CA1114856A - Manipulator - Google Patents
ManipulatorInfo
- Publication number
- CA1114856A CA1114856A CA311,621A CA311621A CA1114856A CA 1114856 A CA1114856 A CA 1114856A CA 311621 A CA311621 A CA 311621A CA 1114856 A CA1114856 A CA 1114856A
- Authority
- CA
- Canada
- Prior art keywords
- spindle
- plunger
- manipulator according
- support unit
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
ABSTRACT
A manipulator for the industrial handling of workpieces has a horizontal jib capable of being swung about a vertical axis. At the free end of the jib is a vertically depending, extensible support unit for a work holding unit including manually controlled clamping jaws.
A manipulator for the industrial handling of workpieces has a horizontal jib capable of being swung about a vertical axis. At the free end of the jib is a vertically depending, extensible support unit for a work holding unit including manually controlled clamping jaws.
Description
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mis inven-tion relates to a manipulator~
Industrial materials handling equipment is known which includes a Jib capable of belng turned about a -~ertical sha~t and on which is mounted a vertically extend~ng, telescopic support for a load holding unit~ The equipment s moved and guided manually and constitutes an alternati~e to a hoist of the block and tackle type ~idely use~ on the Jibs of cranes for the purpose o~ handling workp~eces.
So-called robots are also known whioh are capable o~
executing a lar~e number of di~erent movements on an automatic or r~mote-controlled basis~ mey are, however, extremely specialised and used only ~or specific functions in a production li~.
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An object o~ the present invention is there~ore to provide a manipulator for industrial use which fills the gap between the robot_~ype o~ device and manually movable materials handling equipment.
~ccording to a first aspect o~ the invention, there~ore;
there is provided a manipulator comprising a jib rotatable about a vertical axi~, an extensib~e elongate support u~it carried on the jibg the support unit extendin~ vertically downward~ relative to the ~ib and a load hanclling unit carried by ~he lower end o~ the .
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support unit; the support ~nit including a guide, a screw-threaded spindle, means for selectively dri~ing the spindle in rotation, a non-rotatable ball sleeve associated with the spindle, a support plunger operatively connected with the ball sleeve whereby the plunger is - adjustable vertically in response to rotation of the spindle, a bearing element mounted on the plunger at . its lower end, said bearing element having ~t lea~t one mounting face, a spacing element secured to said mounting face, the load holding unit being connected to the spacing element, and said spacing element being adapted to permit swiveling movement o~ the load holding unit relative to the bearing element. By using a ball screw mechanism as a lifting device to extend the support unit there is provided a rigid carrier o~ very simple ; design at no great cost9 so that large bending force may .~ be transmit~ed through the two telescopic parts (i.e.
. plunger and guide) o~ the support unit to the jib, By supporting the load holding unit on ths plunger of the support unit through the intermeaiary oi a spacing element mounted on a b~aring element~ a wide range o~ s~iveling movements o~ the load holding unit relati~e to the extensible support unit is made possible.
Pre~erably, the swivel mechanism and the load holding unit ~ is so arr~lged in relatlon to the bearing member that : the centre o~ gra~ity of the load in its final position .:
lies substantially on a line ex-tending ~rom the axis o~
the swivel mechanism. In this way, -the swivel forces are reduced tv a minimum.
Pre~erably, the load holding unit includes adjustabie ~aw members which are actuable by means including a guide, a ~aw moving plunger adjustable relative to the guide, a screw threaded spindle with is selectiYely drivable in rotation, and a ball sleeve associated with the spindle and connected to the jaw mo~ing plunger. The advantages o~ a ball-screw mechanism outlined above are there~ore obtalned in connection with the a¢tuation of the work holding unit. Futher~ore, by using similar mechanisms to actuate the clamping jaws and extend and retract the support unit ( and, indeed, to perform other functions in preferred embodiments as will appear hereinafter), a reduction is made in the ~umber of dif~erent G~mponents needed ~or apparatus in accordance with the invention. Conveniently, the extensible support unit is secured against angular movement relati~e to the Jib but is movable vertically xelative to the jib.
Vertical- adjustment o~ the support unit as a whole relative to the jib provides for a greater degree of adJustability and allows the manipulator to carry out a wide variety o~ ~unctions, while angular rigidity of the ; support unit on the aib en~ures that the load can be held reliably at a ~ixed point i~ space~ A reduction in the number of di~erent components required may~ as indica~ed `~i j . ~, .
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above, be achieved by using a ball screw mechanism as the lifing de~ce for adjusting the support unit relative to the jib7 as we~l as by taklng advantage o~ the properties of ~uch a mechanism, although a manually operated rack and pinion drive may be used instead ~or this purpose.
By making use o~ a two-part ~ib, a workpiece held in the load holding unit may be positioned at any point within an arc o~ a circle oentred on the axis o~ rotation oi the jib~ The jib may thus comprise two ar~s which are articulated together about a vertical axis. One ~ the arms is rotatable relatiYe to a ~ixed support about a vertical axis while the other arm carries the extensible support unit. Movem~nt of the two arms relative to each other and o~ the iirst arm relative to the fixed support may be achieved by operating means which~ in each case~
may include a dri~e means such as an electric motor and a bFake~ The brake~ are preferably steady-current brakes to provlde security in cases o~ doubt or when, ~or any reason, the manipulator is le~t uncontrolled. The brakes en~ure that the load may be held reliably at a ~ixed point in space whereas, i~ the arms of the jib were ~ot suf~iciently braked~ a heavy load might mo~e in an ~controlled fa~hion beoause of the ben~ing forces acting -on .~he manipulator, and op~rations and pèrsonnel would be endangered. me load may be moved within a . . .
greater area, and the ef~ort ~or moving it be distribu-ted among a greater number o~mechc~nisms, by providing a li~tin~
device between, for example, 1he arms o~ the jib or between the ~ib and the fixed ~upport about w.hich it turns. In one possible arrangement~ the Jib is supported on a - carriage movable vertically ~ithin a mast by means o~ a ball screw mechanism~
The ma~ipulator provided by the inven^tion may be put to a greater number oP uses by associa-ting the load holding unit with extensible means for advancing and retractin~ the load holding unit~ These mean~ may be associa-ted with a pulsating force generator which pre~erably nperates mechanically or through the torque o~ an electric motor, so that a considerable saving in power is thereb~ achieved. The ~aw members ~ the load holding unit may be pivoted to a bearing plate-capable of being rotated by gearing so as to swivel the ~aw mem~ers~ The power ~or swiveling the ~aw members may be der~Yed from the threaded spindle of a - ball screw mechanism o~ the spacing unit, the spindle being disengaged from its ball sleeve so as to rotate the gearing.
: A ~urther spacing element may be arranged substantiall~
at right-angles to the spacing element which maintains ~he radial distance of the wo~ holding unit from the vertical ` extensible support unit9 the addi-tional spaoing eleme~t being.
arranged to swivel or to be displaced Joi~tly with the ~ .
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fir~t-mentioned spacing element relative to the baaring element, so that ~he spacing element may be swung subs-tantially in the same dir~ction or in a direction parallel to the-extensible support unit, or can be swung into a position at right-angles thereto. In this connection9 it is ad~antageous for a clamping mechanism to be connected to the swivel mechan~sms so that the load holding unit i~
supported by a nur~ber o~ blocks which are rota-ta~la rela~
to each other.
The invention also provides an extensible t~lescopic unit which may b~ used, with appropriate modifications where necessary, as the support ~nit which extends ~rom the Jib, or ~or supporting the load holding unit ~rom such suppor-t unit, or els~where in the manipulatorO According to ~his aspect of the invention, suGh a telescopic unit compr~ses an outer tube o~ polygonal cross-s~ction, a screw-threaded spindle extending axi~lly through the outer tube, means located ad~acent one end ~f the tube ~or driving th~
spindle in rotation, a plunger disposed within the outer~ube ln surrounding Lrelationship relative to the spindle, the plunger bei~g formed by a tube of circular cross~s~ction which i5 screw-threaded at each end9 a slide ring carrier screwe~
to one o~ the ends o~ the plunger, a ball sle~e secured to the ring carrier, the slide ring carrier supporting a sl~de ring of resilient damping material which engages the in~er surface o~ the outer tube~ and a bearing element for a load holding unit screwed to the other end of the plun~er . . i ~,. ....................................................... . .
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or to an intermediate member~ screwed to the other end of the plunger. Such an arrangemen~ is particularly advantageous and simple in con~truction and provides long-term stability and ~ool proo~ operation~ Ball scr~w mechanisms are very delicate units, and can be quickly rendered unusable owing to the pitting effect and force peaks. A housing connected to the outer tube may contain a drive motor having a drive shaft drivabl~ coupled with plantary gearing, a~ output shaft from which an interm~diate sha~t is driven by way of planetary gearing, the intermediate shaft being mounted in bearings tG resist tensile and compressive ~orces and being coupled to the spindle, the drive shaft fur*her being arranged to drive a spindl~ of a limit switch controlling the motor. A steady-current brake may be arranged on the rotor shaft, which latter is arranged to driYe the spindle o~ the limit switc~
mechanism thr~ough a belt or other connection. Such an arrangement ~acilitates repair,~ and the possibility o~
adaption to provide various speQd-reduction stages.
me invention also provides alternative constructions o~
extensible telescopic support units 7 one of which comprises a drive block which houses means through which the screw-threaded spindle is drivable in rotation, a ball sleeve associated with the spindle, tensile bearings ~or the ends of the spindle, the bearings being supported in . :~ . "
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carriers which permit a small a~ount of axlal clearance for the spindle, and one of ~hich is disposed a-t the end of a column rigid with the drive block, the plunger surrounding the column and being connec-ted to the ball sleeve by connecting means through slo-ts in the column.
A support unit may be constructed to this design which is able to withstand an approxima-tely tenfold load which is in thé
tensile direction only, since no bending stresses occur.
It is thus possible to apply extremely high forces corr-esponding to the permissible tensile loading of the particula~ size of ball sleeve selected. me plunger may take the form of a tube which surrounds the column or it may be constructed as separate column, whereby it ls possible to increase the rigidity of the plunger su~iciently ~or the transmission o~ very great compressive forces while using 1ng strokes~ It is also necessa~y to be able to impart any re~uired bendi~g strength to the carrier ~or the bearings which, on the one hand, may ~e arranged at the end of a rigid support and on the other are located within the drive block.
