g. four reflecting mirrors in the five axis robot 10 which is shown) to minimize the transmission loss of laser beam energy and to facilitate precision transmission of the beam to the laser beam nozzle outlet 194. All or part of the beam path is preferably enclosed in a bellows (not shown) as well as within the structure of the robot to provide a clean transmission path and to safeguard against injury.

The same or similar optical system can be employed for efficiently transmitting a light signal in the opposite direction for example to a video camera for use of the robot as an inspection tool for example.

Also, the simplified and totally enclosed transmis- sion or conductor path provided by the Z-axis column 12 and wrist assembly 14 makes the robot useful as a fluid dispenser for example for dispensing liquid sealants or adhesives in specialized applications.

An electrical and fluid transmission system of the robot 10 (which comprises electrical conductors for the drive motors and feedback sensors, cooling water conductors for the laser bean transmission mirrors and a gas conductor for the ease: beam outlet nozzle) is provided for supplying electrical power and fluid to the components of the robot 10 as required. The transmission system includes five separate connector systems (a) between the main support base plate 18 and Y-axis carriage 26 (b) between the Y-axis carriage 26 and Z-axis carriage 46, (c) between the Z-axis carriage 46 and the Z-axis column 12, (d) between the lower end of the Z-axis column 12 and the wrist assembly 14 and (ej between the outer and inner hubs 154, 148 of the wrist assembly 14. Since the five connector systems are the same or similar, only the connector system 224 for connecting the Y-axis carriage 26 and Z-axis carriage is generally shown. Referring to Figures 6 and 7, suitable connector assemblies 226,228 are mounted on the Y-axis carriage 26 and Z-axis carriage 46, and generally U-shaped flexible electrical and fluid conduits generally denoted by the numeral 230 are connected between the two relatively moveable connector assemblies 226, 228.

Included are four flat electrical cables (each having for example 100 wires and with two flat electrical conduits provided on each axial side of the connector assemblies), cooling water inlet and outlet conduits, and a gas inlet conduit. The connector assemblies 226, 228 are mounted to be in alignment when the Z-axis carriage 26 is at the midpoint of its 36 inch stroke, and the flexible conduits 230 are sufficiently long (e.g. about 22") to enable the Z-axis carriage 46 to be adjusted along its entire 36" stroke without interference by the connector system 224.

The industrial robot shown in the drawings may be readily modified for other applications such as those referred to previously herein including (a) applying a fluid sealant, adhesive or other substance to a workpiece, (b) manipulating an optical sensor of a robot viewing system and (c) manipulating an electrode of a robot arc welding system. A different or modified wrist mechanism and an appropriate conduit in the central Z-axis passageway of the column 12 would be used for each such application as would be understood by one having ordinary skill in the industrial robot field.

As will be apparent to persons skilled in the art, various modifications, adaptations and variations of the foregoing specific disclosure can be made without departing from the teachings of the present invention.

Claims (19)

1. In a gantry type industrial robot having an elongated, vertically extending rigid arm structure with a lower free end and an overhead support mechanism to provide three-axis adjustment of the arm structure, including adjustment in a generally horizontal X-V plane normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure comprises a plurality of elongated structural members generally parallel to, radially offset from and angularly spaced about the Z axis and an elongated linear Z axis optical path extending along the Z axis within the arm structure to the lower free end thereof, and wherein the industrial robot further comprises first optical means mounted on the overhead support mechanism to project a laser beam downwardly along the Z axis optical path to the lower free end of the arm structure and a wrist assembly mounted on the lower free end of the arm structure, having therein along an A axis coincident with the Z axis, a linear A axis optical path extension of the Z axis optical path, and, along a B axis transverse to and intersecting the A axis, a linear B axis optical path intersecting the A axis optical path, and second optical means mounted within the wrist assembly at the intersection of the A and B axes for deflecting a laser beam projected downwardly along said Z and A axis optical paths onto the B axis optical path.
