Industrial robot

Claim 2

In an industrial robot for manipulating a work piece, wherein a tooling assembly means for handling the work piece is mounted on a moveable manipulator, an improvement wherein the manipulator comprises: a base; a main support shaft pivotably mounted on the base for rotation about a substantially vertical axis; a non-circular main extend shaft having front and rear ends, with the front end comprising tool mounting means thereon for holding the tooling assembly means; support means including a support frame mounted on the support shaft and a bearing assembly means mounted on the support frame, said bearing assembly means being adapted to engage, support, and guide the main extend shaft for extension or retraction with respect to the support means in a generally horizontal, longitudinal direction, said bearing assembly means being further adapted to restrain the main extend shaft from vertical, lateral, or rotational movement with respect to the support frame, said bearing assembly means comprising a plurality of individual bearing means individually mounted in the support means and engaging the outer surface of the main extend shaft at a plurality of positions about the periphery of the main extend shaft, each said bearing means comprising a wheel rotatably mounted on an axle, with the axle being mounted in the support means such that the wheel engages the outer surface of the main extend shaft and rotates about an axis perpendicular to the longitudinal direction of movement of the main extend shaft, each said axle being eccentrically mounted in the support means with respect to the axis of rotation of the wheel and being selectively rotatable with respect to the support means, said selective rotation of the axle with respect to the support means serving to effect a position adjustment of the wheel with respect to the main extend shaft so as to adjust for wear and misalignment of the main extend shaft and bearing means; selectively operable drive means adapted to rotate the support shaft and extend and retract the main extend shaft; and control means adapted to selectively operate the drive means.

Claim 3

An industrial robot as claimed in claim 1 wherein the main extend shaft conprises at least one flat surface that extends along the outside thereof, and the bearing assembly means engages said flat surface so as to provide resistance to torsional stresses placed on the main extend shaft.

Claim 4

An industrial robot as claimed in claim 2 wherein the main extend shaft has a rectangular cross-section and the bearing assembly means comprises separate bearing mechanisms that engage each of the four sides of the main extend shaft at at least two separate points on the support frame.

Claim 5

An industrial robot as claimed in claim 3 wherein the axles are mounted in the support frame by means of channel brackets on the support frame, said axles extending through the channel brackets to threaded inside ends thereof and being secured to the channel brackets by nuts that engage the threaded inside ends of the axle, each channel bracket having at least one open side thereof so as to permit easy access to the nuts for adjustment, installation, or removal of the bearing means.

Claim 6

An industrial robot as claimed in claim 1 wherein: the base comprises an annular yoke surrounding the main support shaft; the main support shaft comprises a collar extending around the perifery thereof at a point above the yoke; and radial thrust bearing means surrounding the main support shaft rest on top of the yoke and are positioned between the yoke and the collar so as to engage and provide vertical support for the main support shaft, while at the same time providing a horizontal rotational bearing for the main support shaft.

Claim 7

An industrial robot as claimed in claim 1 wherein: the drive means comprise drive motor means adapted to rotate the main support shaft in either direction and hydraulic main extend cylinder means adapted to extend and retract the main extend shaft; and the control means comprise means for selectively actuating the drive motor means and the main extend cylinder means and limit switch means for deactuating the drive motor means and the main extend cylinder means, the limit switch means for the drive motor means being adjustable so as to permit deactuation of the motor at a variety of positions, the limit switch means for the main extend cylinder means being adapted to deactuate the main extend cylinder means at substantially full extend and substantially full retract.

Claim 8

An industrial robot as claimed in claim 6 wherein: the drive means are hydraulically operated and comprise speed control means adapted to cause the drive motor means and main extend cylinder means to accelerate gradually to a constant speed upon actuation thereof and to decelerate gradually from said constant speed upon deactuation thereof; the control means are adapted to actuate the speed control means when the drive motor or main extend cylinder is first actuated and to deactuate the speed control means a predetermined distance before the drive motor or main extend cylinder is to be stopped.

Claim 9

An industrial robot as claimed in claim 7 and further comprising shock absorber means adapted to stop the movement of the main extend shaft at the end of each full stroke and stop the main support shaft after a predetermined amount of rotary movement thereof.

Claim 10

An industrial robot as claimed in claim 1 wherein the tooling assembly means comprises: a grab jaw frame; a pair of juxtaposed, elongated grab jaws mounted in the grab jaw frame at points intermediate the ends thereof for pivotal movement about parallel axles, the grab jaws having opposed gripping surfaces at a front end thereof and cam surfaces formed on a back end thereof so as to give the back end of the grab jaws an inwardly tapered contour, the grab jaws having an open position, wherein the gripping surfaces are closed on a work piece; resilient biasing means connected to the grab jaws and adapted to urge the grab jaws toward their closed position; cam follower means adapted to open and close the grab jaws by engagement and disengagement with the cam surfaces on the grab jaws; and hydraulic grab jaw cylinder means mounted in the tooling assembly and selectively operable by the control means of the industrial robot to cause the cam follower means to move into and out of engagement with the cam surfaces so as to open and close the grab jaws.