According to a further aspect of the invention, a cont~ol unit for the manipulator comprises a guide member acted upon by a return force and engaging in a slot in a slide guided in the longitudinal direction of the second arm and which extends transversely of said arm,said slide being arranged to moYe either an induction coil or a core of such coil of a measured val~e signal transmitting device.
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This control arrangement overcomes the di~iculi-tes that arise in controlling -the var1ous angular positions o~
the jib arms. Depending upon -the an~llar position and the particular direction in which the operator applies force, the drives impart movemen-t over di~ferent distances or apply different ~orces. Thus 9 an arm may be brought to a stop by the brake in order to enable the second arm to swivel about the!first arm9for example. m e direction of drive of the swivel mechanisms is thus controlled through the direction of movement o~ the manually controlled slide and the drive torque is controlled through the length of travel of -the slide, the direction of application of ~orce being taken into account by an angular function.
Extensible support uni-ts which may be o~ -the type referred to hereinabo~e, may be combined to ~orm a support unit which comprises a plurality of drive blocks each including an electric motor and gearing ~or driving a respective spindle, and a telescopic means extensible by ball sleeve means associated with the spindle, the blocks and extensible means being connected in series, whereby the blocks reinforce the assembly. In this way is achieved anl extensible support which is of greater length and which can pro~ide not only a multiple stroke but also a speed of s-troke that is several times greater than a single unit, In accordanc~ with this aspect of the invention~ an extensible stlpport unit, particularly for a man~pulator ' ~ 5~
may be made which is considerably lighter in weight since - the spindles are subjected only to tensile loads. In ~ -the complete unit, the various drive blocks resemble the ; joints in a bamboo sti~k and the bending ~orces that occur are more efficiently resisted. In particular, however, it is possible to vary the length o~ stroke without replacing the support; unit.
A ~urther aspect o~ the invention is concerned with the load holding unit, which may comprise a housing and.a guide ~or a plunger secured agalnst rotation relati~e to -the guide, the plunger having a connecting part which is guided withi.n a slee~e connected to the end o~ the plungar, at least o.ne spring being disposed within the sleeve, a pair of bell-crank levers p~voted on carriers mounted on the housing~one of each such levers being-provided wit~ a clamping jaw, the other arms of the levers being disposed in overlapping relationshlp and being linked with the connecting part~ The plunger is preferably actuated by a ball-screw mechanism as described above, and this arrangement allows the requlred cIam~ing ~orce to be selected by setting the motor torque and by wa~ofan electronic control system, and of maintainlng ; this force, after the motor has been switched off~ with the aid o~ the energy stored in the spring~ even when .~ the work~.ece undergoes very slight de~ormation~
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The postion of the plunger may be maintained by a brake ~or -the spindle wh~ch operates even when the motor is switched o~fO
In a particul~arly ad~antageou:, arrangement~ t~ro sets o~ clamping jaws as defined above are mounted on a suppor~
so as to open in opposite directions~ Ihe two sets of Jaw members may with this arrangement be turned about the spacing element and it is thus possi.ble to handle two workpieces at the same time, or further work pieces if addi-tional sets of clamping ~aws are prov~ded. Thus, one set of jaw members remove the finished part while the other holds a bl~nk in readiness. This allows for the possibility oi controlling the manipulator in the immediate vicinity o~ a machine tool~ of dispensing with expensive automatic load handling means in this region, ~nd of avoiding damage to the machine tool.
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: Conveniently, each cla~ping jaw member is provided with a retaining claw, or match plate, for complementing the surface o~ the work piece. These match plates may be fitted to the Pacing su~faces of the jaw members so as to grip the external surface of a workpiece or, alternatively, they may be ~itted to the outer sur~ace s of t~e jaw members so as to hold a hol7ow wor~piece from within.
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The invention will not be described in c~ea~er detail by way of example only w:ith reEerence to the accompany:ing drawings in which:
Figure 1 is a diagrammatic elevation of a manipulator in accordance with the invention, Figure 2 shows a modification of part of the manipulator .~ shown in Figure 1, Figure 3 shows a work holding unit in partial longitudinal section, : 10 Figure 4 is a perspective view of a further embodiment of manipulator, Figure 4a shows the work support holding unit of the manipulator shown in Figure ~
Figure 5 is diagrammatic elevation of a further embodiment of manipulator, Figure 6 is a plan view of the manipulator shown in Figure . 5, Figure 7 is an elevation of a still further embodiment of manipulator, Figure 8 shows in a perspective view the arrangement at the lower end of an extensible support for a pair of work holding units each as shown in Figure 3.
Figure 9 shows a modification of part of the arrangement shown in Figure 8.
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Figure 10 is a sectlon through a curren-t distributor sho~n in Figur~ 8 and 9, Figure 11 shows a further arrangement of a work holding uni-t and the parts which support it, Figure 12 is a plan view of a work holding unit simllar to that shown in ~igure 8 9 Figure 13 shows a work holding unit with three ~aw members, Figure 14 is a ssction through par~ o~ an extensible support ~it, Figure 15 is a perspective view o~ a ball sleeve, Figure 15a is a ~ection through an exten~ible support `, J
unit incorporating a ball sleeve as shown i~ Figure 15, Figure 16 is a section through a modi~ied extensible support unit, Figure 17 shows in side elevation the end o~ the extensible support unit as shown in Figure 21, Figure 18 is a section through a modi~ied extensIble support unit o~ the type shown in Figure 21~
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- 14 _... l~L14L~3S~i Figure 19 ~s an end view of the exterlsible support unit shown in Figure 21~
Figure 20 is a section through a further mod~fied extensible support unlt, t Figure 21 is a perspective ~iew of an extensible su~port unit having a plunger comprising three columns, Fi~ure 22 is a partially sectioned perspective view o~
~ an extensible support unit having a guide incarpora~in~
three columns and a plunger in the form o~ a tube of triangular-cross-section, ~ ., .
Figure 23 is a cross-section through an extensible support unit having a pair of ball-screw mechamisms,-J
Figure 24 is a cross-section through a~urther modi~ied ! extensible support unit, ~ .
Figure 25 is a cross-section through a further modi~ied extensiblè support unitD
Figure 26 is a section through a ~urther modi~ied e~tensible support unit, ., , - Figure 27 is a side elevation of an extenslble support unit comprising a plurality of telescopic assemblies, . . .
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- Figure 28 is a partlally sec-tioned view of an extensible support unit having a pair o~ interconnected telescopic assemblies~
`'' Fi.gure 29 isan end view o~ a control mechanism, , , Figure 30 is a section taken through Fi~ure 29, Re~erring to Figure 1 o~ the drawings, a ~irst embodiment of manipulator ls shown supported from an upright structure 1. The ma~ipulator ~ncludes a jib 3 having two arms 5 and 6 articulated toge~her by a shaft 26~ The arm 5 is provided with a sha~t 22 jou~nalled in link3 26' which pro~ect ~rom the structure 1 so that the jib extend3 ~rom the structure in cantilever-like ~ashion. me arm 5 is rotatable in the links 26' by means o~ a drive system-22 po~er~d by,an electric motor 80 and equipped with a brake 27, The arm 6 which is ~ormed as a ho ~ow b~am is rotatable relative to the arm 5 about the sha~t 26 by means o~ a similar drive system 22 including an elec~ric motor 80 and brake 27. Mounted at the ~ree end of t~e arm 6 is a olamping block 81 holding an extensible support unit 7 ~or a work holding unit including clamping jaws 9.
The extensible support unit includes a plunger 11 sl~da~le telescopically within a vertically extending outer tube 4 which is supported ~or ~ertical mo~emen-t relati~e to the tube 6. ~he tube 4 has a rack 82 with which meshes a pinion journalled in the ar~ 6 and dri~en by a drlve .; ~ .
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s~stem including a mo-tor 22' c~nd a brake 1~ housed partially ~i-t~in -the arm 6, although the pinion may be rotatable manually.
The plunger 11 may be extended or re-cracted by a mechanism including a ball sleeve carried on the plunger and enga~ing with a threaded spindle drivable in ro-tation by gearing containedin drive block ~ounted at the u~per end o~ the tuDe 4 and powered by a motor 80. Various arrangements ol the extensibie support 7 will be described hereinafter, particularly with re~erence to Figure 14.
, The lower end o~ *he plunger 11 carries a b~aring elemen~
15 which is rotatable about the axis of the plunger a~d .~ . .
has ~aces 16 o~ ~hich various componen~s may be mounted~
rnus, mounted on one side face is a swivel unit carrying a spacer 17 provided with an extensible support unit 7' which9 like the uni~ 7 is operated by a ball screw mechanism. m e unit 7' supports the worX hold.ing unit 9 which includes a pair o~ J~WS. Mounted on oth2r side faces o~ the bearing element 15 are a control unit, a support beam 84 which may be used to carry ~urther parts, while mounted on the underneath ~ace is a hook.
",' , , ' : A modification o~ the construction described above is sho~,~n in Figure 2. In this modification, vertical mo~em~nt o~ the ~,~ extensible support unit 7 is ef~ected by means o~
a screw ~ jou~nalled at its ends in supports mounted on the tube 4 and dri~Ja~le by a drive system includlng a ~ur~her elactric motor ar~nged near the upp-~ end ol the . ' tube 4. The tube 25 extends through a ball sleeve housed within the end 28 of the arm so that rotation of the screw 25 causes the tube 4 to be raised or lowered, depending upon the direction of ro-tation. Figure 2 also shows the arrangement a~ter the swivel unit ~marked 22) supported on a side ~ace o~ the bearlng element 15 has been turned through 90 about a horizontal axis to cause the unit 7' to extend horizontally.
Also, as appears from this ~igure compared with Figure 1, the bearlng element 16 has been turned through 180 about the vertical axis. The work holding unit 9 may thus be turned ~rom the position shown in Figure 1 into the position shol~rL in Figure 2 ~or the purpose by way of example o~
manipulating a workpiece 85 relative to a sha~t 86~ Means 12 operable by a pulsating ~orce generator may be pro~ided ~or inserting or extracting the workpiece, while the support unit 7 may be extended or retracted to lower or raise the workpieceO Likewise, vertical movemen-~ o~ the unit 7 as a whole may take place relative to the ~ib. Final~y, ~y turning the arm 6 relative to the arm 5, and the latter arm relative to the structure 1, the workpiece may be positioned at will within a wide area about the sha~ 2.
ma perspective view shown in Figure 4 illustrates clearly the wide range o~ movements available using a manipulator in accordance with the invention~ In this Figure, ~
second embodiment of manipulator supported on a ma~t 1 is sho~m being used to lift a workpiece from the ground and inserting it into a stove or furnace 110. A clamping ~aw unit 9 o~ modi~ied design may be controlled as are all units and the arms o~ the jib from a simple switch 111 w~ich may be of the type shown in Figures 29 and 30.
