WO1983000833A1 - Robot industriel monte sur des voies - Google Patents

Robot industriel monte sur des voies Download PDF

Info

Publication number
WO1983000833A1
WO1983000833A1 PCT/GB1982/000265 GB8200265W WO8300833A1 WO 1983000833 A1 WO1983000833 A1 WO 1983000833A1 GB 8200265 W GB8200265 W GB 8200265W WO 8300833 A1 WO8300833 A1 WO 8300833A1
Authority
WO
WIPO (PCT)
Prior art keywords
carriage
track
bars
bar
machine tool
Prior art date
Application number
PCT/GB1982/000265
Other languages
English (en)
Inventor
Bagnall Limited Lansing
Original Assignee
Blackburn, Allan, Michael
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 Blackburn, Allan, Michael filed Critical Blackburn, Allan, Michael
Publication of WO1983000833A1 publication Critical patent/WO1983000833A1/fr

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.
PCT/GB1982/000265 1981-09-08 1982-09-08 Robot industriel monte sur des voies WO1983000833A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8127147810908 1981-09-08
GB08127147A GB2105278A (en) 1981-09-08 1981-09-08 Track-mounted industrial robot

Publications (1)

Publication Number Publication Date
WO1983000833A1 true WO1983000833A1 (fr) 1983-03-17

Family

ID=10524379

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1982/000265 WO1983000833A1 (fr) 1981-09-08 1982-09-08 Robot industriel monte sur des voies

Country Status (3)

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

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2159120A (en) * 1984-01-09 1985-11-27 Westinghouse Electric Corp Modular, low cost, programmable assembly system
DE3917544A1 (de) * 1988-05-30 1989-12-14 Mitsubishi Electric Corp Laufbahn fuer einen fahrbaren industrie-roboter
DE102010005446A1 (de) * 2010-01-24 2011-07-28 A2 Anlagentechnik Automation GmbH, 73240 Vorrichtung zum Bearbeiten von großen Werkstücken mit einem Roboter
CN111550660A (zh) * 2020-05-07 2020-08-18 中自机器人技术(安庆)有限公司 一种便捷式管廊巡视机器人
CN112318475A (zh) * 2020-11-02 2021-02-05 河南大学 一种利用两轮差速底盘转向的探测二轮机器人

Families Citing this family (2)

* 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
DE3902076C1 (fr) * 1989-01-25 1990-08-23 Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2070719A1 (fr) * 1969-11-24 1971-09-17 Steelweld Ltd
DE2516471A1 (de) * 1975-04-15 1976-10-28 Blocher Motor Kg Antriebseinheit
GB1575432A (en) * 1976-03-19 1980-09-24 Guilliet Ets Wood cutting machines
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2070719A1 (fr) * 1969-11-24 1971-09-17 Steelweld Ltd
DE2516471A1 (de) * 1975-04-15 1976-10-28 Blocher Motor Kg Antriebseinheit
GB1575432A (en) * 1976-03-19 1980-09-24 Guilliet Ets Wood cutting machines
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

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2159120A (en) * 1984-01-09 1985-11-27 Westinghouse Electric Corp Modular, low cost, programmable assembly system
DE3917544A1 (de) * 1988-05-30 1989-12-14 Mitsubishi Electric Corp Laufbahn fuer einen fahrbaren industrie-roboter
DE102010005446A1 (de) * 2010-01-24 2011-07-28 A2 Anlagentechnik Automation GmbH, 73240 Vorrichtung zum Bearbeiten von großen Werkstücken mit einem Roboter
CN111550660A (zh) * 2020-05-07 2020-08-18 中自机器人技术(安庆)有限公司 一种便捷式管廊巡视机器人
CN112318475A (zh) * 2020-11-02 2021-02-05 河南大学 一种利用两轮差速底盘转向的探测二轮机器人

Also Published As

Publication number Publication date
GB2105278A (en) 1983-03-23
EP0087448A1 (fr) 1983-09-07

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