2. In an industrial robot having an elongated rigid arm structure with an outer free end and a support mechanism to provide three-axis adjustment of the arm structure, including adjustment in a first X-Y plane normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure comprises a plurality of elongated structural members generally parallel to, radially offset from and angularly spaced about the Z axis and an elongated linear Z axis optical path extending along the Z axis within the arm structure to the outer free end thereof, and wherein the industrial robot further comprises first optical means mounted on the support mechanism to project a laser beam along the Z axis optical path to the outer free end of the arm structure, and a wrist assembly mounted on the outer free end of the arm structure, having therein along an A axis coincident with the Z axis, a linear A axis optical path extension of the Z axis optical path, and along a B axis trnasverse to and intersecting the A axis, a linear B axis optical path intersecting the A axis optical path, and second optical means mounted within the wrist assembly at the intersection of the A and B axes for deflecting a laser beam projected along the Z and A axis optical paths onto the B axis optical path.
3. An industrial robot according to claim 1 or 2 wherein the wrist assembly comprises an outer rotor mounted on the free end of the arm structure for rotation about the A axis, and first adjustment means for angular adjustment of the outer rotor about the A axis, and wherein the second optical means is mounted within and secured to said outer rotor.
4. An industrial robot according to claim 3 wherein the wrist assembly further comprises an inner rotor mounted within the outer rotor for rotation about the B axis, and second adjustment means for angular adjustment of the inner rotor about the B axis.
5. An industrial robot according to claim 4 wherein the wrist assembly comprises third optical means mounted within and secured to the inner rotor for deflecting the laser beam at a predetermined angle from the B axis optical path.
6. An industrial robot according to Claim 4 or Claim 5 wherein the inner rotor comprises a forward mounting collar, surrounding and coaxial with the B axis optical path, and a rear mount mounted within the outer rotor on opposite sides of the A and B axis intersection for angular adjustment with the B axis, and means connecting said rear mount and forward collar to permit at least approximately 180 angular adjustment of the inner rotor about the B axis without obstruction of the linear A axis optical path within the wrist assembly.
7. An industrial robot according to claim 6 wherein said second adjustment means is mounted on the outer rotor coaxially with said B axis and has a rotary output connected to the rear mount of the inner rotor for angular adjustment of the inner rotor about the B axis.
8. An industrial robot according to any one of Claims 3 to 6 wherein the first adjustment means comprises a driven gear mounted on the wrist assembly coaxial with the A axis and first and second drive motors mounted on the arm structure having first and second drive gears respectively, in mesh with said driven gear and operable together for angular adjustment of the wrist assembly about the A axis, the first and second drive motors being operable to bias the wrist assembly in opposite angular directions about the A axis to take up the backlash between the drive and driven gears.
9. An industrial robot according to any preceding Claim wherein the support mechanism comprises a support frame with a pair of parallel linear X axis guide rails, a Y axis carriage mounted on the X axis rails for linear adjustment parallel to the X axis, an X axis drive mechanism with an X axis drive motor and a rotatable X axis ball drive screw mechanism rotatable by the X axis drive motor for linear adjustment of the Y axis carriage parallel to the X axis, the Y axis carriage having a pair of parallel linear Y axis guide rails extending perpendicular to the X axis, a Z axis carriage mounted on the Y axis rails for linear adjustment parallel to the Y axis and perpendicular to the X axis, a Y axis drive mechanism with a Y axis drive motor and a rotatable Y axis ball drive screw mechanism rotatable by the Y axis drive motor for linear adjustment of the Z axis carriage parallel to the Y axis, the plurality of elongated structural members of the arm structure comprising at least two Z axis guide rails and a non-rotatable Z axis ball drive screw, the Z axis carriage having support bushings receiving the Z axis guide rails for supporting the Z axis arm structure for linear adjustment parallel to the Z axis and a Z axis drive mechanism having a Z axis drive motor and a ball nut receiving the Z axis drive screw and rotatable by the Z axis drive motor for linear adjustment of the arm structure parallel to the Z axis.
10. In an industrial robot having an elongated rigid arm structure with an outer free end and a support mechanism to provide linear adjustment of the arm struture along a linear adjustment axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure comprises a plurality of elongated structural members generally parallel to, radially offset from and angularly spaced about said adjustment axis and an elongated linear optical path extending along said adjustment axis within the arm structure to the free end thereof, and wherein the industrial robot further comprises first optical means mounted on the support mechanism for directing a laser beam along said elongated linear optical path to the free end of the arm structure, and a wrist assembly mounted on the free end of the arm structure, having an A axis linear optical path extension of said elongated linear optical path of the arm structure, a B axis linear optical path transverse to and intersecting said linear optical path extension and second optical means mounted within the wrist assembly at the intersection of said A and B axis paths for deflecting a laser beam projected along said elongated and A axis optical paths onto the B axis optical path.