A manipulator having a jib 3 and support unit 7 as sho~n made in figure 4 may be/more adap-table in accordance with the embodimen-t as shown in Figures 5 and 6 by suppGrting the ~ib from links carried on a carriage 28 movabl~ ve~ically within th~ mast 1 under the action o~ a screw 3~ which i5 ~ournalled in bearings 33 at the upper and lower ends of tha-.mast and drivable by a motor 80 carried on the mast Furthermore, to enable the work holdlng unlt ~o be brought into any postion within a circle o`f gi~en radius about the mas-t, the latter is mounted on a turntable rotatable on ball bearings relative to a ring mount 89 by means of a drive block 22 powered by a ~urther motor.
Figure 7 shows a ~urther embodiment in which the scope ~or ~ertical movement of the work holding unit i~ increased~
in this case b~ supporting the arm 6 carrying the unit 7 on a carriage 28 which is vertically movable in a guide support on the ar~ 5 for rotation on shafts 26 about a ~ertical axi~, and by mounting the arm 5 on a ~urther carriage 28 movable vertically in a ~uide which is rotatable by means ;
of sha~ts 26' about a ~ertical axls relative to the mast 1.
Th~ extensible support unit 7 may be constructed as ~hown in Figure 14~ In this arrangement, a motor housing 90 ~. '7 ? ' . - ' ' '' .
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containing a stator winding 94 is prov~d~d at the uppe~
end o~ the support unit 7 and has a cap 95 and a cover 252 each provided with a bearlng ~or the sha~t of a rotor 93 provided with windin~rotatable wlthin the stator winding 94. Mounted on the cap is a steady-current brake 27' ~rom which the rotor sha~t projects. A belt 42 passe3 around a pulley 96 on the projecting rotor sha~t portion and around a pulley 96' on a spindle 97 which extends into a housing o~ a limit switch mechamism 43~ A
non-rotatable nut 98 co-operates with a~crewthread on the spindle and is moved axially thereo~ in response to rotation of the shaft 40. Extending through the limit switch housing parallel to the spindle 97 are spindles 250 which are rotatable by knobs 251 to ad~ust the posit~on of switches g9 c~rried by non-rotatable nuts o~ the spindles 250. m e switches 99 thereby de actuat~ the motor and restrict r~otation o~ the sha~t 40 in either direction~
m e other end of the rotor shaft extends through the beari~g in the co~er ~52 into a gear casing 92 wher2in it is received in a socket 44 o~ a s~n wheel o~ epicyclic gearing~ the planet wheel carrier 160 o~ which ha~ a socket 44i ~or a Jou~nal 48 o~ an intermediate shait 47 having a flan~e 51 clamped between the i~ner races o~
ball bearings 50 housed within a bearing ~ember 15~ so a~
to be capable o~ transmitting compressive and a~ial forces.
Below the ~lange 517 the intermediate sha~t has a screw-threaded socket 49 into which is screwed the end o~ the - 20 ~
spindle 70 whlch co-operates wi-th a ball sleeve 10 ~or the purpose o~ extending or retracting the plunger 11 depending upon the dlrection o~ ro-tation of the motor.
The ou-ter tube 4 within which the plunger ls guided is constituted by a tube 55 of square cross-section which is secured within an opening 52 ~ the end-~ace o~ the bearing member 50' by means o~ an annular plate 54 held to the end ~ace o~ the bearlng member 15' by screws 56~ Dlsposed within the end o~ the tube 55 i5 a bu~er consisting of a damping cushion 57 s.a~dwiched bstween a stop plate 59 and a base plate 53, to-~hich the cushion is vulcanised, the plate 53 being held in place by the annular ring 54. The cushion 57 is tapered so that it does not ~oul any parts upon being de~ormed and ser~e~ to arrest the ball sleeve ~rithout carrier excessive ~orces being produced~ A slide ring/64 is screwed to the ball sleeve by means of co-operating thread~ 68.
me plunger has female screw threads 34 and 65 respectively a~ lts two ends, the latter being used to connect the plunger to the carrier 64 with the interposition o~ a disc 67 which co-opera-tes with a ~lange on the carrier to hold in place a slide ring 14 which engages the inner surface of the tube 40 The end o~ the spindle is guided within the plunger by means of a guide element 87, while the plunger is guided in a bush 61~ the inner e~d 62 o~
which is connected with a carrier ~or a damping cushion 57'. ~n intermediate shaft carrying ~he bearlng ~-em~er . 3 15 may be ~crewed into -the screw-threaded end 34 for ~he , ., ~ 21 ~ 5~
. ` 1 purpose of mounting the bearing member 15 on the plunger. Alternative constructions o~ the extensible support are shown in Figur~ 15 to 26 and are described hereinafterv The work holding unit is sho~ relatively diagrammatically in Figures 1 aad 2~ whereas that ~hown in Figures ~ to 7 is of a modified type depicted in more de-tail in ~ig~re 4a. As shown in this ~igure, a bearing plate 30 is connected to the end of the extensible support unit 7' which is mounted on the sw~veldevice 22. The bearing pla-te 30 is rotatable about -the ax.~s of the support unit 7' by means of a pinion 127 which mesh~ with an internally :
toothed ring carried by the bearing plate 30. The pinion may be driven from the spindle o~ the ball-screw mechanism used to extend the support unit 7' ~ollowing disengagemen~ of the ball sleeve. Alternati~ely, it is possible to connect the drive motor to the spindle by way o~ a clutch and to use a drive sha~t pa rallel to the spindle to drive the plate 30~ Pivoted to a bracke-t carried on the plate 30 are tl~ jaw members 31. A bifurcated h~ad 203 carried on a connecting part 200 is linked by arms to the jaw members 31 in a toggle-like arrangeme~t so that axial movement of the head 203 brings the jaw members towards each otherO
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~ 22 -A further and more pre~erred work holding unit is shoT~Q in Figure 3. As with the embodiment previously described 7 the work holding unit is carried on the end of the extensible support unit 7' and is operated by a drive block 71 incorporating a motor 80 and associated with a brake 27' but otherwise not shown in detail. Extending ~rom the block 71 is a tube 4 wi-thin which a plunger 11 is telescopically slidable in guides 14 a*~-$~. Within the plung~r is a ball sleeve 10 through which extends a ~crew threaded spindle 70 terminating in spindle guide 87. Screwed into ~emale ~crew threads 65 at the end o~ the plunger is a sleeve 202 for a slidable connec-ting par~ 200 ha~ing a ~lange 88 against which bear two stacks o~ spring washers 79 to bias the connecting part 200 towards a central positionD Rotation of the spindle 70 by the motor 80 serves to retract or advance the plunger 11 as a result o~
the translational force applied to the ball sleeve 10.
Projecting ~rom diametrically opposite sides o~ the tube 4 are carrier arms 215. Pivo-t~d on each arm by means of a pin 212 is a respective bell-crank lever 210r One arm 211 of each lever constitutes a jaw member and is provided with a pivotal plate 230 shaped to conform to the work piece. The plate~ 230 are mounted on ball bearing units to rotate with or about retaining pins 231 and they may be mounted so as to face inwardly or outwardly o~ the jaw members depending upon;thè nature ~, . - 23 -of the workpiece to be held. The centre-point~s of the -- bearings ~or the pins 231 are outwardly displaced relative to the cen~re points of the ~orce engaging the match plates. The other arms 214 o~ the two bell-- crank levers extend generally dia~etrically o~ the unit, their end portions 216 overlapping each other within a bifu-cated head 203 o~ the con~ecting part 200.
A pin 204 carried by the heafl 2~ passes ~hrough aIigr.ed slots in the end portions 216.
In operation, retra~tion of the plunger 11 caused by rotation o~ the spindle 17 in one direc~ion pivots the i~ levers 210 in the sense o~ clamping the plates 2~0 against , ~ the workpiece. Continued movement o~ the plunger results in the connectlng member 200 being displaced against the force o~ ~he springs in the lower part of ~he slee~es 202 until the to~que of the motor reaches a predetermined ~; limit, at which the brake 27' operates to pre~ent ~urth~r ~ . displacement o~ the plunger 11 relative to the tube 4.
The ~orce applied ~o ~he ~onnecting memb~r 200 by the springs - then serves to hold theJaw~ in the d~mping positio.n inde~initly.
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The rotary drive m~an.s ~or the spi~dle o~ the clamping ja~
unit is high~pole three-phase mo~or ha~i~g a p~le reversal ratio o~ 1:6 and operating with a ~oltage o~ ,bs~antially ~0 60 Yol~sO
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mis inven-tion relates to a manipulator~
Industrial materials handling equipment is known which includes a Jib capable of belng turned about a -~ertical sha~t and on which is mounted a vertically extend~ng, telescopic support for a load holding unit~ The equipment s moved and guided manually and constitutes an alternati~e to a hoist of the block and tackle type ~idely use~ on the Jibs of cranes for the purpose o~ handling workp~eces.
So-called robots are also known whioh are capable o~
executing a lar~e number of di~erent movements on an automatic or r~mote-controlled basis~ mey are, however, extremely specialised and used only ~or specific functions in a production li~.
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An object o~ the present invention is there~ore to provide a manipulator for industrial use which fills the gap between the robot_~ype o~ device and manually movable materials handling equipment.
~ccording to a first aspect o~ the invention, there~ore;
there is provided a manipulator comprising a jib rotatable about a vertical axi~, an extensib~e elongate support u~it carried on the jibg the support unit extendin~ vertically downward~ relative to the ~ib and a load hanclling unit carried by ~he lower end o~ the .
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support unit; the support ~nit including a guide, a screw-threaded spindle, means for selectively dri~ing the spindle in rotation, a non-rotatable ball sleeve associated with the spindle, a support plunger operatively connected with the ball sleeve whereby the plunger is - adjustable vertically in response to rotation of the spindle, a bearing element mounted on the plunger at . its lower end, said bearing element having ~t lea~t one mounting face, a spacing element secured to said mounting face, the load holding unit being connected to the spacing element, and said spacing element being adapted to permit swiveling movement o~ the load holding unit relative to the bearing element. By using a ball screw mechanism as a lifting device to extend the support unit there is provided a rigid carrier o~ very simple ; design at no great cost9 so that large bending force may .~ be transmit~ed through the two telescopic parts (i.e.