Claim 11

An industrial robot as claimed in claim 9 wherein: the grab jaw frame is moveably mounted in the tooling assembly for vertical motion with respect to the tooling assembly; and hydraulic lift cylinder means mounted in the moveable carriage are attached to the grab jaw frame and adapted to raise and lower the grab jaw frame and attached grab jaws, the operation of said lift cylinder means being controlled by the control means for the industrial robot.

Claim 12

An industrial robot as claimed in claim 10 wherein: the grab jaw frame is mounted in a moveable carriage moveably mounted on the front end of the main extend shaft for horizontal movement in a longitudinal direction with respect to the main extend shaft; and hydraulic tooling extend cylinder means are attached to the moveable carriage and are adapted to move the moveable carriage inwardly and outwardly with respect to the end of the main extend shaft, the operation of said tooling extend cylinder being controlled by the control means for the industrial robot.

Claim 13

An industrial robot for handling a work piece comprising: a base; a vertically disposed main support shaft mounted in the base; a horizontally disposed main extend shaft having front and rear ends; support means including a support frame and bearing assembly mounted on the main support shaft, said bearing assembly being adapted to engage and support the main extend shaft and guide the main extend shaft for longitudinal movement with respect to the support frame; a tooling support mechanism mounted on the front end of the main extend shaft and extending horizontally outwardly therefrom; a moveable carriage slidably mounted on the tooling support mechanism so as to be moveable in a longitudinal direction with respect to the main extend shaft; a grab jaw frame mounted in the moveable carriage so as to be moveable in a vertical direction with respect to the moveable carriage; a pair of opposed grab jaws pivotably mounted in the grab jaw frame, said grab jaws having an open and a closed position; selectively operable drive means for rotating the main support shaft, extending and retracting the main extend shaft, extending and retracting the moveable carriage, raising and lowering the grab jaw frame, and opening and closing the grab jaws; and control means for selectively operating the drive means.

Claim 14

An industrial robot for handling a work piece comprising: a base; a vertically disposed main support shaft mounted in the base; a horizontally disposed main extend shaft having front and rear ends; support means including a support frame and bearing assembly mounted on the main support shaft, said bearing assembly being adapted to engage and support the main extend shaft and guide the main extend shaft for longitudinal movement with respect to the support frame; a tooling support mechanism mounted on the front end of the main extend shaft and extending horizontally outwardly therefrom; a moveable carriage slidably mounted on the tooling support mechanism so as to be moveable in a longitudinal direction with respect to the main extend shaft; a grab jaw frame mounted in the moveable carriage so as to be moveable in a vertical direction with respect to the moveable carriage; a pair of opposed grab jaws pivotably mounted in the grab jaw frame, said grab jaws having an open and a closed position; selectively operable drive means for rotating the main support shaft, extending and retracting the main extend shaft, extending and retracting the moveable carriage, raising and lowering the grab jaw frame, and opening and closing the grab jaws; and control means for selectively operating the drive means.

Claim 15

An industrial robot as claimed in claim 12 wherein the drive means comprises: a motor drivingly connected to the main support shaft; a hydraulic main extend cylinder mounted on the support frame and having an extendable rod extending from the main extend cylinder and being attached to the main extend shaft; a hydraulic tooling extend cylinder having an extendable rod extending between the movable carriage and the main extend shaft; a hydraulic tooling lift cylinder mounted on the moveable carriage and having an extendable rod extending between the moveable carriage and the grab jaw frame, the grab jaw frame being suspended from the extendable rod; and a hydraulic grab jaw cylinder mounted on the grab jaw frame and having an extendable rod that is drivingly connected to the grab jaws to as to cause the grab jaws to open and close as the extendable rod is reciprocated in the grab jaw cylinder.

Claim 16

An industrial robot as claimed in claim 13 wherein: the grab jaws are juxtaposed elongated members pivotably mounted in the grab jaw frame at points between the ends thereof, with opposing surfaces on the front end of the grab jaws being gripping surfaces and with the back ends thereof comprising cam surface means, said cam surface means being adapted, upon engagement with a cam follower means, to cause the grab jaws to open and close; and the grab jaw cylinder is drivingly connected to a cam follower means positioned adjacent the cam surface means, said cam follower means being adapted, upon reciprocation of the extendable rod of the grab jaw cylinder, to engage the cam surface means so as to cause the grab jaws to open and close.

Claim 17

An industrial robot as claimed in claim 14 wherein: the grab jaws are biased toward their closed position by a resilient biasing means connected to the grab jaws; the cam surface means are adapted to cause the grab jaws to open when drivingly engaged by the cam follower means; and the cam follower means are moved into and out of driving engagement with the cam surface means by reciprocation of the grab jaw cylinder, thereby causing the grab jaws to open and close, respectively.

Claim 18

An industrial robot as claimed in claim 15 wherein the resilient biasing means is adjustable in order to adjust the gripping force exerted by the grab jaws on the work piece.

