Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1997-09-15
1999-05-11
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449005, 414917, 901 15, 901 23, 901 48, B25J17/00;18/00
Patent
active
059016132
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an industrial robot comprising a stand arranged on a foot and being rotatable about a first axis, the stand comprising a supporting plate with at least one supporting element which supports a first robot arm which is rotatable about a second axis.
BACKGROUND ART
A manipulator, for example an industrial robot, has a stand which is rotatably arranged on a foot fixed to a base plate and which supports a first robot arm which is rotatable in relation to the stand. At the outer end of this arm, a second robot arm is rotatably journalled. This second arm is rotatable about its own longitudinal axis and supports, at its outer end, a robot hand which is provided with a tool attachment and which is rotatable in two degrees of freedom relative to the second arm. To achieve movement of the mentioned robot arms and the hand, a drive means is arranged at each axis. Each such drive means comprises a motor and a reduction gear with a high gear ratio.
An industrial robot of the above-mentioned kind has an operating range which is limited by the physical extent of the arms of the robot as well as the mobility around the axes. An industrial robot fixed to a base plate therefore has a given operating range within which the workpieces to be machined by the industrial robot must be introduced. However, an industrial robot may be used for a wide variety of tasks, and for this reason demands are sometimes made for a changed accessibility or a changed operating range. By moving the industrial robot to a new attachment point, the operating range may be moved, but in order to change the operating range, it is also required that the structure of the industrial robot be changed. This can be achieved by replacing parts of the robot, for example the stand or some of the robot arms.
From the publication "IRB 6400 Industrial Robot", ABB 6397 032-145, March 1994, an industrial robot is known in which the operating range can be increased by extending the second arm. This is achieved by providing the second arm with an extension module. The operating range can also be changed by so-called shelf mounting, in which case an angular module is joined to the stand. This module gives the robot a changed operating range allowing it to work in front of and under itself. One problem with the described methods of increasing the flexibility of the robot by reconstructing it is that a production loss arises during the mounting time. An additional problem is that the reconstruction entails new cabling, which results in additional costs. A robot configuration changed in this way also entails a reprogramming of the control equipment of the robot.
SUMMARY OF THE INVENTION
The object of the invention is to achieve an industrial robot, the operating range of which may be adapted to different production purposes without any costs for rebuilding or production loss arising. Such an industrial robot is to be capable of being adjusted, simply and in a short time, to different types of operating ranges and different work operations. This is achieved according to the invention by an industrial robot in which the stand comprises adjustable supporting elements for the first arm, allowing the robot to tilt forwards or backwards. The supporting elements are rotatable around a horizontal axis parallel to the axis of the first arm and capable of being fixed to a supporting plate comprised in the stand. The supporting elements are arranged mutually parallel and are fixed to the supporting plate with friction joints in fixed angular steps known to the control equipment. This allows the robot to be rapidly reconfigured to operating ranges of the "under body" type, in which the robot is working from below towards an object above itself. It can also be rapidly adjusted to an operating range of the "shelf-mounted" type, in which the robot is working in front of and under itself as if it were placed on a shelf. The change can be carried out without having to replace the cabling of the robot. By introducing the rotatably att
REFERENCES:
patent: 4140226 (1979-02-01), Richter
patent: 4773813 (1988-09-01), Nakashima et al.
patent: 5065062 (1991-11-01), Uehara et al.
patent: 5145312 (1992-09-01), Sonoda et al.
Asea Brown Boveri AB
Herrmann Allan D.
LandOfFree
Industrial robot does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Industrial robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Industrial robot will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-239514