. plunger and guide) o~ the support unit to the jib, By supporting the load holding unit on ths plunger of the support unit through the intermeaiary oi a spacing element mounted on a b~aring element~ a wide range o~ s~iveling movements o~ the load holding unit relati~e to the extensible support unit is made possible.
Pre~erably, the swivel mechanism and the load holding unit ~ is so arr~lged in relatlon to the bearing member that : the centre o~ gra~ity of the load in its final position .:
lies substantially on a line ex-tending ~rom the axis o~
the swivel mechanism. In this way, -the swivel forces are reduced tv a minimum.
Pre~erably, the load holding unit includes adjustabie ~aw members which are actuable by means including a guide, a ~aw moving plunger adjustable relative to the guide, a screw threaded spindle with is selectiYely drivable in rotation, and a ball sleeve associated with the spindle and connected to the jaw mo~ing plunger. The advantages o~ a ball-screw mechanism outlined above are there~ore obtalned in connection with the a¢tuation of the work holding unit. Futher~ore, by using similar mechanisms to actuate the clamping jaws and extend and retract the support unit ( and, indeed, to perform other functions in preferred embodiments as will appear hereinafter), a reduction is made in the ~umber of dif~erent G~mponents needed ~or apparatus in accordance with the invention. Conveniently, the extensible support unit is secured against angular movement relati~e to the Jib but is movable vertically xelative to the jib.
Vertical- adjustment o~ the support unit as a whole relative to the jib provides for a greater degree of adJustability and allows the manipulator to carry out a wide variety o~ ~unctions, while angular rigidity of the ; support unit on the aib en~ures that the load can be held reliably at a ~ixed point i~ space~ A reduction in the number of di~erent components required may~ as indica~ed `~i j . ~, .
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above, be achieved by using a ball screw mechanism as the lifing de~ce for adjusting the support unit relative to the jib7 as we~l as by taklng advantage o~ the properties of ~uch a mechanism, although a manually operated rack and pinion drive may be used instead ~or this purpose.
By making use o~ a two-part ~ib, a workpiece held in the load holding unit may be positioned at any point within an arc o~ a circle oentred on the axis o~ rotation oi the jib~ The jib may thus comprise two ar~s which are articulated together about a vertical axis. One ~ the arms is rotatable relatiYe to a ~ixed support about a vertical axis while the other arm carries the extensible support unit. Movem~nt of the two arms relative to each other and o~ the iirst arm relative to the fixed support may be achieved by operating means which~ in each case~
may include a dri~e means such as an electric motor and a bFake~ The brake~ are preferably steady-current brakes to provlde security in cases o~ doubt or when, ~or any reason, the manipulator is le~t uncontrolled. The brakes en~ure that the load may be held reliably at a ~ixed point in space whereas, i~ the arms of the jib were ~ot suf~iciently braked~ a heavy load might mo~e in an ~controlled fa~hion beoause of the ben~ing forces acting -on .~he manipulator, and op~rations and pèrsonnel would be endangered. me load may be moved within a . . .
greater area, and the ef~ort ~or moving it be distribu-ted among a greater number o~mechc~nisms, by providing a li~tin~
device between, for example, 1he arms o~ the jib or between the ~ib and the fixed ~upport about w.hich it turns. In one possible arrangement~ the Jib is supported on a - carriage movable vertically ~ithin a mast by means o~ a ball screw mechanism~
The ma~ipulator provided by the inven^tion may be put to a greater number oP uses by associa-ting the load holding unit with extensible means for advancing and retractin~ the load holding unit~ These mean~ may be associa-ted with a pulsating force generator which pre~erably nperates mechanically or through the torque o~ an electric motor, so that a considerable saving in power is thereb~ achieved. The ~aw members ~ the load holding unit may be pivoted to a bearing plate-capable of being rotated by gearing so as to swivel the ~aw mem~ers~ The power ~or swiveling the ~aw members may be der~Yed from the threaded spindle of a - ball screw mechanism o~ the spacing unit, the spindle being disengaged from its ball sleeve so as to rotate the gearing.
: A ~urther spacing element may be arranged substantiall~
at right-angles to the spacing element which maintains ~he radial distance of the wo~ holding unit from the vertical ` extensible support unit9 the addi-tional spaoing eleme~t being.
arranged to swivel or to be displaced Joi~tly with the ~ .
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fir~t-mentioned spacing element relative to the baaring element, so that ~he spacing element may be swung subs-tantially in the same dir~ction or in a direction parallel to the-extensible support unit, or can be swung into a position at right-angles thereto. In this connection9 it is ad~antageous for a clamping mechanism to be connected to the swivel mechan~sms so that the load holding unit i~
supported by a nur~ber o~ blocks which are rota-ta~la rela~
to each other.
The invention also provides an extensible t~lescopic unit which may b~ used, with appropriate modifications where necessary, as the support ~nit which extends ~rom the Jib, or ~or supporting the load holding unit ~rom such suppor-t unit, or els~where in the manipulatorO According to ~his aspect of the invention, suGh a telescopic unit compr~ses an outer tube o~ polygonal cross-s~ction, a screw-threaded spindle extending axi~lly through the outer tube, means located ad~acent one end ~f the tube ~or driving th~
spindle in rotation, a plunger disposed within the outer~ube ln surrounding Lrelationship relative to the spindle, the plunger bei~g formed by a tube of circular cross~s~ction which i5 screw-threaded at each end9 a slide ring carrier screwe~
to one o~ the ends o~ the plunger, a ball sle~e secured to the ring carrier, the slide ring carrier supporting a sl~de ring of resilient damping material which engages the in~er surface o~ the outer tube~ and a bearing element for a load holding unit screwed to the other end of the plun~er . . i ~,. ....................................................... . .
- 7 ~ $
or to an intermediate member~ screwed to the other end of the plunger. Such an arrangemen~ is particularly advantageous and simple in con~truction and provides long-term stability and ~ool proo~ operation~ Ball scr~w mechanisms are very delicate units, and can be quickly rendered unusable owing to the pitting effect and force peaks. A housing connected to the outer tube may contain a drive motor having a drive shaft drivabl~ coupled with plantary gearing, a~ output shaft from which an interm~diate sha~t is driven by way of planetary gearing, the intermediate shaft being mounted in bearings tG resist tensile and compressive ~orces and being coupled to the spindle, the drive shaft fur*her being arranged to drive a spindl~ of a limit switch controlling the motor. A steady-current brake may be arranged on the rotor shaft, which latter is arranged to driYe the spindle o~ the limit switc~
mechanism thr~ough a belt or other connection. Such an arrangement ~acilitates repair,~ and the possibility o~
adaption to provide various speQd-reduction stages.
me invention also provides alternative constructions o~
extensible telescopic support units 7 one of which comprises a drive block which houses means through which the screw-threaded spindle is drivable in rotation, a ball sleeve associated with the spindle, tensile bearings ~or the ends of the spindle, the bearings being supported in . :~ . "
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carriers which permit a small a~ount of axlal clearance for the spindle, and one of ~hich is disposed a-t the end of a column rigid with the drive block, the plunger surrounding the column and being connec-ted to the ball sleeve by connecting means through slo-ts in the column.
A support unit may be constructed to this design which is able to withstand an approxima-tely tenfold load which is in thé
tensile direction only, since no bending stresses occur.
It is thus possible to apply extremely high forces corr-esponding to the permissible tensile loading of the particula~ size of ball sleeve selected. me plunger may take the form of a tube which surrounds the column or it may be constructed as separate column, whereby it ls possible to increase the rigidity of the plunger su~iciently ~or the transmission o~ very great compressive forces while using 1ng strokes~ It is also necessa~y to be able to impart any re~uired bendi~g strength to the carrier ~or the bearings which, on the one hand, may ~e arranged at the end of a rigid support and on the other are located within the drive block.
According to a further aspect of the invention, a cont~ol unit for the manipulator comprises a guide member acted upon by a return force and engaging in a slot in a slide guided in the longitudinal direction of the second arm and which extends transversely of said arm,said slide being arranged to moYe either an induction coil or a core of such coil of a measured val~e signal transmitting device.
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This control arrangement overcomes the di~iculi-tes that arise in controlling -the var1ous angular positions o~
the jib arms. Depending upon -the an~llar position and the particular direction in which the operator applies force, the drives impart movemen-t over di~ferent distances or apply different ~orces. Thus 9 an arm may be brought to a stop by the brake in order to enable the second arm to swivel about the!first arm9for example. m e direction of drive of the swivel mechanisms is thus controlled through the direction of movement o~ the manually controlled slide and the drive torque is controlled through the length of travel of -the slide, the direction of application of ~orce being taken into account by an angular function.
Extensible support uni-ts which may be o~ -the type referred to hereinabo~e, may be combined to ~orm a support unit which comprises a plurality of drive blocks each including an electric motor and gearing ~or driving a respective spindle, and a telescopic means extensible by ball sleeve means associated with the spindle, the blocks and extensible means being connected in series, whereby the blocks reinforce the assembly. In this way is achieved anl extensible support which is of greater length and which can pro~ide not only a multiple stroke but also a speed of s-troke that is several times greater than a single unit, In accordanc~ with this aspect of the invention~ an extensible stlpport unit, particularly for a man~pulator ' ~ 5~
may be made which is considerably lighter in weight since - the spindles are subjected only to tensile loads. In ~ -the complete unit, the various drive blocks resemble the ; joints in a bamboo sti~k and the bending ~orces that occur are more efficiently resisted. In particular, however, it is possible to vary the length o~ stroke without replacing the support; unit.
A ~urther aspect o~ the invention is concerned with the load holding unit, which may comprise a housing and.a guide ~or a plunger secured agalnst rotation relati~e to -the guide, the plunger having a connecting part which is guided withi.n a slee~e connected to the end o~ the plungar, at least o.ne spring being disposed within the sleeve, a pair of bell-crank levers p~voted on carriers mounted on the housing~one of each such levers being-provided wit~ a clamping jaw, the other arms of the levers being disposed in overlapping relationshlp and being linked with the connecting part~ The plunger is preferably actuated by a ball-screw mechanism as described above, and this arrangement allows the requlred cIam~ing ~orce to be selected by setting the motor torque and by wa~ofan electronic control system, and of maintainlng ; this force, after the motor has been switched off~ with the aid o~ the energy stored in the spring~ even when .~ the work~.ece undergoes very slight de~ormation~
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The postion of the plunger may be maintained by a brake ~or -the spindle wh~ch operates even when the motor is switched o~fO
In a particul~arly ad~antageou:, arrangement~ t~ro sets o~ clamping jaws as defined above are mounted on a suppor~
so as to open in opposite directions~ Ihe two sets of Jaw members may with this arrangement be turned about the spacing element and it is thus possi.ble to handle two workpieces at the same time, or further work pieces if addi-tional sets of clamping ~aws are prov~ded. Thus, one set of jaw members remove the finished part while the other holds a bl~nk in readiness. This allows for the possibility oi controlling the manipulator in the immediate vicinity o~ a machine tool~ of dispensing with expensive automatic load handling means in this region, ~nd of avoiding damage to the machine tool.