11. An industrial robot according to claim 10 wherein the plurality of elongated structural members of the arm structure comprise at least two guide rails and a non-rotatable ball drive screw, the support mechanism having support bushings receiving the guide rails for supporting the arm structure for linear adjustment along said linear adjustment axis, and a drive mechanism having a drive motor and a ball nut receiving the ball drive screw and rotatable by the drive motor for linear adjustment of the arm structure parallel to the adjustment axis.
12. In an industrial robot having an elongated rigid arm structure with an outer free end and a support mechanism to provide linear adjustment of the arm structure along an adjustment axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure has an elongated linear optical path extending parallel to the axis of linear adjustment of the arm structure to the free end thereof, and wherein the industrial robot further comprises first optical means mounted on the support mechanism for projecting a laser beam along said elongated linear optical path to the free end of the arm structure, and a wrist assembly mounted on the arm structure having an A axis linear optical path extension of said elongated linear optical path of the arm structure, a B axis linear optical path transverse to and intersecting the A axis optical path extension and second optical means mounted within the wrist assembly at the intersection of the A and B axis optical paths to deflect a laser beam projected along said elongated optical path and A axis optical path extension thereof onto the B axis optical path.
13. In an industrial robot having an elongated rigid arm structure with an outer free end and a support mechanism to provide three-axis adjustment of the arm structure, including adjustment in a X-Y plane normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure comprises a plurality of elongated structural members generally parallel to, radially offset from and angularly spaced about the Z axis and an elongated unobstructed linear path extending along the Z axis within the arm structure to the free end thereof, and wherein the industrial robot further comprises a wrist assembly mounted on the free end of the arm structure, having therein an unobstructed linear path extension of said elongated linear path within the arm structure and an unobstructed linear path transverse to and intersecting said linear path extension and optical means establishing a light path along said elongated linear path within the arm structure and said linear path extension thereof and said transverse linear path within the wrist assembly.
14. In an industrial robot having an elongated rigid arm structure with an outer free end and a support mechanism to provide adjustment of the arm structure, including adjustment normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, the improvement wherein the arm structure comprises a plurality of elongated structural members generally parallel to, radially offset from and angularly spaced about the Z axis and comprising at least two guide rails and a non-rotatable ball drive screw, the support mechanism having support bushings receiving the guide rails for supporting the arm structure for linear adjustment along said linear adjustment axis, and a drive mechanism having a drive motor and a ball nut receiving the ball drive screw and rotatable by the drive motor for linear adjustment of the arm structure along said linear adjustment axis.
15. An industrial robot according to claim 14 wherein said support mechanism provides two-axis adjustment of the arm structure in an X-Y plane normal to the longitudinal axis of the arm structure.
16. In an industrial robot having an elongated rigid arm structure with an outer free end, a support mechanism to provide three-axis adjustment of the arm structure, including adjustment in a first X-Y plane normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, and a wrist assembly having a first rotor mounted on the outer free end cf the arm structure for angular adjustment about an A axis normal to the X-Y plane and a second rotor rotatably mounted on the first rotor for angular adjustment about a B axis transverse to and intersecting the A axis, the improvement wherein said first rotor has an internal A axis laser transmission path coaxial with and extending along said A axis to the intersection of the A and B axes, wherein said second rotor is rotatably mounted within said first rotor for angular adjustment about said B axis, wherein said second rotor has an internal B axis laser transmission path coaxial with and extending along the B axis from the intersection of the A and B axes and a laser projection path extending from the B axis and along a laser projection axis transverse to and intersecting the B axis, and wherein the robot comprises first optical means mounted on the arm support mechanism to direct a laser beam along the A axis transmission path to the intersection of the A and B axes, second optical means mounted on and within said first rotor generally at the intersection of the A and B axes to turn a laser beam from the A axis laser transmission path to the B axis laser transmission path, and third optical means mounted on and within said second rotor on the B axis to turn a laser beam from the B axis laser transmission path to the laser projection path.
17. An industrial robot according to clam 16 wherein the B axis is normal to the A axis and said laser projection axis is normal to the B axis.
