GB2179322A - Industrial robot for handling workpieces and tools - Google Patents

Industrial robot for handling workpieces and tools Download PDF

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Publication number
GB2179322A
GB2179322A GB08617620A GB8617620A GB2179322A GB 2179322 A GB2179322 A GB 2179322A GB 08617620 A GB08617620 A GB 08617620A GB 8617620 A GB8617620 A GB 8617620A GB 2179322 A GB2179322 A GB 2179322A
Authority
GB
United Kingdom
Prior art keywords
crossbeam
gantry
industrial robot
beams
carriages
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Withdrawn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
GB08617620A
Other versions
GB8617620D0 (en
Inventor
Armin Greuel
Kurt Schutze
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.)
Werkzeugmaschinenkombinat 7 Oktober VEB
Original Assignee
Werkzeugmaschinenkombinat 7 Oktober VEB
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 Werkzeugmaschinenkombinat 7 Oktober VEB filed Critical Werkzeugmaschinenkombinat 7 Oktober VEB
Publication of GB8617620D0 publication Critical patent/GB8617620D0/en
Publication of GB2179322A publication Critical patent/GB2179322A/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Withdrawn legal-status Critical Current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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/267—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members with means to prevent skewness between the relatively slidable members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

An industrial robot for handling workpieces and tools consists of gantry beams (2) mounted on supports (1) on opposite sides of a rectangular working area, the beams (2) being spanned by a crossbeam (4) provided with carriages (3) received for movement along the beams (2). The gantry beams (2) are relatively short and the crossbeam (4) relatively long. A gantry carriage (5) moves along the crossbeam. A lifting device (6) and a grip (7) are mounted on the gantry carriage (5). A limiting arrangement is provided to maintain equal rates of movement of the carriages (3) along the gantry beams (2). <IMAGE>