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: Conveniently, each cla~ping jaw member is provided with a retaining claw, or match plate, for complementing the surface o~ the work piece. These match plates may be fitted to the Pacing su~faces of the jaw members so as to grip the external surface of a workpiece or, alternatively, they may be ~itted to the outer sur~ace s of t~e jaw members so as to hold a hol7ow wor~piece from within.
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The invention will not be described in c~ea~er detail by way of example only w:ith reEerence to the accompany:ing drawings in which:
Figure 1 is a diagrammatic elevation of a manipulator in accordance with the invention, Figure 2 shows a modification of part of the manipulator .~ shown in Figure 1, Figure 3 shows a work holding unit in partial longitudinal section, : 10 Figure 4 is a perspective view of a further embodiment of manipulator, Figure 4a shows the work support holding unit of the manipulator shown in Figure ~
Figure 5 is diagrammatic elevation of a further embodiment of manipulator, Figure 6 is a plan view of the manipulator shown in Figure . 5, Figure 7 is an elevation of a still further embodiment of manipulator, Figure 8 shows in a perspective view the arrangement at the lower end of an extensible support for a pair of work holding units each as shown in Figure 3.
Figure 9 shows a modification of part of the arrangement shown in Figure 8.
D
ws/~
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Figure 10 is a sectlon through a curren-t distributor sho~n in Figur~ 8 and 9, Figure 11 shows a further arrangement of a work holding uni-t and the parts which support it, Figure 12 is a plan view of a work holding unit simllar to that shown in ~igure 8 9 Figure 13 shows a work holding unit with three ~aw members, Figure 14 is a ssction through par~ o~ an extensible support ~it, Figure 15 is a perspective view o~ a ball sleeve, Figure 15a is a ~ection through an exten~ible support `, J
unit incorporating a ball sleeve as shown i~ Figure 15, Figure 16 is a section through a modi~ied extensible support unit, Figure 17 shows in side elevation the end o~ the extensible support unit as shown in Figure 21, Figure 18 is a section through a modi~ied extensIble support unit o~ the type shown in Figure 21~
.., ~' ' . .
- 14 _... l~L14L~3S~i Figure 19 ~s an end view of the exterlsible support unit shown in Figure 21~
Figure 20 is a section through a further mod~fied extensible support unlt, t Figure 21 is a perspective ~iew of an extensible su~port unit having a plunger comprising three columns, Fi~ure 22 is a partially sectioned perspective view o~
~ an extensible support unit having a guide incarpora~in~
three columns and a plunger in the form o~ a tube of triangular-cross-section, ~ ., .
Figure 23 is a cross-section through an extensible support unit having a pair of ball-screw mechamisms,-J
Figure 24 is a cross-section through a~urther modi~ied ! extensible support unit, ~ .
Figure 25 is a cross-section through a further modi~ied extensiblè support unitD
Figure 26 is a section through a ~urther modi~ied e~tensible support unit, ., , - Figure 27 is a side elevation of an extenslble support unit comprising a plurality of telescopic assemblies, . . .
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- Figure 28 is a partlally sec-tioned view of an extensible support unit having a pair o~ interconnected telescopic assemblies~
`'' Fi.gure 29 isan end view o~ a control mechanism, , , Figure 30 is a section taken through Fi~ure 29, Re~erring to Figure 1 o~ the drawings, a ~irst embodiment of manipulator ls shown supported from an upright structure 1. The ma~ipulator ~ncludes a jib 3 having two arms 5 and 6 articulated toge~her by a shaft 26~ The arm 5 is provided with a sha~t 22 jou~nalled in link3 26' which pro~ect ~rom the structure 1 so that the jib extend3 ~rom the structure in cantilever-like ~ashion. me arm 5 is rotatable in the links 26' by means o~ a drive system-22 po~er~d by,an electric motor 80 and equipped with a brake 27, The arm 6 which is ~ormed as a ho ~ow b~am is rotatable relative to the arm 5 about the sha~t 26 by means o~ a similar drive system 22 including an elec~ric motor 80 and brake 27. Mounted at the ~ree end of t~e arm 6 is a olamping block 81 holding an extensible support unit 7 ~or a work holding unit including clamping jaws 9.
The extensible support unit includes a plunger 11 sl~da~le telescopically within a vertically extending outer tube 4 which is supported ~or ~ertical mo~emen-t relati~e to the tube 6. ~he tube 4 has a rack 82 with which meshes a pinion journalled in the ar~ 6 and dri~en by a drlve .; ~ .
- 1 6 - ~L~
s~stem including a mo-tor 22' c~nd a brake 1~ housed partially ~i-t~in -the arm 6, although the pinion may be rotatable manually.
The plunger 11 may be extended or re-cracted by a mechanism including a ball sleeve carried on the plunger and enga~ing with a threaded spindle drivable in ro-tation by gearing containedin drive block ~ounted at the u~per end o~ the tuDe 4 and powered by a motor 80. Various arrangements ol the extensibie support 7 will be described hereinafter, particularly with re~erence to Figure 14.
, The lower end o~ *he plunger 11 carries a b~aring elemen~
15 which is rotatable about the axis of the plunger a~d .~ . .
has ~aces 16 o~ ~hich various componen~s may be mounted~
rnus, mounted on one side face is a swivel unit carrying a spacer 17 provided with an extensible support unit 7' which9 like the uni~ 7 is operated by a ball screw mechanism. m e unit 7' supports the worX hold.ing unit 9 which includes a pair o~ J~WS. Mounted on oth2r side faces o~ the bearing element 15 are a control unit, a support beam 84 which may be used to carry ~urther parts, while mounted on the underneath ~ace is a hook.
",' , , ' : A modification o~ the construction described above is sho~,~n in Figure 2. In this modification, vertical mo~em~nt o~ the ~,~ extensible support unit 7 is ef~ected by means o~
a screw ~ jou~nalled at its ends in supports mounted on the tube 4 and dri~Ja~le by a drive system includlng a ~ur~her elactric motor ar~nged near the upp-~ end ol the . ' tube 4. The tube 25 extends through a ball sleeve housed within the end 28 of the arm so that rotation of the screw 25 causes the tube 4 to be raised or lowered, depending upon the direction of ro-tation. Figure 2 also shows the arrangement a~ter the swivel unit ~marked 22) supported on a side ~ace o~ the bearlng element 15 has been turned through 90 about a horizontal axis to cause the unit 7' to extend horizontally.
Also, as appears from this ~igure compared with Figure 1, the bearlng element 16 has been turned through 180 about the vertical axis. The work holding unit 9 may thus be turned ~rom the position shown in Figure 1 into the position shol~rL in Figure 2 ~or the purpose by way of example o~
manipulating a workpiece 85 relative to a sha~t 86~ Means 12 operable by a pulsating ~orce generator may be pro~ided ~or inserting or extracting the workpiece, while the support unit 7 may be extended or retracted to lower or raise the workpieceO Likewise, vertical movemen-~ o~ the unit 7 as a whole may take place relative to the ~ib. Final~y, ~y turning the arm 6 relative to the arm 5, and the latter arm relative to the structure 1, the workpiece may be positioned at will within a wide area about the sha~ 2.
ma perspective view shown in Figure 4 illustrates clearly the wide range o~ movements available using a manipulator in accordance with the invention~ In this Figure, ~
second embodiment of manipulator supported on a ma~t 1 is sho~m being used to lift a workpiece from the ground and inserting it into a stove or furnace 110. A clamping ~aw unit 9 o~ modi~ied design may be controlled as are all units and the arms o~ the jib from a simple switch 111 w~ich may be of the type shown in Figures 29 and 30.
A manipulator having a jib 3 and support unit 7 as sho~n made in figure 4 may be/more adap-table in accordance with the embodimen-t as shown in Figures 5 and 6 by suppGrting the ~ib from links carried on a carriage 28 movabl~ ve~ically within th~ mast 1 under the action o~ a screw 3~ which i5 ~ournalled in bearings 33 at the upper and lower ends of tha-.mast and drivable by a motor 80 carried on the mast Furthermore, to enable the work holdlng unlt ~o be brought into any postion within a circle o`f gi~en radius about the mas-t, the latter is mounted on a turntable rotatable on ball bearings relative to a ring mount 89 by means of a drive block 22 powered by a ~urther motor.
Figure 7 shows a ~urther embodiment in which the scope ~or ~ertical movement of the work holding unit i~ increased~
in this case b~ supporting the arm 6 carrying the unit 7 on a carriage 28 which is vertically movable in a guide support on the ar~ 5 for rotation on shafts 26 about a ~ertical axi~, and by mounting the arm 5 on a ~urther carriage 28 movable vertically in a ~uide which is rotatable by means ;
of sha~ts 26' about a ~ertical axls relative to the mast 1.
Th~ extensible support unit 7 may be constructed as ~hown in Figure 14~ In this arrangement, a motor housing 90 ~. '7 ? ' . - ' ' '' .
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--- 19 ~ 19L~
containing a stator winding 94 is prov~d~d at the uppe~
end o~ the support unit 7 and has a cap 95 and a cover 252 each provided with a bearlng ~or the sha~t of a rotor 93 provided with windin~rotatable wlthin the stator winding 94. Mounted on the cap is a steady-current brake 27' ~rom which the rotor sha~t projects. A belt 42 passe3 around a pulley 96 on the projecting rotor sha~t portion and around a pulley 96' on a spindle 97 which extends into a housing o~ a limit switch mechamism 43~ A
non-rotatable nut 98 co-operates with a~crewthread on the spindle and is moved axially thereo~ in response to rotation of the shaft 40. Extending through the limit switch housing parallel to the spindle 97 are spindles 250 which are rotatable by knobs 251 to ad~ust the posit~on of switches g9 c~rried by non-rotatable nuts o~ the spindles 250. m e switches 99 thereby de actuat~ the motor and restrict r~otation o~ the sha~t 40 in either direction~
m e other end of the rotor shaft extends through the beari~g in the co~er ~52 into a gear casing 92 wher2in it is received in a socket 44 o~ a s~n wheel o~ epicyclic gearing~ the planet wheel carrier 160 o~ which ha~ a socket 44i ~or a Jou~nal 48 o~ an intermediate shait 47 having a flan~e 51 clamped between the i~ner races o~
ball bearings 50 housed within a bearing ~ember 15~ so a~
to be capable o~ transmitting compressive and a~ial forces.