18. In an industrial robot having an elongated rigid arm structure with an outerfree end, an arm support mechanism operable to provide three-axis adjustment of the arm structure, including adjustment in a first X-Y plane normal to the longitudinal axis of the arm structure and linear adjustment along a Z axis parallel to the longitudinal axis of the arm structure, and a wrist assembly having a first rotor mounted on the outer free end of the arm structure for angular adjustment about an A axis normal to the X-Y plane and a second rotor rotatably mounted on the first rotor for angular adjustment about a B axis transverse to and intersecting the A axis, the improvement wherein said first rotor has an internal A axis conductor path coaxial with and extending along said A axis to the intersection of the A and B axes, wherein said second rotor has an internal B axis conductor path coaxial with and extending along the B axis from the intersection of the A and B axes and a terminal conductor path extending from the B axis and along a terminal conductor path axis transverse to and intersecting the B axis.
19. An industrial robot substantially as hereinbefore described with reference to and as shown in the accompanying drawings.
GB08311681A 1982-05-03 1983-04-28 Industrial robot Withdrawn GB2120202A (en)

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GB2131388A (en) * 1982-12-06 1984-06-20 Flexible Laser Systems Ltd Laser material processor
GB2153785A (en) * 1984-02-06 1985-08-29 Spectra Physics Laser beam delivery system
EP0156838A1 (en) * 1983-09-13 1985-10-09 Data Card Corporation Laser machining system
EP0164858A2 (en) * 1984-06-06 1985-12-18 L'Esperance, Francis A. Apparatus for Removing Cataractous Lens Tissue by Laser Radiation
GB2164017A (en) * 1984-09-07 1986-03-12 Fairey Eng Manipulator with laser beam mirrors
EP0185233A2 (en) * 1984-12-03 1986-06-25 Messer Griesheim Gmbh Laser beam guiding apparatus for the three-dimensional machining of work pieces
FR2577461A1 (en) * 1985-02-15 1986-08-22 Wiederaufarbeitung Von Kernbre Remote controlable medium device for receiving and positioning telemanipulation devices
US4623229A (en) * 1983-09-29 1986-11-18 Photon Sources, Inc. Articulated laser arm
GB2176168A (en) * 1985-06-06 1986-12-17 Honda Motor Co Ltd Robot apparatus
EP0206027A2 (en) * 1985-06-28 1986-12-30 Aeg Westinghouse Industrial Automation Corporation End-of-arm tooling carousel apparatus for use with a robot
DE3621716A1 (en) * 1985-07-03 1987-01-08 Asea Ab robot wrist
FR2586212A1 (en) * 1985-08-19 1987-02-20 Werkzeugmasch Okt Veb Industrial robot for handling of work pieces and tools
GB2179306A (en) * 1985-07-22 1987-03-04 Honda Motor Co Ltd A welding apparatus
EP0223189A1 (en) * 1985-11-11 1987-05-27 Hans-Heinrich Willberg Apparatus for testing and sorting electronic modules
FR2591210A1 (en) * 1985-12-11 1987-06-12 Metalliques Entrepr Cie Fse Position-adjusting installation for a lifting apparatus mounted on a travelling crane
EP0232548A2 (en) * 1986-02-13 1987-08-19 Held Laser Systems AG Work station for large work pieces
EP0232999A2 (en) * 1986-02-03 1987-08-19 Clay-Mill Technical Systems Inc. Robotic automobile assembly
US4698479A (en) * 1984-02-06 1987-10-06 Spectra-Physics, Inc. Beam delivery system for a CO2 laser
US4723713A (en) * 1985-07-03 1988-02-09 Asea Aktiebolag Industrial robot
DE3626610A1 (en) * 1986-08-06 1988-02-18 Fibro Gmbh portal system
US4728771A (en) * 1978-01-03 1988-03-01 Prima Industrie S.P.A. Automatic cutting machine using laser ray
US4755096A (en) * 1985-04-15 1988-07-05 Hershey Foods Corporation Apparatus for moving strips using mechanical manipulator
DE3704952A1 (en) * 1987-02-17 1988-08-25 Fraunhofer Ges Forschung Industrial robots for working and/or handling objects, in particular for assembling the latter