Description

SPECIFICATION Industrial robot for handling workpieces and tools The invention relates to an industrial robot of cross gantry design for handling workpieces and tools.
Known industrial robots of cross gantry design, i.e.
with a rectangular working area, are constructed such that the crossbeam is moved with the gantry carriage, which means that the entire mobile mass of the robot is moved, whereas the gantry carriage, which has a relativelysmall mass, hasto coverthe shorter distances.
The disadvantages of this kind of industrial robot of cross gantry design lies in the fact that a high power supply must be installed to drive the crossbeam, in orderto obtain speed and acceleration values resulting in transport times which areaccept- able for the distances to be covered.
An object of the invention is to optimise the situation regarding material expenditure for an industrial robot of this kind, drive power and transport times.
Another object of the invention is to construct an industrial robot of cross gantry design such that particularlythe shaft extending in the longitudinal direction ofthe rectangular working area can be moved at a high speed with a reasonable drive power and with a high degree of reliability.
These objects are solved according to the invention as follows. The cross gantry is designed such that the cross beam ofthe industrial robot is extended so that the gantry carriage, which has a relatively small mass, has to coverthe long distances within the working surface, whereas the entire crossbeam only covers the shorter distance. The synchronism of the two carriages of the crossbeam is preferably monitored by two limit switches, between which a switch lever is rotatably mounted. Should irregularities occur in the transverse movement, i.e. inadmissible advance or lagging of one ofthetwo carriages, the switch lever is pressed against one ofthe limit switches, according to the direction of devi ation,thus causing an immediate braking action.
Thus, broadly stated, the present invention provides an industrial robot including cross gantry beams, a crossbeam extending betweenthegantry beams and secured to carriages mounted for movement along the gantry beams, the aspect ratio between the gantry beams and the crossbeam being greaterthan one, and a gantry carriage movable along the crossbeam.
In orderthatthe invention may be morefullyunderstood an embodimentthereofwill now be described by way of example with reference to the accompanying drawings on which Figure 1 is an overall view of an industrial robot and Figure2 shows a device for monitoring the movement ofthe crossbeam.
Figure 1 shows an industrial robot of cross gantry design with foursupports 1 and two gantry beams 2, on which the two cariages 3with the crossbeam 4are moved. The carriages 3 are mounted on rollers on the guideways ofthe gantry beams 2. The guideways of one of the gantry beams 2 are formed as a V-way; thoseoftheotheroneasaflattrackto balancedistancetolerances. The gantry beams 2 are relatively short and the crossbeam 4 is relatively long, i.e. the aspect ratio between the gantry beams and the crossbeam is greaterthan one.
The gantry carriage 5 is guided on the crossbeam 4 and is provided with a lifting device 6 and a grip 7.
The crossbeam 4 is driven on each carriage 3 by a direct-current motor, which is not shown, and a rackand-pinion gear. The two direct-current motors are electronically synchronised.
The synchronism of the two carriages 3 is additionally monitored by a device shown in Figure 2. Two limit switches 9 are arranged on a holder 8 on the carriage 3 guided in the V-way, between which switches a switch lever 10 is rotatably mounted. A switch rod 11, rotatably secured to the crossbeam 4, connects the switch lever 10 to two adjustable stops 12.
Irregularities in the movement of the crossbeam, i.e. inadmissible advance or lagging of one of the two carriages 3, lead to a slight deviation between the crossbeam 4 and the carriage 3 guided in the V-way.
This results in a relative movement between the switch rod 11 and the holder 8, and the switch lever 10 is pressed against one of the two limit switches 9, depending on the direction of deviation. An emer gency cutout which is thereby triggered slows down the crossbeam drive.
The solution according to the invention enables an industrial robot of cross gantry design to be constructed such that particularly the shaft extending in the longitudinal direction of the rectangularworking surface can be moved at a high speed with a resonable drive power. The situation regarding material expenditure, drive power and transporttimes can be substantially optimised.
1. An industrial robot including cross gantry beams, a crossbeam extending between extending between the gantry beams and secured to carriages mounted for movement along the gantry beams, the aspect ratio between the gantry beams and the crossbeam being greaterthan one, and a gantry carriage movable along the crossbeam.
2. An industrial robot according to claim 1 including first and second motormeansfordriving the carriages respectively along the gantry beams, and means for controlling the relative driving rates of the motors.
3. An industrial robot according to claim 1 or2 wherein one of said carriages is received in a Vshaped channel on one ofthe gantry beams.
4. An industrial robot according to any preceding claim wherein two limit switches are secured to a holder on one ofthe carriages, between which switches a switch rod operated by differential movement of the carriages, actuates the limit switches.
5. An industrial robot substantially as hereinbefore described with reference to the accompanying drawings.
6. Industrial robot of cross gantry design for
**WARNING** end of DESC field may overlap start of CLMS **.

Claims (7)