Below the ~lange 517 the intermediate sha~t has a screw-threaded socket 49 into which is screwed the end o~ the - 20 ~
spindle 70 whlch co-operates wi-th a ball sleeve 10 ~or the purpose o~ extending or retracting the plunger 11 depending upon the dlrection o~ ro-tation of the motor.
The ou-ter tube 4 within which the plunger ls guided is constituted by a tube 55 of square cross-section which is secured within an opening 52 ~ the end-~ace o~ the bearing member 50' by means o~ an annular plate 54 held to the end ~ace o~ the bearlng member 15' by screws 56~ Dlsposed within the end o~ the tube 55 i5 a bu~er consisting of a damping cushion 57 s.a~dwiched bstween a stop plate 59 and a base plate 53, to-~hich the cushion is vulcanised, the plate 53 being held in place by the annular ring 54. The cushion 57 is tapered so that it does not ~oul any parts upon being de~ormed and ser~e~ to arrest the ball sleeve ~rithout carrier excessive ~orces being produced~ A slide ring/64 is screwed to the ball sleeve by means of co-operating thread~ 68.
me plunger has female screw threads 34 and 65 respectively a~ lts two ends, the latter being used to connect the plunger to the carrier 64 with the interposition o~ a disc 67 which co-opera-tes with a ~lange on the carrier to hold in place a slide ring 14 which engages the inner surface of the tube 40 The end o~ the spindle is guided within the plunger by means of a guide element 87, while the plunger is guided in a bush 61~ the inner e~d 62 o~
which is connected with a carrier ~or a damping cushion 57'. ~n intermediate shaft carrying ~he bearlng ~-em~er . 3 15 may be ~crewed into -the screw-threaded end 34 for ~he , ., ~ 21 ~ 5~
. ` 1 purpose of mounting the bearing member 15 on the plunger. Alternative constructions o~ the extensible support are shown in Figur~ 15 to 26 and are described hereinafterv The work holding unit is sho~ relatively diagrammatically in Figures 1 aad 2~ whereas that ~hown in Figures ~ to 7 is of a modified type depicted in more de-tail in ~ig~re 4a. As shown in this ~igure, a bearing plate 30 is connected to the end of the extensible support unit 7' which is mounted on the sw~veldevice 22. The bearing pla-te 30 is rotatable about -the ax.~s of the support unit 7' by means of a pinion 127 which mesh~ with an internally :
toothed ring carried by the bearing plate 30. The pinion may be driven from the spindle o~ the ball-screw mechanism used to extend the support unit 7' ~ollowing disengagemen~ of the ball sleeve. Alternati~ely, it is possible to connect the drive motor to the spindle by way o~ a clutch and to use a drive sha~t pa rallel to the spindle to drive the plate 30~ Pivoted to a bracke-t carried on the plate 30 are tl~ jaw members 31. A bifurcated h~ad 203 carried on a connecting part 200 is linked by arms to the jaw members 31 in a toggle-like arrangeme~t so that axial movement of the head 203 brings the jaw members towards each otherO
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~ 22 -A further and more pre~erred work holding unit is shoT~Q in Figure 3. As with the embodiment previously described 7 the work holding unit is carried on the end of the extensible support unit 7' and is operated by a drive block 71 incorporating a motor 80 and associated with a brake 27' but otherwise not shown in detail. Extending ~rom the block 71 is a tube 4 wi-thin which a plunger 11 is telescopically slidable in guides 14 a*~-$~. Within the plung~r is a ball sleeve 10 through which extends a ~crew threaded spindle 70 terminating in spindle guide 87. Screwed into ~emale ~crew threads 65 at the end o~ the plunger is a sleeve 202 for a slidable connec-ting par~ 200 ha~ing a ~lange 88 against which bear two stacks o~ spring washers 79 to bias the connecting part 200 towards a central positionD Rotation of the spindle 70 by the motor 80 serves to retract or advance the plunger 11 as a result o~
the translational force applied to the ball sleeve 10.
Projecting ~rom diametrically opposite sides o~ the tube 4 are carrier arms 215. Pivo-t~d on each arm by means of a pin 212 is a respective bell-crank lever 210r One arm 211 of each lever constitutes a jaw member and is provided with a pivotal plate 230 shaped to conform to the work piece. The plate~ 230 are mounted on ball bearing units to rotate with or about retaining pins 231 and they may be mounted so as to face inwardly or outwardly o~ the jaw members depending upon;thè nature ~, . - 23 -of the workpiece to be held. The centre-point~s of the -- bearings ~or the pins 231 are outwardly displaced relative to the cen~re points of the ~orce engaging the match plates. The other arms 214 o~ the two bell-- crank levers extend generally dia~etrically o~ the unit, their end portions 216 overlapping each other within a bifu-cated head 203 o~ the con~ecting part 200.
A pin 204 carried by the heafl 2~ passes ~hrough aIigr.ed slots in the end portions 216.
In operation, retra~tion of the plunger 11 caused by rotation o~ the spindle 17 in one direc~ion pivots the i~ levers 210 in the sense o~ clamping the plates 2~0 against , ~ the workpiece. Continued movement o~ the plunger results in the connectlng member 200 being displaced against the force o~ ~he springs in the lower part of ~he slee~es 202 until the to~que of the motor reaches a predetermined ~; limit, at which the brake 27' operates to pre~ent ~urth~r ~ . displacement o~ the plunger 11 relative to the tube 4.
The ~orce applied ~o ~he ~onnecting memb~r 200 by the springs - then serves to hold theJaw~ in the d~mping positio.n inde~initly.
~' ~
The rotary drive m~an.s ~or the spi~dle o~ the clamping ja~
unit is high~pole three-phase mo~or ha~i~g a p~le reversal ratio o~ 1:6 and operating with a ~oltage o~ ,bs~antially ~0 60 Yol~sO
' .
~'
2~
The brake 27' is a steady-current ma~letic brake which, be~ore the motor is swi-tched o~f, is de-energ1sed ~d there~ore caused to operate by means o~ a distance responsi~e or force-responsive switching or control member, a time responsivc elementbeing connected to the switching member in such a way -that the brake operates after the switching impulse has been received and the mctor is only then switched o~.
The arrangement shown in Figure 3 may be modified, as shown in Figure 13, to permit the work to be held by three jaw members. A ~urther modification o~ the work holding unit;isshown in Figure 11, and includes a connectlng block 232 on a side face of the bearing member 15 carried ~.
by the plunger 11 o~ the extensible support unit 7. The connecting block is con~tructed as a current distributor 220 shown in greater de~ail-in Figure 10~ and having a brush holder 153 ~or a connecting cable 154~ A sha~t extends through the block and is supported in bearings 221~ At its end nearer th~ work holding unit, the shaft is provided with a rotatable collar 234 to which is attached the o~ter tube 4 o~ the ball sleeve unit 7' used to actuate th~ clamping jaw uni-t~ A hand wheel 237 is provided for rotating the clamping jaw uni-t9 and disc brakes 235, 236 are arranged to lock the clamping jaw unit in position ~ollowing ad~ustment.
:, . .
Figure 8 shows the arrangement at the lower end of the . !, plunger 11 of -the support 7 of an embodimen-t i~cluding a pair o~ work holding units 9 connected to opposite edges of a pla-te 225 so tha-t one unit is inverted relative to the other, whereby the openings 218 be~een th2 jaw members of both un~ts open in opposite directions. Each work holding unit is substantiallY o~ the type shown in Figure 3. The plate 225 is bolted to a sleeve 155 keyed to a drive shaft 219 o~ a swivel mechanism 22. The swivel mech~nism is connected with the bearing member 15 on the plunger 11 by way of a spacer 17 secured to one of the faces of bearing element 15 by bolts 91. me spacer incorporates a motor B0 having a housing 90, a gear case 92 and cu~rent distributor 220, all as described above.
Similarly9 the motor has a limit switc~ con-trol unit 43 for controlling the number o~ revolutions per~ormed by the motor in either direction, as dçseribed with reference to Figure 1~. In the embodiment shown in Figure ~, tha spacer 17 is mounted on as~e face of the bearing member 15, whereas in the modification o~ this embodiment shawn in ~igure 9, the spacer is mounted on the underside of the bearing member 1~. In a further modification as shown in Figure 12, the current distribu-tor 220 which serv~s as a bearing member ~or the drive sha~t ?19 is arranged in an o~fset position relative to the swivel mechanism 2 2 and the drive shaft 224 under the control o~ the handle 237.
The drive motor for the sha~t 219 is powered by a low voltage motor of approximately 40-60 volts and a reduc-tion ~ ~6~ r~;3 gear having a high reduc-tion ratio:is provided betw~e~ -the rotor and the sha.~-t 219D
', A control unit ~or operatlng the swivel mechanism 22 and brakes 27' is shown in Figures 29 and 30~ The control u~it includes a lever 101 pro~ided with a hand piéce and e~tending through a slot 102 .in a slide 104. Mo~ement o~ the lever 101 causes -the s:lide 104 to mo~e in guides 107 and displace the core 105 o~ an induction coil 103 so as to vary the signal emmitted by a device 1060 me lever 101 is embedded in a damping cushion 100 Figur~s 15 to 27 show various alternative designs o~
extensible support units which may b~ used ln place o~
those descrlbed above.
In the extensible support shown in Figures 17, 19 and 219 a drlve block 71 contains gearlng through which a motor mounted on the block turns a screw-threaded spindle 70 journalled at its end in a tensile bearing 33 supported in a plate 75 carried at the end o~ a tube of triang~lar cross-section.
, A plunger 11 is ~ormed by a column including three tubes 74D
A crosshead by which the tubes 74 are connected carries a ring 117 having a pin which extends through the crosshead and is centered axlally by stacks of spring washers 79.
, : .