US4808791A (en) * 1986-12-19 1989-02-28 Fiat Auto S.P.A. Method for processing large cast iron dies, particularly for vehicle sheet-metal pressing, and the apparatus for its implementation
EP0318064A1 (en) * 1987-11-26 1989-05-31 Bruno Bisiach Laser beam robot for cutting and welding
US4882881A (en) * 1987-02-24 1989-11-28 Progressive Blasting Systems, Inc. Robot positioner and seal arrangement for a closed chamber
US4964503A (en) * 1987-12-10 1990-10-23 Nissan Motor Co., Ltd. Manipulator using a single motor driving plural flexible shafts
US4976484A (en) * 1987-12-10 1990-12-11 Nissan Motor Co., Ltd Work positioning device for assembly line
US5031441A (en) * 1988-07-29 1991-07-16 The Boeing Company Two arm robot
FR2662383A1 (en) * 1990-05-28 1991-11-29 Snecma Device for bringing a laser beam to a piece to be machined
US5073079A (en) * 1990-05-17 1991-12-17 Intelmatec Corporation Modular loading-unloading system for integrated circuits or the like
DE4028059A1 (en) * 1990-09-05 1992-03-12 Grau Gmbh & Co Holdingges Automatic storage facility
US5142211A (en) * 1990-04-16 1992-08-25 Progressive Blasting Systems, Inc. Five-axis robot
DE4224032A1 (en) * 1991-07-25 1993-01-28 Ken Yanagisawa drive system
US5265491A (en) * 1991-06-19 1993-11-30 Nippon Thompson Co., Ltd. X-Y-Z drive apparatus
US5402691A (en) * 1993-09-13 1995-04-04 R.D. Corporation Ltd. Gantry-style apparatus for positioning a working member with respect to plurality of "X" and "Y" coordinate positions
EP0661128A1 (en) * 1993-12-29 1995-07-05 COMI S.r.l. System for drilling and cutting refrigerating compartments and back-doors for domestic refrigerators and the like
US5445282A (en) * 1989-02-17 1995-08-29 Erikkila Ky Transport means for transporting pieces three-dimensionally
US5771748A (en) * 1996-01-26 1998-06-30 Genmark Automation Highly stable Z axis drive
US5775170A (en) * 1996-01-26 1998-07-07 Genmark Automation Robotic arm motor stabilizer
US5839322A (en) * 1996-01-26 1998-11-24 Genmark Automation Robotic arm rotation controller
US6037733A (en) * 1996-03-22 2000-03-14 Genmark Automation Robot having multiple degrees of freedom
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US6477912B2 (en) * 1999-12-06 2002-11-12 Korea Advanced Institute Of Science And Technology Six-degrees-of-freedom parallel mechanism for micro-positioning work
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
CN100553895C (en) 2008-05-05 2009-10-28 哈尔滨工程大学 Super working stroke six-freedom macro-micro combined serial robot
WO2011133050A1 (en) * 2010-04-20 2011-10-27 Promotech Sp. Z.O.O. Method and device for cutting openings in flat, concave or convex surfaces
ITMI20102135A1 (en) * 2010-11-18 2012-05-19 Automator Internat S R L Marking system or laser engraving
CN104057202A (en) * 2014-07-11 2014-09-24 华南理工大学 System and method for remotely monitoring automatic welding of mobile robot based on FPGA
CN104741807A (en) * 2015-04-03 2015-07-01 江苏理工学院 Three-dimensional sheet covering piece plasma flame cutting machine
CN104985592A (en) * 2015-07-17 2015-10-21 付建生 Five-axis linkage robot
CN106426120A (en) * 2016-11-22 2017-02-22 大连交通大学 Heavy loading gantry type robot

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Cited By (71)

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Publication number Priority date Publication date Assignee Title
US4728771A (en) * 1978-01-03 1988-03-01 Prima Industrie S.P.A. Automatic cutting machine using laser ray
GB2131388A (en) * 1982-12-06 1984-06-20 Flexible Laser Systems Ltd Laser material processor
US4542278A (en) * 1982-12-06 1985-09-17 Flexible Laser Systems Limited Laser material processor
EP0156838A1 (en) * 1983-09-13 1985-10-09 Data Card Corporation Laser machining system
EP0156838A4 (en) * 1983-09-13 1986-05-14 Data Card Corp Laser machining system.
