Industrial robot governed by a programmable controller
US4620831A · kind A · utility
Assignees
Inventors
Key dates
| Filing date | May 31, 1983 |
| Grant date | Nov 4, 1986 |
| Priority date | — |
| Expiry date | May 31, 2003 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB29C45/42
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The invention concerns a kinematic system of an industrial robot and a sequential control system of its operating cycle. The robot comprises a vertical spindle supporting a main rotating arm and a forearm fixed to a gripping component. A first vertical transfer jack is provided at the end of the forearm. Arms are mounted via bearings on a loose spindle in a link and can swivel, driven by servo-motors in a horizontal plane so as to form a kinematic system functioning in cylindrical coordinates. The servo-motors are programmed to drive the gripping component through a linear trajectory at the beginning of the cycle. A releasable couping system with memory device is provided for the tool-holder. The controller control system is arranged to ensure the transitory readjustment of each arm to a starting position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.