- 27 ~ 4~
The colun~s are connec-ted by webs or struts with tha ball sleeve. A rnodi~ication of this embodim~nt is shoT~n in Figure 18, in which the tUbes 74 are arranged outside the -tube of triangular cross-section which is slotted tQ p~rmit connection between the tubes and the ball sleeve4 In the modification shown in Figure 22 the tubes 74 are rigid with -the drive block and ~orm a support for the beariQg carrier 75 as well as a guide foraplunger 11 in the iorm of a tube o~ triangular cross-section. The space between the end of the plunger and the block 71 ~s sealed by bellows or by a ~urther tube 76 extending -telescopically with respect to the plunger 11. Rollers 126 or the like on the bearing carrier 75 serve to guide the pl~nger tube. In the modification shown in Figure 24~ the columns 74 are o~ triangular cross~section so as to fit easily within the plunger 11, also of triangular cross-section9 which is surrounded by a proctective ~ube 76. The ball sleeve is carried by a member 119 connected to the plunger 11 by damping cushions 78.
Re~erring now to Figures 15 and 15a) the plunger consists of an external tube 121 o~ square cross-section formed by bolting together a pair of channel members. The plunger is guided on a column 72 formed by tube o~ square cross-sectio~
rigid with a drive block and a bearing carrier, none o~
which is sho~m, the column having guide ways 12~ through which projects pins or bearing members 73 ~or rollers 13.
The ball sleeve 10 includesa body provided on each side ~ith - 28 ~ ~7 a respective wing consisting of a bar 113 joined to -the body and apair o~ axially spaced blocks 112 connected to the bar 113 with the interposi-tion,o~ a cushlon 77 -to allow the blocks 112 ~o twist. Rollers 13 engage between the blocks 112 in order to transmit force from the ball sleeve to the plunger. A modification o~ this construction is shown in Figure 23 wherein drive is transmitted to the plunger 11, again in the ~orm of a tube o~ square cross-section from a pair of spindles 70, each associated with a respective ball sleeve. me tube 121 is guided on a column ~ormed by a bar 150 of H-cross-section rigld with a drive block and a carrier for two bearings, the bar 150 definlng two channels 151, in each o~ which is arranged a respective ball sleeveD A wing on each ball sleeve provides engagement with a respective roller carried by the tube 121.
.
In -the embodiment shown in ~igure 20, -the plunger 11~
is formed by a cylindrical outer tube to w~ich ball sleeves 10 are connec-ted in a resilient manner to effect damping.
The ball sleeves are distributed equi-angularly about the interior sur~ace of the plunger 11, and columns 74 rigid with a drive block and which carry an upper bearing 33 as previouslY de3cribed are interposed be~een the spindles 10.
, In the modification shown in Figure 267 the plunger 11 and .~ .
. . .
. ' ~ - 29 ~ 5~
-the columns 74 are consti.tuted by sui.tably shapecl segmental tubes 71 which interleave to form a cylindrical assem~ly which may be surrounded by a hollow tube 760 - ~
In all the arrangemen-ts, the spindle may be supported by tensile bearings which transmit tensile forces in both directions and cannot be subjected to a bending ~orce.
Referring now to Figure 27, a group of e~tensible supports each incorporating a ball sleeve arrangement 7~' have drive blocks 71 which strengthen the o~erall assembly and withstand bending forces exceeding those which can be accepted by a single such unit of equal stro~eO m e speeds at which the units operate may be summed or subtracted so that such an arrangement is useful for moving heavy loads slowly or/light loads quickly.
As shown in r~igure 28, two units may have their drive blocks 71 connected direct to each other to o~tain a longer stroke. As appears clearly from this figure, and indeed from the other figures referred to above9 such as a Figure 14, the spindle is supported in tensile bearing~
~3 only~ which transmit tensile forces in both directions and cannot be subjected to a bending force. m e carrier 75 is guided within the plunger by a guide roller 122~
, ) .
. .
The brake 27' is a steady-current ma~letic brake which, be~ore the motor is swi-tched o~f, is de-energ1sed ~d there~ore caused to operate by means o~ a distance responsi~e or force-responsive switching or control member, a time responsivc elementbeing connected to the switching member in such a way -that the brake operates after the switching impulse has been received and the mctor is only then switched o~.
The arrangement shown in Figure 3 may be modified, as shown in Figure 13, to permit the work to be held by three jaw members. A ~urther modification o~ the work holding unit;isshown in Figure 11, and includes a connectlng block 232 on a side face of the bearing member 15 carried ~.
by the plunger 11 o~ the extensible support unit 7. The connecting block is con~tructed as a current distributor 220 shown in greater de~ail-in Figure 10~ and having a brush holder 153 ~or a connecting cable 154~ A sha~t extends through the block and is supported in bearings 221~ At its end nearer th~ work holding unit, the shaft is provided with a rotatable collar 234 to which is attached the o~ter tube 4 o~ the ball sleeve unit 7' used to actuate th~ clamping jaw uni-t~ A hand wheel 237 is provided for rotating the clamping jaw uni-t9 and disc brakes 235, 236 are arranged to lock the clamping jaw unit in position ~ollowing ad~ustment.
:, . .
Figure 8 shows the arrangement at the lower end of the . !, plunger 11 of -the support 7 of an embodimen-t i~cluding a pair o~ work holding units 9 connected to opposite edges of a pla-te 225 so tha-t one unit is inverted relative to the other, whereby the openings 218 be~een th2 jaw members of both un~ts open in opposite directions. Each work holding unit is substantiallY o~ the type shown in Figure 3. The plate 225 is bolted to a sleeve 155 keyed to a drive shaft 219 o~ a swivel mechanism 22. The swivel mech~nism is connected with the bearing member 15 on the plunger 11 by way of a spacer 17 secured to one of the faces of bearing element 15 by bolts 91. me spacer incorporates a motor B0 having a housing 90, a gear case 92 and cu~rent distributor 220, all as described above.
Similarly9 the motor has a limit switc~ con-trol unit 43 for controlling the number o~ revolutions per~ormed by the motor in either direction, as dçseribed with reference to Figure 1~. In the embodiment shown in Figure ~, tha spacer 17 is mounted on as~e face of the bearing member 15, whereas in the modification o~ this embodiment shawn in ~igure 9, the spacer is mounted on the underside of the bearing member 1~. In a further modification as shown in Figure 12, the current distribu-tor 220 which serv~s as a bearing member ~or the drive sha~t ?19 is arranged in an o~fset position relative to the swivel mechanism 2 2 and the drive shaft 224 under the control o~ the handle 237.
The drive motor for the sha~t 219 is powered by a low voltage motor of approximately 40-60 volts and a reduc-tion ~ ~6~ r~;3 gear having a high reduc-tion ratio:is provided betw~e~ -the rotor and the sha.~-t 219D
', A control unit ~or operatlng the swivel mechanism 22 and brakes 27' is shown in Figures 29 and 30~ The control u~it includes a lever 101 pro~ided with a hand piéce and e~tending through a slot 102 .in a slide 104. Mo~ement o~ the lever 101 causes -the s:lide 104 to mo~e in guides 107 and displace the core 105 o~ an induction coil 103 so as to vary the signal emmitted by a device 1060 me lever 101 is embedded in a damping cushion 100 Figur~s 15 to 27 show various alternative designs o~
extensible support units which may b~ used ln place o~
those descrlbed above.
In the extensible support shown in Figures 17, 19 and 219 a drlve block 71 contains gearlng through which a motor mounted on the block turns a screw-threaded spindle 70 journalled at its end in a tensile bearing 33 supported in a plate 75 carried at the end o~ a tube of triang~lar cross-section.
, A plunger 11 is ~ormed by a column including three tubes 74D
A crosshead by which the tubes 74 are connected carries a ring 117 having a pin which extends through the crosshead and is centered axlally by stacks of spring washers 79.
, : .
- 27 ~ 4~
The colun~s are connec-ted by webs or struts with tha ball sleeve. A rnodi~ication of this embodim~nt is shoT~n in Figure 18, in which the tUbes 74 are arranged outside the -tube of triangular cross-section which is slotted tQ p~rmit connection between the tubes and the ball sleeve4 In the modification shown in Figure 22 the tubes 74 are rigid with -the drive block and ~orm a support for the beariQg carrier 75 as well as a guide foraplunger 11 in the iorm of a tube o~ triangular cross-section. The space between the end of the plunger and the block 71 ~s sealed by bellows or by a ~urther tube 76 extending -telescopically with respect to the plunger 11. Rollers 126 or the like on the bearing carrier 75 serve to guide the pl~nger tube. In the modification shown in Figure 24~ the columns 74 are o~ triangular cross~section so as to fit easily within the plunger 11, also of triangular cross-section9 which is surrounded by a proctective ~ube 76. The ball sleeve is carried by a member 119 connected to the plunger 11 by damping cushions 78.
Re~erring now to Figures 15 and 15a) the plunger consists of an external tube 121 o~ square cross-section formed by bolting together a pair of channel members. The plunger is guided on a column 72 formed by tube o~ square cross-sectio~
rigid with a drive block and a bearing carrier, none o~
which is sho~m, the column having guide ways 12~ through which projects pins or bearing members 73 ~or rollers 13.
The ball sleeve 10 includesa body provided on each side ~ith - 28 ~ ~7 a respective wing consisting of a bar 113 joined to -the body and apair o~ axially spaced blocks 112 connected to the bar 113 with the interposi-tion,o~ a cushlon 77 -to allow the blocks 112 ~o twist. Rollers 13 engage between the blocks 112 in order to transmit force from the ball sleeve to the plunger. A modification o~ this construction is shown in Figure 23 wherein drive is transmitted to the plunger 11, again in the ~orm of a tube o~ square cross-section from a pair of spindles 70, each associated with a respective ball sleeve. me tube 121 is guided on a column ~ormed by a bar 150 of H-cross-section rigld with a drive block and a carrier for two bearings, the bar 150 definlng two channels 151, in each o~ which is arranged a respective ball sleeveD A wing on each ball sleeve provides engagement with a respective roller carried by the tube 121.
.
In -the embodiment shown in ~igure 20, -the plunger 11~
is formed by a cylindrical outer tube to w~ich ball sleeves 10 are connec-ted in a resilient manner to effect damping.
The ball sleeves are distributed equi-angularly about the interior sur~ace of the plunger 11, and columns 74 rigid with a drive block and which carry an upper bearing 33 as previouslY de3cribed are interposed be~een the spindles 10.
, In the modification shown in Figure 267 the plunger 11 and .~ .
. . .
. ' ~ - 29 ~ 5~
-the columns 74 are consti.tuted by sui.tably shapecl segmental tubes 71 which interleave to form a cylindrical assem~ly which may be surrounded by a hollow tube 760 - ~
In all the arrangemen-ts, the spindle may be supported by tensile bearings which transmit tensile forces in both directions and cannot be subjected to a bending ~orce.
