Material or article handling – Vertically swinging load support – Grab
Patent
1982-07-02
1984-07-31
Valenza, Joseph E.
Material or article handling
Vertically swinging load support
Grab
414736, 414739, B25J 1100
Patent
active
044627483
ABSTRACT:
An industrial robot having a hollow arm rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism attached for rotation at one end of the arm, the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders colinearly disposed within the arm, the first cylinder being fixed and the second cylinder being movable longitudinally of the arm. A piston rod interconnects the first and second air cylinders, the piston rod having a first piston at one end received in the first cylinder and a second piston at the other end received in the second cylinder. The piston rod is moved longitudinally of the arm by introducing air selectively into the first and second air cylinders. A pulley is affixed to the first cylinder, and a tension member such as a wire or belt is connected between the rotary shaft of the wrist mechanism and the pulley. The second cylinder is connected to the tension member. The tension member is pulled by driving the second cylinder, thereby rotating the rotary shaft, which is capable of being stopped at 0.degree., .+-.90.degree., and 180.degree. positions by the use of a stopping mechanism.
REFERENCES:
patent: 2811267 (1957-10-01), Bock
patent: 3028020 (1962-04-01), Peras
patent: 4151918 (1979-05-01), Nakane
patent: 4259876 (1981-04-01), Belyanin et al.
patent: 4288192 (1981-09-01), Geiger et al.
patent: 4312622 (1982-01-01), Favareto
Inaba Hajimu
Inagaki Shigemi
Fujitsu Fanuc Ltd.
Siemens Terrance L.
Valenza Joseph E.
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