Material or article handling – Apparatus for charging a load holding or supporting element... – Load holding or supporting element including gripping means
Patent
1980-06-25
1982-10-05
Knowles, Allen N.
Material or article handling
Apparatus for charging a load holding or supporting element...
Load holding or supporting element including gripping means
414732, 414738, 414751, B25J 300
Patent
active
043526209
ABSTRACT:
An industrial robot having two rotative mechanisms that are adapted to rotate two arms relative to the axial directions thereof and which are interconnected such that their longitudinal axes intersect at right angles. An arm which belongs to the first rotative mechanism is secured to the base of the robot, and a gripping member is attached to the end of a free arm which belongs to the second rotative mechanism. This permits the gripping member to be moved in a plane which is parallel to the X-Z plane, and then in a plane which is parallel to the Y-Z plane, so that a workpiece or tool replacement can be moved along the perpendicular side walls of a machine tool frame. The degrees of freedom can be increased by providing the robot arms with additional mechanisms, particularly between the second rotative mechanism and the gripping member, such as a rotative mechanism for rotating the gripping member about the arm, an extendible shaft for extending the arm, or a linear drive mechanism for moving the gripping member at right angles to the longitudinal axis of the arm. Servo mechanisms may constitute the means for driving the rotative mechanisms, the exendible shaft and the linear drive mechanism.
REFERENCES:
patent: 3451224 (1969-06-01), Colechia et al.
patent: 3850313 (1974-11-01), Rackman
patent: 3884365 (1975-05-01), Thomson
patent: 3922930 (1975-12-01), Fletcher
patent: 3954188 (1976-05-01), Boyle
patent: 4042122 (1977-08-01), Espy
patent: 4062455 (1977-12-01), Flatau
patent: 4177002 (1979-12-01), Motoda
patent: 4283165 (1981-08-01), Vertut
Inaba Hajimu
Inagaki Shigemi
Nakajima Seiichiro
Fujitsu Fanuc Limited
Knowles Allen N.
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