Robot system |
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| 申请号 | US3709379D | 申请日 | 1971-02-17 | 公开(公告)号 | US3709379A | 公开(公告)日 | 1973-01-09 |
| 申请人 | KAUFELDT INGENJORS AB R; | 发明人 | KAUFELDT R; | ||||
| 摘要 | A system for accurately damping and thereafter stopping highspeed displacement of robot arms in individual directions with substantially no play simultaneously with transmission of a signal for initiating displacement of other robot arms during the damping. | ||||||
| 权利要求 | 1. A rectilinear robot system comprising a plurality of rectilinear telescoping robot arm units, each including an elongated internal tube extending through a shorter external tube, said units being oriented in three coordinate axes, bearing means located at each end of the external tube between the opposing surfaces of the respective tubes, drive means for individually displacing said elongated internal tube longitudinally within said external tube, longitudinal motion damping means associated with at least one of said arm units, said damping means including a unit comprising a progressive damping means, adjustable stop means, and an electrical signal transmitting device positioned on one of said tubes and operated in synchronism with said stop means, and shoulder means located on the other one of said tubes for mechanically engaging the last-mentioned unit when said drive means are operative for damping the stopping motion and sending said signal. 2. A robot system in accordance with claim 1, wherein said plurality of robot units include three of said units individually located in the x, y and z directions of a Cartesian coordinate system. 3. A robot system in accordance with claim 1, wherein the internal and external tubes, respectively, have quadrangular cross sections mating with each other and being concentrical to each other. 4. A robot system in accordance with claim 3, wherein each bearing means comprises a pair of rollers for engaging the outer wall of the internal tube disposed in support means secured to the inner wall of the external tube. 5. A robot system in accordance with claim 4, wherein four roller pairs are located at each end of the quadrangular external tube for supporting the internal tube, each pair of the rollers being disposed between mating sides of the respective internal and external tubes, and wherein two of the four roller pairs at each end of the external tube are positioned resiliently, whereas the remaining two are stationarily secured to the external tube. 6. A robot system in accordance with claim 5, wherein the resilient pairs of rollers are located diagonally in the bearing means at the respective ends of the external tubes, as viewed in the longitudinal direction of the tubes. 7. A robot system in accordance with claim 1, wherein each drive means comprises a pneumatic cylinder. 8. A robot system in accordance with claim 1, wherein in said unit comprising a progressive damping device, adjustable stop means, and a signal transmitting device, said adjustable stop means are disposed parallel to said proGressive damping device and are provided with an adjustable engagement end and include an elongated rod mounted for being displaced in its longitudinal direction for actuating a signal transmitter incorporated in said unit, with said progressive damping device and said adjustable stop means being enclosed in a common block. |
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