US4623229A (en) * 1983-09-29 1986-11-18 Photon Sources, Inc. Articulated laser arm
GB2153785A (en) * 1984-02-06 1985-08-29 Spectra Physics Laser beam delivery system
US4698479A (en) * 1984-02-06 1987-10-06 Spectra-Physics, Inc. Beam delivery system for a CO2 laser
EP0164858A2 (en) * 1984-06-06 1985-12-18 L'Esperance, Francis A. Apparatus for Removing Cataractous Lens Tissue by Laser Radiation
EP0164858A3 (en) * 1984-06-06 1987-01-14 Francis A. L'esperance Method and apparatus for removing cataractous lens tissue by lens radiaton
GB2164017A (en) * 1984-09-07 1986-03-12 Fairey Eng Manipulator with laser beam mirrors
EP0185233A2 (en) * 1984-12-03 1986-06-25 Messer Griesheim Gmbh Laser beam guiding apparatus for the three-dimensional machining of work pieces
EP0185233A3 (en) * 1984-12-03 1988-01-07 Messer Griesheim Gmbh Laser beam guiding apparatus for the three-dimensional machining of work pieces
DE3505193A1 (en) * 1985-02-15 1986-08-28 Wiederaufarbeitung Von Kernbre Remote-controlled traegervorrichtung for recording and positioning of fernhantierungsgeraeten
US4702663A (en) * 1985-02-15 1987-10-27 Deutsche Gesellschaft Fur Wiederaufarbeitung Von Kernbrennstoffen Mbh Remotely-operable carrier arrangement for receiving and positioning remote-handling apparatus
FR2577461A1 (en) * 1985-02-15 1986-08-22 Wiederaufarbeitung Von Kernbre Remote controlable medium device for receiving and positioning telemanipulation devices
US4755096A (en) * 1985-04-15 1988-07-05 Hershey Foods Corporation Apparatus for moving strips using mechanical manipulator
GB2176168A (en) * 1985-06-06 1986-12-17 Honda Motor Co Ltd Robot apparatus
EP0206027A2 (en) * 1985-06-28 1986-12-30 Aeg Westinghouse Industrial Automation Corporation End-of-arm tooling carousel apparatus for use with a robot
US4661680A (en) * 1985-06-28 1987-04-28 Westinghouse Electric Corp. End-of-arm tooling carousel apparatus for use with a robot
EP0206027A3 (en) * 1985-06-28 1988-09-21 Westinghouse Electric Corporation End-of-arm tooling carousel apparatus for use with a robot
US4723713A (en) * 1985-07-03 1988-02-09 Asea Aktiebolag Industrial robot
DE3621716A1 (en) * 1985-07-03 1987-01-08 Asea Ab robot wrist
US4703157A (en) * 1985-07-03 1987-10-27 Asea Aktiebolag Robot wrist
GB2179306B (en) * 1985-07-22 1989-08-09 Honda Motor Co Ltd A welding apparatus
GB2179306A (en) * 1985-07-22 1987-03-04 Honda Motor Co Ltd A welding apparatus
GB2179322A (en) * 1985-08-19 1987-03-04 Werkzeugmasch Okt Veb Industrial robot for handling workpieces and tools
FR2586212A1 (en) * 1985-08-19 1987-02-20 Werkzeugmasch Okt Veb Industrial robot for handling of work pieces and tools
EP0223189A1 (en) * 1985-11-11 1987-05-27 Hans-Heinrich Willberg Apparatus for testing and sorting electronic modules
FR2591210A1 (en) * 1985-12-11 1987-06-12 Metalliques Entrepr Cie Fse Position-adjusting installation for a lifting apparatus mounted on a travelling crane
EP0232999A2 (en) * 1986-02-03 1987-08-19 Clay-Mill Technical Systems Inc. Robotic automobile assembly
US4781517A (en) * 1986-02-03 1988-11-01 Clay-Mill Technical Systems, Inc. Robotic automobile assembly
EP0232999A3 (en) * 1986-02-03 1988-09-28 Clay-Mill Technical Systems Inc. Robotic automobile assembly
EP0232548A3 (en) * 1986-02-13 1989-07-19 Held Laser Systems Ag Work station for large work pieces
EP0232548A2 (en) * 1986-02-13 1987-08-19 Held Laser Systems AG Work station for large work pieces
DE3626610A1 (en) * 1986-08-06 1988-02-18 Fibro Gmbh portal system
EP0276461A3 (en) * 1986-12-19 1989-03-29 Fiat Auto S.P.A. Method for processing large cast iron dies, particularly for vehicle sheet-metal pressing, and the apparatus for its implementation