Referring now to Figure 27, a group of e~tensible supports each incorporating a ball sleeve arrangement 7~' have drive blocks 71 which strengthen the o~erall assembly and withstand bending forces exceeding those which can be accepted by a single such unit of equal stro~eO m e speeds at which the units operate may be summed or subtracted so that such an arrangement is useful for moving heavy loads slowly or/light loads quickly.
As shown in r~igure 28, two units may have their drive blocks 71 connected direct to each other to o~tain a longer stroke. As appears clearly from this figure, and indeed from the other figures referred to above9 such as a Figure 14, the spindle is supported in tensile bearing~
~3 only~ which transmit tensile forces in both directions and cannot be subjected to a bending force. m e carrier 75 is guided within the plunger by a guide roller 122~
, ) .
. .
Claims (20)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A manipulator comprising a jib adjustable about a vertical axis, an extensible elongate support unit carried on the jib, the support unit extending vertically downwards relative to the jib, and a load holding unit carried by the lower end of the support unit, the support unit including a guide, a screw-threaded spindle, means for selectively driving the spindle in rotation, non-rotatable ball sleeve associated with the spindle, a support plunger operatively connected with the ball sleeve whereby the plunger is adjustable vertically in response to rotation of the spindle, a bearing element detachably mounted on the plunger at its lower end, said bearing element having at least one mounting face, a spacing element secured to said mounting face, the load holding unit connected to the spacing element, said spacing element being adapted to permit swivelling movement of the load holding unit relative to the bearing element and to clamp the same in position.
20. A manipulator according to claim 1, wherein said load holding unit includes adjustable jaw members and means for moving said jaw members, said means including a guide, a jaw moving plunger adjustable relative to said guide, a screw-threaded spindle, means for selectively driving said screw-threaded spindle in rotation, and a hall sleeve associated with said spindle and connected to said jaw moving plunger.
3. A manipulator according to claim 1, wherein said support unit is secured against angular movement relative to -the jib and is adjustable vertically.
4. A manipulator according to claim 3, including a screw-threaded spindle mounted in bearings carried by a housing of said extensible support unit, said spindle extending through said jib, ball sleeve means associated with said jib and with said spindle, and means on said support unit for selectively driving said spindle in rotation.
5. A manipulator according to claim 3, including a rack and pinion drive for adjusting the support unit relative to said jib.
6. A manipulator according to claim 1, wherein said jib includes first and second arms articulated together about a vertical axis, and operating means for selectively adjusting the relative positions of said arms, said operating means including drive means and brake means, said support unit being adjustably mounted on said second arm, and said first arm being supported for movement about a vertical axis by means including drive means and brake means.
7. A manipulator according to claim 6, including a mast, a carriage movable vertically within said mast by means of a drive system including a screw-threaded spindle journalled in bearings in said mast, and means for selectively driving said spindle in rotation, and a ball sleeve on said carriage, said first arm being supported on said carriage.
8. A manipulator according to claim 2, wherein said load holding unit includes extensible means for advancing and retracting said unit.
9. A manipulator according to claim 2, including a bearing plate to which said jaw members are pivoted, and gearing for driving said plate in rotation to swivel said jaw members.
10. A manipulator according to claim 1, wherein said spacing element is adapted to be turned through at least ninety degrees relative to said bearing member.
11. A manipulator according to claim 1, said extensible elongate support unit comprising an outer tube of polygonal cross-section, a screw-threaded spindle extending axially through said outer tube, means located adjacent one end of said tube for driving said spindle in rotation, a plunger disposed within said outer tube in surrounding relationship relative to said spindle, said plunger being formed by tube of circular cross-section screw-threaded at each end, a slide ring carrier screwed to one of the ends of said plunger, a ball sleeve secured to said slide ring carrier, said slide ring carrier supporting a slide ring of resilient damping material engaging the inner surface of the outer tube, and a bearing member for a load holding unit screwed to the other end of said plunger.
12. A manipulator according to claim 11 comprising a housing supporting an electric drive motor having a drive shaft drivably coupled with planetary gearing, an intermediate shaft coupled to be driven by said gearing, the intermediate shaft being mounted in bearings to resist tensile and compressive forces and being coupled to said spindle, said drive shaft further being arranged to drive a spindle of a limit switch mechanism controlling the motor.
13. A manipulator according to claim 1, said extensible elongate support unit comprising a screw-threaded spindle, a drive block housing means through which the spindle is drivable in rotation, a ball sleeve associated with said spindle, tensile bearings for the ends of the spindle, carriers for said bearings, said carriers providing a small amount of axial clearance for the spindle, one of said bearing carriers being disposed at the end of a column rigid with the drive block, a plunger surrounding said column, said plunger being connected to the ball sleeve by connecting means extending through slots in the column.
14. A manipulator according to claim 1, said extensible elongate support unit comprising a screw-threaded spindle, a drive block housing means through which the spindle is drivable in rotation, a ball sleeve associated with said spindle, bearings for the ends of the spindle, carriers for said bearings, said carriers providing a small amount of axial clearance for the spindle, one of said bearing carriers being disposed at the end of a plurality of columns rigid with the drive block, a plunger surrounding said column, said plunger being connected to the ball sleeve by connecting means extending between the columns.
15. A manipulator according to claim 1, said extensible elongate support unit comprising a plurality of drive blocks each including an electric motor and gearing for driving a respective spindle, and telescopic means extensible by ball sleeve means associated with said spindle, the blocks and extensible means being connected in series, whereby said blocks reinforce said support unit.
16. A manipulator according to claim 1, said load holding unit comprising a housing and a guide for a plunger secured against rotation relative to the guide, the plunger having a connecting part which is guided within a sleeve connected to the end of the plunger, at least one spring disposed within the sleeve, carriers mounted on the housing, a pair of bell-crank levers pivoted on the carriers, one arm of each such lever being provided with a clamping jaw, the other arms of the levers being disposed in overlapping relationship and being linked with the connecting part.
17. A manipulator according to claim 16, mounted on a support so as to open in opposite directions.
18. A manipulator according to claim 1, said extensible elongate support unit comprising a drive block housing means through which is drivable a pair of screw-threaded spindles, a guide of H-shaped cross-section mounted on the block so as to define a pair of channels through which said spindles extend, and a plunger slidable on said guide and connected to said spindles.
19. A manipulator according to claim 1, including a control unit comprising a guide member acted upon by a return force and engaging in a slot in a slide guided in the longitudinal direction of the second arm and which extends transversely of said arm, said slide being arranged to move either an induction coil or a core of such coil of a measured value signal transmitting device.
20. A manipulator according to claim 1, said load holding unit comprising a housing and a guide for a plunger secured against rotation relative to the guide, the plunger having a connecting part guided within a sleeve connected to the end of the plunger, spring means within the sleeve for applying force to the connecting part, clamping levers pivoted with respect to the housing, the clamping levers being linked with the connecting part, whereby the (Claim 20 con-t'd) spring means applies force to the clamping levers in the sense of retaining a workpiece between the clamping levers, following advance of the plunger.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP2742163.2 | 1977-09-20 | ||
| DE19772742163 DE2742163A1 (en) | 1977-09-20 | 1977-09-20 | Worm drive arrangement for electromechanical load handling appts. - has at least one worm shaft with ball runners converting shaft rotation into reciprocal motion of telescopic arm |
| DE19772745404 DE2745404A1 (en) | 1977-10-08 | 1977-10-08 | Worm drive arrangement for electromechanical load handling appts. - has at least one worm shaft with ball runners converting shaft rotation into reciprocal motion of telescopic arm |
| DEP2745404.2 | 1977-10-08 | ||
| DEP2814228.1 | 1978-04-03 | ||
| DE19782814228 DE2814228A1 (en) | 1978-04-03 | 1978-04-03 | Worm drive arrangement for electromechanical load handling appts. - has at least one worm shaft with ball runners converting shaft rotation into reciprocal motion of telescopic arm |
| US94348978A | 1978-09-18 | 1978-09-18 | |
| US06/209,482 US4428710A (en) | 1977-08-31 | 1980-11-24 | Manipulator with a swivel jib |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1114856A true CA1114856A (en) | 1981-12-22 |
Family
ID=27510507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA311,621A Expired CA1114856A (en) | 1977-09-20 | 1978-09-19 | Manipulator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS54100052A (en) |
| CA (1) | CA1114856A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5346045A (en) * | 1992-01-09 | 1994-09-13 | Link-Miles Limited | Electrically powered actuator |
| CN108393910A (en) * | 2018-03-07 | 2018-08-14 | 潍坊学院 | A kind of automation simple machine machinery claw |
| CN111957452A (en) * | 2020-09-10 | 2020-11-20 | 北京大成高科机器人技术有限公司 | Automatic outer surface spraying device |
| CN115781701A (en) * | 2021-09-10 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Telescopic mobile power GIS cavity internal detection robot |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3132127C2 (en) * | 1981-08-14 | 1984-10-18 | Krauss U. Reichert Gmbh + Co Kg Spezialmaschinenfabrik, 7012 Fellbach | Cutting device for flat material such as fabrics, foils and the like |
| JP2012166297A (en) | 2011-02-14 | 2012-09-06 | Seiko Epson Corp | Robot hand and robot apparatus |
| JP6080724B2 (en) * | 2013-08-09 | 2017-02-15 | 本田技研工業株式会社 | Work movement mechanism |
| JP2016203289A (en) * | 2015-04-20 | 2016-12-08 | 三井屋工業株式会社 | Robot arm |
| JP6802033B2 (en) * | 2016-10-20 | 2020-12-16 | 黒崎播磨株式会社 | Plate holding device, holding structure and holding method |
-
1978
- 1978-09-19 CA CA311,621A patent/CA1114856A/en not_active Expired
- 1978-09-20 JP JP11470678A patent/JPS54100052A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5346045A (en) * | 1992-01-09 | 1994-09-13 | Link-Miles Limited | Electrically powered actuator |
| CN108393910A (en) * | 2018-03-07 | 2018-08-14 | 潍坊学院 | A kind of automation simple machine machinery claw |
| CN108393910B (en) * | 2018-03-07 | 2020-03-20 | 潍坊学院 | Automatic simple mechanical claw |
| CN111957452A (en) * | 2020-09-10 | 2020-11-20 | 北京大成高科机器人技术有限公司 | Automatic outer surface spraying device |
| CN115781701A (en) * | 2021-09-10 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Telescopic mobile power GIS cavity internal detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS54100052A (en) | 1979-08-07 |
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