**WARNING** start of CLMS field may overlap end of DESC **. SPECIFICATION Industrial robot for handling workpieces and tools The invention relates to an industrial robot of cross gantry design for handling workpieces and tools. Known industrial robots of cross gantry design, i.e. with a rectangular working area, are constructed such that the crossbeam is moved with the gantry carriage, which means that the entire mobile mass of the robot is moved, whereas the gantry carriage, which has a relativelysmall mass, hasto coverthe shorter distances. The disadvantages of this kind of industrial robot of cross gantry design lies in the fact that a high power supply must be installed to drive the crossbeam, in orderto obtain speed and acceleration values resulting in transport times which areaccept- able for the distances to be covered. An object of the invention is to optimise the situation regarding material expenditure for an industrial robot of this kind, drive power and transport times. Another object of the invention is to construct an industrial robot of cross gantry design such that particularlythe shaft extending in the longitudinal direction ofthe rectangular working area can be moved at a high speed with a reasonable drive power and with a high degree of reliability. These objects are solved according to the invention as follows. The cross gantry is designed such that the cross beam ofthe industrial robot is extended so that the gantry carriage, which has a relatively small mass, has to coverthe long distances within the working surface, whereas the entire crossbeam only covers the shorter distance. The synchronism of the two carriages of the crossbeam is preferably monitored by two limit switches, between which a switch lever is rotatably mounted. Should irregularities occur in the transverse movement, i.e. inadmissible advance or lagging of one ofthetwo carriages, the switch lever is pressed against one ofthe limit switches, according to the direction of devi ation,thus causing an immediate braking action. Thus, broadly stated, the present invention provides an industrial robot including cross gantry beams, a crossbeam extending betweenthegantry beams and secured to carriages mounted for movement along the gantry beams, the aspect ratio between the gantry beams and the crossbeam being greaterthan one, and a gantry carriage movable along the crossbeam. In orderthatthe invention may be morefullyunderstood an embodimentthereofwill now be described by way of example with reference to the accompanying drawings on which Figure 1 is an overall view of an industrial robot and Figure2 shows a device for monitoring the movement ofthe crossbeam. Figure 1 shows an industrial robot of cross gantry design with foursupports 1 and two gantry beams 2, on which the two cariages 3with the crossbeam 4are moved. The carriages 3 are mounted on rollers on the guideways ofthe gantry beams 2. The guideways of one of the gantry beams 2 are formed as a V-way; thoseoftheotheroneasaflattrackto balancedistancetolerances. The gantry beams 2 are relatively short and the crossbeam 4 is relatively long, i.e. the aspect ratio between the gantry beams and the crossbeam is greaterthan one. The gantry carriage 5 is guided on the crossbeam 4 and is provided with a lifting device 6 and a grip 7. The crossbeam 4 is driven on each carriage 3 by a direct-current motor, which is not shown, and a rackand-pinion gear. The two direct-current motors are electronically synchronised. The synchronism of the two carriages 3 is additionally monitored by a device shown in Figure 2. Two limit switches 9 are arranged on a holder 8 on the carriage 3 guided in the V-way, between which switches a switch lever 10 is rotatably mounted. A switch rod 11, rotatably secured to the crossbeam 4, connects the switch lever 10 to two adjustable stops 12. Irregularities in the movement of the crossbeam, i.e. inadmissible advance or lagging of one of the two carriages 3, lead to a slight deviation between the crossbeam 4 and the carriage 3 guided in the V-way. This results in a relative movement between the switch rod 11 and the holder 8, and the switch lever 10 is pressed against one of the two limit switches 9, depending on the direction of deviation. An emer gency cutout which is thereby triggered slows down the crossbeam drive. The solution according to the invention enables an industrial robot of cross gantry design to be constructed such that particularly the shaft extending in the longitudinal direction of the rectangularworking surface can be moved at a high speed with a resonable drive power. The situation regarding material expenditure, drive power and transporttimes can be substantially optimised. CLAIMS
1. An industrial robot including cross gantry beams, a crossbeam extending between extending between the gantry beams and secured to carriages mounted for movement along the gantry beams, the aspect ratio between the gantry beams and the crossbeam being greaterthan one, and a gantry carriage movable along the crossbeam.
2. An industrial robot according to claim 1 including first and second motormeansfordriving the carriages respectively along the gantry beams, and means for controlling the relative driving rates of the motors.
3. An industrial robot according to claim 1 or2 wherein one of said carriages is received in a Vshaped channel on one ofthe gantry beams.
4. An industrial robot according to any preceding claim wherein two limit switches are secured to a holder on one ofthe carriages, between which switches a switch rod operated by differential movement of the carriages, actuates the limit switches.
5. An industrial robot substantially as hereinbefore described with reference to the accompanying drawings.
6. Industrial robot of cross gantry design for handlingworkpiecesandtoolswithin a rectangular working surface, characterised in that the crossbeam secured to the carriage, which can be moved on the gantry beams is arranged along the rectangular working surface and in that the aspect ratio between the gantry beams and the crossbeam is greaterthan one.
7. Industrial robotaccordingto claim 6characterised in thattwo limit switches are secured to a holder on the carriage between which switches a switch rod which connects the switch lever to two stops is rotatably mounted on the crossbeam.
GB08617620A 1985-08-19 1986-07-18 Industrial robot for handling workpieces and tools Withdrawn GB2179322A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DD27980285A DD240351A1 (en) 1985-08-19 1985-08-19 INDUSTRIAL ROBOT FOR THE HANDLING OF WORKPIECES AND TOOLS