US4851637A (en) * 1986-12-19 1989-07-25 Fiat Auto S.P.A. Method for processing large cast iron dies, particularly for vehicle sheet-metal pressing, and the apparatus for its implementation
US4808791A (en) * 1986-12-19 1989-02-28 Fiat Auto S.P.A. Method for processing large cast iron dies, particularly for vehicle sheet-metal pressing, and the apparatus for its implementation
DE3704952A1 (en) * 1987-02-17 1988-08-25 Fraunhofer Ges Forschung Industrial robots for working and/or handling objects, in particular for assembling the latter
US4882881A (en) * 1987-02-24 1989-11-28 Progressive Blasting Systems, Inc. Robot positioner and seal arrangement for a closed chamber
EP0318064A1 (en) * 1987-11-26 1989-05-31 Bruno Bisiach Laser beam robot for cutting and welding
US4964503A (en) * 1987-12-10 1990-10-23 Nissan Motor Co., Ltd. Manipulator using a single motor driving plural flexible shafts
US4976484A (en) * 1987-12-10 1990-12-11 Nissan Motor Co., Ltd Work positioning device for assembly line
USRE35605E (en) * 1987-12-10 1997-09-16 Nissan Motor Co., Ltd. Work positioning device for assembly line
US5031441A (en) * 1988-07-29 1991-07-16 The Boeing Company Two arm robot
US5445282A (en) * 1989-02-17 1995-08-29 Erikkila Ky Transport means for transporting pieces three-dimensionally
US5142211A (en) * 1990-04-16 1992-08-25 Progressive Blasting Systems, Inc. Five-axis robot
US5073079A (en) * 1990-05-17 1991-12-17 Intelmatec Corporation Modular loading-unloading system for integrated circuits or the like
FR2662383A1 (en) * 1990-05-28 1991-11-29 Snecma Device for bringing a laser beam to a piece to be machined
DE4028059A1 (en) * 1990-09-05 1992-03-12 Grau Gmbh & Co Holdingges Automatic storage facility
US5265491A (en) * 1991-06-19 1993-11-30 Nippon Thompson Co., Ltd. X-Y-Z drive apparatus
DE4224032A1 (en) * 1991-07-25 1993-01-28 Ken Yanagisawa drive system
US5402691A (en) * 1993-09-13 1995-04-04 R.D. Corporation Ltd. Gantry-style apparatus for positioning a working member with respect to plurality of "X" and "Y" coordinate positions
EP0661128A1 (en) * 1993-12-29 1995-07-05 COMI S.r.l. System for drilling and cutting refrigerating compartments and back-doors for domestic refrigerators and the like
US5839322A (en) * 1996-01-26 1998-11-24 Genmark Automation Robotic arm rotation controller
US5775170A (en) * 1996-01-26 1998-07-07 Genmark Automation Robotic arm motor stabilizer
US5771748A (en) * 1996-01-26 1998-06-30 Genmark Automation Highly stable Z axis drive
US6037733A (en) * 1996-03-22 2000-03-14 Genmark Automation Robot having multiple degrees of freedom
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
US6477912B2 (en) * 1999-12-06 2002-11-12 Korea Advanced Institute Of Science And Technology Six-degrees-of-freedom parallel mechanism for micro-positioning work
CN100553895C (en) 2008-05-05 2009-10-28 哈尔滨工程大学 Super working stroke six-freedom macro-micro combined serial robot
WO2011133050A1 (en) * 2010-04-20 2011-10-27 Promotech Sp. Z.O.O. Method and device for cutting openings in flat, concave or convex surfaces
ITMI20102135A1 (en) * 2010-11-18 2012-05-19 Automator Internat S R L Marking system or laser engraving
CN104057202A (en) * 2014-07-11 2014-09-24 华南理工大学 System and method for remotely monitoring automatic welding of mobile robot based on FPGA
CN104057202B (en) * 2014-07-11 2016-04-13 华南理工大学 Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA
CN104741807A (en) * 2015-04-03 2015-07-01 江苏理工学院 Three-dimensional sheet covering piece plasma flame cutting machine
CN104985592A (en) * 2015-07-17 2015-10-21 付建生 Five-axis linkage robot
CN106426120A (en) * 2016-11-22 2017-02-22 大连交通大学 Heavy loading gantry type robot
CN106426120B (en) * 2016-11-22 2019-03-22 大连交通大学 A kind of heavy load planer-type robot

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