Claim 19

An industrial robot for manipulating a work piece comprising: a base; a main support shaft pivotably mounted on the base for rotation about a substantially vertical axis; a hollow, rectangular main extend shaft having front and rear ends; a support frame mounted on the support shaft; at least two separate sets of bearings engaging each of the four walls of the main extend shaft at separate points along the longitudinal axis of the main extend shaft, said bearings being mounted in open channel brackets in the support frame and being positioned so as to permit longitudinal movement of the main extend shaft but restrain the main extend shaft from vertical, lateral, or rotational movement with respect to the support frame, said bearings also comprising eccentric mounting means adapted to permit manual adjustment of the position of each of the bearings to compensate for wear or misalignment; a moveable carriage mounted on the front end of the main extend shaft for longitudinal movement with respect to the main extend shaft; a grab jaw frame moveably mounted in the moveable carriage for vertical motion with respect to the moveable carriage; a pair of juxtaposed, elongated grab jaws mounted in the grab jaw frame at points intermediate the ends thereof for pivotable movement about parallel axes, the grab jaws having opposed gripping surfaces at a front end thereof so as to give the back end of the grab jaws an inwardly tapered contour, the grab jaws having an open position, wherein the gripping surfaces are separated, and a closed position, wherein the gripping surfaces are closed on a work piece; resilient biasing means connected to the grab jaws and adapted to urge the grab jaws toward their closed position; cam follower means adapted, upon actuation, to engage the cam surfaces on the grab jaws so as to cause the grab jaws to open; hydraulic grab jaw cylinder means mounted in the tooling assembly and connected to the cam follower means, said grab jaw cylinder means being adapted to move the cam follower means into an out of driving engagement with the cam surfaces of the grab jaws in order to open and close the grab jaws; hydraulic motor means for rotating the main support shaft in either direction; hydraulic cylinder means operating on a full extend and full retract basis for extending and retracting the main extend cylinder; hydraulic tooling extend cylinder means extending between the moveable carriage and the main extend cylinder and adapted to extend and retract the moveable carriage with respect to the main extend cylinder; hydraulic lift cylinder means mounted in the moveable carriage and attached to the grab jaw frame, said hydraulic lift cylinder means being adapted to raise and lower the grab jaw frame and attached grab jaws; control means adapted to control the direction of and actuate and deactuate the hydraulic motor and each of the hydraulic cylinder means, said control means being adapted to actuate the hydraulic motor and cylinder means by means of solenoid controlled hydraulic valves, and said control means being adapted to deactuate the hydraulic motor and hydraulic cylinders by means of limit switches, said control means including acceleration and deceleration hydraulic controls for causing gradual acceleration and deceleration of the main extend shaft and main support shaft.

Claim 20

An industrial robot for manipulating a work piece comprising: a base; a main support shaft pivotably mounted on the base for rotation about a substantially vertical axis; a hollow, rectangular main extend shaft having front and rear ends; a support frame mounted on the support shaft; at least two separate sets of bearings engaging each of the four walls of the main extend shaft at separate points along the longitudinal axis of the main extend shaft, said bearings being mounted in open channel brackets in the support frame and being positioned so as to permit longitudinal movement of the main extend shaft but restrain the main extend shaft from vertical, lateral, or rotational movement with respect to the support frame, said bearings also comprising eccentric mounting means adapted to permit manual adjustment of the position of each of the bearings to compensate for wear or misalignment; a moveable carriage mounted on the front end of the main extend shaft for longitudinal movement with respect to the main extend shaft; a grab jaw frame moveably mounted in the moveable carriage for vertical motion with respect to the moveable carriage; a pair of juxtaposed, elongated grab jaws mounted in the grab jaw frame at points intermediate the ends thereof for pivotable movement about parallel axes, the grab jaws having opposed gripping surfaces at a front end thereof so as to give the back end of the grab jaws an inwardly tapered contour, the grab jaws having an open position, wherein the gripping surfaces are separated, and a closed position, wherein the gripping surfaces are closed on a work piece; resilient biasing means connected to the grab jaws and adapted to urge the grab jaws toward their closed position; cam follower means adapted, upon actuation, to engage the cam surfaces on the grab jaws so as to cause the grab jaws to open; hydraulic grab jaw cylinder means mounted in the tooling assembly and connected to the cam follower means, said grab jaw cylinder means being adapted to move the cam follower means into an out of driving engagement with the cam surfaces of the grab jaws in order to open and close the grab jaws; hydraulic motor means for rotating the main support shaft in either direction; hydraulic cylinder means operating on a full extend and full retract basis for extending and retracting the main extend cylinder; hydraulic tooling extend cylinder means extending between the moveable carriage and the main extend cylinder and adapted to extend and retract the moveable carriage with respect to the main extend cylinder; hydraulic lift cylinder means mounted in the moveable carriage and attached to the grab jaw frame, said hydraulic lift cylinder means being adapted to raise and lower the grab jaw frame and attached grab jaws; control means adapted to control the direction of and actuate and deactuate the hydraulic motor and each of the hydraulic cylinder means, said control means being adapted to actuate the hydraulic motor and cylinder means by means of solenoid controlled hydraulic valves, and said control means being adapted to deactuate the hydraulic motor and hydraulic cylinders by means of limit switches, said control means including acceleration and deceleration hydraulic controls for causing gradual acceleration and deceleration of the main extend shaft and main support shaft.