Publications (2)

Publication Number Publication Date
GB8617620D0 GB8617620D0 (en) 1986-08-28
GB2179322A true GB2179322A (en) 1987-03-04

Family

ID=5570609

Family Applications (1)

Application Number Title Priority Date Filing Date
GB08617620A Withdrawn GB2179322A (en) 1985-08-19 1986-07-18 Industrial robot for handling workpieces and tools

Country Status (5)

Country Link
DD (1) DD240351A1 (en)
DE (1) DE3620480A1 (en)
FR (1) FR2586212A1 (en)
GB (1) GB2179322A (en)
SE (1) SE8603460L (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2210293A (en) * 1987-09-28 1989-06-07 Auton Juan Jose Rius Apparatus to separate metallic bodies from non-metallic comminuted materials
WO1989012018A1 (en) * 1988-05-31 1989-12-14 Brown Gordon T Gantry robot construction
FR2654031A1 (en) * 1989-11-03 1991-05-10 Commissariat Energie Atomique Device for limiting the load transmitted between two mechanical structures
WO1998019819A1 (en) * 1996-11-04 1998-05-14 Ds Technologie Werkzeugmaschinenbau Gmbh Machine tool for machining large sized components by stock removal
EP0995555A1 (en) * 1998-10-15 2000-04-26 Tecan AG Robot arm
CN103861819A (en) * 2014-04-02 2014-06-18 无锡创捷汽车部件有限公司 Sorting mechanism for automatic plunger steel ball measurement riveting machine
CN104476546A (en) * 2014-11-28 2015-04-01 东莞市青麦田数码科技有限公司 Loading/ unloading manipulator for carrying goods
CN105690379A (en) * 2016-03-24 2016-06-22 同济大学 Four-track gantry suspended type double-manipulator collaborative machining system
CN105773590A (en) * 2015-04-20 2016-07-20 骏马石油装备制造有限公司 Fetching gripper for prefabricating working station of convection section frameworks
CN106181976A (en) * 2016-07-26 2016-12-07 温州职业技术学院 Lamp socket three inserted sheet automatic catching robot system
CN106239565A (en) * 2016-07-25 2016-12-21 中核（天津）机械有限公司 Automatic boxing truss mechanical hand
CN109591049A (en) * 2018-12-07 2019-04-09 英华达（上海）科技有限公司 The extended structure of mechanical arm and mechanical arm with extended structure
CN110053065A (en) * 2019-04-25 2019-07-26 徐佳斌 Workpiece transportation manipulator for water pump manufacture assembly

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3623506A1 (en) * 1986-07-09 1988-01-28 Mannesmann Ag GUIDE FOR AN INDUSTRIAL ROBOT
CN107871215A (en) * 2017-12-11 2018-04-03 广州市标准化研究院（广州市组织机构代码管理中心） A kind of standard is to economic development impact evaluation model and verification method
CN109821698A (en) * 2019-03-07 2019-05-31 广德竹昌电子科技有限公司 A kind of big stroke gantry is double to drive dispenser
CN111730584A (en) * 2020-07-14 2020-10-02 杭州科泽尔工业设计有限公司 Telescopic mechanical arm for machining and operation method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB781465A (en) * 1954-03-29 1957-08-21 Cyril Walter Kenward Improvements in or relating to positioning, assembling or manipulating apparatus
GB859162A (en) * 1958-03-10 1961-01-18 A C Wilson & Partners Ltd Power-operated manipulator
GB876898A (en) * 1959-01-20 1961-09-06 Commissariat Energie Atomique Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers
GB1602213A (en) * 1977-03-17 1981-11-11 Motoda Denshi Kogyo Kk Apparatus for transporting a load to a given spatial position
GB2120202A (en) * 1982-05-03 1983-11-30 Nova Robotics Inc Industrial robot
EP0132616A1 (en) * 1983-07-22 1985-02-13 International Business Machines Corporation System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom

Family Cites Families (2)

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GB1244940A (en) * 1969-03-31 1971-09-02 Aida Tekkosho Kk An article transfer apparatus
DE3138634C2 (en) * 1981-09-29 1984-02-02 Nukem Gmbh, 6450 Hanau Device for holding remote control devices

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB781465A (en) * 1954-03-29 1957-08-21 Cyril Walter Kenward Improvements in or relating to positioning, assembling or manipulating apparatus
GB859162A (en) * 1958-03-10 1961-01-18 A C Wilson & Partners Ltd Power-operated manipulator
GB876898A (en) * 1959-01-20 1961-09-06 Commissariat Energie Atomique Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers
GB1602213A (en) * 1977-03-17 1981-11-11 Motoda Denshi Kogyo Kk Apparatus for transporting a load to a given spatial position
GB2120202A (en) * 1982-05-03 1983-11-30 Nova Robotics Inc Industrial robot
EP0132616A1 (en) * 1983-07-22 1985-02-13 International Business Machines Corporation System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
WO A1 85/01002 *

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2210293A (en) * 1987-09-28 1989-06-07 Auton Juan Jose Rius Apparatus to separate metallic bodies from non-metallic comminuted materials
WO1989012018A1 (en) * 1988-05-31 1989-12-14 Brown Gordon T Gantry robot construction
EP0418319A1 (en) * 1988-05-31 1991-03-27 Gordon T Brown Gantry robot construction and drive mechanism.
EP0418319B1 (en) * 1988-05-31 1995-11-08 BROWN, Gordon T. Gantry robot construction and drive mechanism
FR2654031A1 (en) * 1989-11-03 1991-05-10 Commissariat Energie Atomique Device for limiting the load transmitted between two mechanical structures
WO1998019819A1 (en) * 1996-11-04 1998-05-14 Ds Technologie Werkzeugmaschinenbau Gmbh Machine tool for machining large sized components by stock removal
EP0995555A1 (en) * 1998-10-15 2000-04-26 Tecan AG Robot arm
CN103861819A (en) * 2014-04-02 2014-06-18 无锡创捷汽车部件有限公司 Sorting mechanism for automatic plunger steel ball measurement riveting machine
CN104476546A (en) * 2014-11-28 2015-04-01 东莞市青麦田数码科技有限公司 Loading/ unloading manipulator for carrying goods
CN105773590A (en) * 2015-04-20 2016-07-20 骏马石油装备制造有限公司 Fetching gripper for prefabricating working station of convection section frameworks
CN105690379A (en) * 2016-03-24 2016-06-22 同济大学 Four-track gantry suspended type double-manipulator collaborative machining system
CN106239565A (en) * 2016-07-25 2016-12-21 中核（天津）机械有限公司 Automatic boxing truss mechanical hand
CN106239565B (en) * 2016-07-25 2018-11-06 中核（天津）机械有限公司 Automatic boxing truss manipulator
CN106181976A (en) * 2016-07-26 2016-12-07 温州职业技术学院 Lamp socket three inserted sheet automatic catching robot system
CN106181976B (en) * 2016-07-26 2019-02-15 温州职业技术学院 Three inserted sheet automatic catching robot system of lamp holder
CN109591049A (en) * 2018-12-07 2019-04-09 英华达（上海）科技有限公司 The extended structure of mechanical arm and mechanical arm with extended structure
CN109591049B (en) * 2018-12-07 2022-02-11 英华达（上海）科技有限公司 Extension structure of mechanical arm and mechanical arm with extension structure
CN110053065A (en) * 2019-04-25 2019-07-26 徐佳斌 Workpiece transportation manipulator for water pump manufacture assembly

Also Published As

Publication number Publication date
DD240351A1 (en) 1986-10-29
SE8603460L (en) 1987-02-20
SE8603460D0 (en) 1986-08-18
GB8617620D0 (en) 1986-08-28
DE3620480A1 (en) 1987-02-19
FR2586212A1 (en) 1987-02-20

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