Asea Aktiebolag

Asea Ab

Asea Brown Boveri Ab

Leif K Tellden

Ulf J Holmqvist

Thord Porsander

Hans Skoog

Peter Maddock

Jan Rn

Hans-Olov Skoog

The invention relates to an industrial robot with two lower robot arms directed upwards from a fixed robot stand, the robot arms at their lower end being pivotably journalled in the stand around horizontal axes and at their upper end being pivotably interconnected by a yoke in such a way that a four-bar linkage is formed. The linkage is provided with a first driving unit. An upper robot arm is journalled around a fifth axis in a fixing member which is supported by the yoke and which is rotatably journalled around a sixth axis. The upper robot arm and its fixing member are provided with a second and a third driving unit, respectively.

Industrial robot

The invention relates to an industrial robot with a stand (1) which is rotatably journalled in a base (2) and provided with a mechanical stop for limiting the rotary motion of the stand. The stop comprises at least one radially projecting stop arm (7), which in a certain rotational position makes contact with a stop pin (6) arranged on the base (2). The rotary moment is taken up by deformation of the stop pin (6). The stand (1) is provided with a plurality of recesses (8, 10) arranged around the periphery of the stand, whereas the stop arm (7) is formed with at least one fixing projection (12, 13) which is adapted to the recesses and which, with the aid of a wedge member (14), may be fastened into one of the recesses at an optional location on the periphery of the stand.

Adjustable mechanical stop of an industrial robot

The bending and turning movements of the wrist are brought about by drive motors via at least one gear train, in which a cylindrical gear pinion drives a cylindrical gear wheel via an intermediate wheel. For adjusting the backlash, the intermediate wheel is journalled on a movable support which makes contact with a cylindrical guide surface in the wrist housing and can be displaced, by means of two adjusting screws, along a circular path, the center of which coincides with the axis of rotation of the gear pinion. The intermediate wheel is journalled on an eccentric bearing pin on the movable support.

Robot wrist

The wrist is built up of two wrist halves, between which the tilt with the turning disc is journalled. Each wrist half comprises an intermediate gearing with conical gear wheels and is built together with a drive motor. The two wrist halves are identical, and each half constitutes an individual trimmable drive unit for turning the tilt and the turning disc, respectively.

An industrial robot having a gimbal-ring type suspension incorporating two axes renders therewith a translatorily movable arm swingable. According to the invention, the translatory movement is achieved in that the gimbal-ring type suspension, which can be swung with the aid of two motors, carries a part in the form of a box-like structure in which a platform provided with a rack can be slidably moved on guides, the platform being driven to translatory motion by a pinion. The platform carries a fourth, a fifth and a sixth motor, of which the fourth motor is able to rotate the arm about its longitudinal axis while the fifth and sixth motor drive their respective drive shafts for swinging the tool holder and rotating the same.

Industrial robot having two gimbal-ring type arranged swinging axes

Robot

An arrangement in an industrial robot for driving translatory motion of a unit which is mounted in a gimbal-type suspension having two mutually perpendicular axes. A motor with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, the frame being capable of being swung in one direction. The motor drives a pinion which meshes with a rack by a shaft, the shaft also constituting one journal of the machine part in which the translatorily movable machine part is movably arranged. The shaft is rotatably journalled to both the frame and the machine part through each of its bearings.

Growing community of inventors

Vaster.ang.s, Germany

Leif K Tellden