Programmable automatic assembly system

Claim 2

wrist swivel axis. 9. The combination of claim 8, which includes wrist bend encoder means and wrist swivel encoder means each having an input shaft, means including a first beveled gear in engagement with one of said pair of beveled ring gears for driving one of said input shafts, and means including a second beveled gear in engagement with the other of said pair of beveled ring gears for driving the other one of said input shafts. .[.10. The combination of claim 1, which includes a housing mounted on the end of said second arm portion, an input shaft rotatably mounted in said housing, a motor mounted on said first arm portion, means connecting the output shaft of said motor to said input shaft, a ring gear mounted on said hand, a shaft rotatably mounted in said housing, a gear in said shaft and in engagement with said ring gear, gear means interconnecting said shaft and said input shaft, and antibacklash means for continuously exerting a biasing force on said shaft in the direction to hold said gear

Claim 3

in engagement with said ring gear..]. 11. The combination of claim .[.10.]. .Iadd.20 .Iaddend.wherein said biasing force is exerted by a

Claim 4

plurality of Belleville washers which are under compression. 12. The combination of claim 11, wherein said Belleville washers are compressed to a point at which the force exerted thereby remains relatively constant as the deflection of said washers varies due to wear and the like. .[.13. The combination of claim 1, wherein said second arm portion includes an elbow arm portion mounted for rotation about said second horizontal axis, and a forearm portion positioned concentric with said elbow arm portion and rotatable with respect thereto, said manipulator hand being mounted on the

Claim 5

outer end of said forearm portion. .]. 14. The combination of claim .[.13.]. .Iadd.21.Iaddend., which includes a work head connected to said swivel hand portion and including a pneumatic work chamber, means for supplying air to said elbow arm portion, air conduit means in said rotatable forearm portion and connected to said air supply, and means connecting said air conduit means to said air chamber through said swivel

Claim 6

hand portion. 15. The combination of claim .[.13.]. .Iadd.21.Iaddend., which includes drive means for said forearm portion and includes a .[.third.]. motor positioned relatively close to the central axis of said first arm portion with the driveshaft thereof extending generally parallel

Claim 7

to said central axis. 16. The combination of claim 15, wherein said forearm portion includes a sleeve portion rotatably mounted in said elbow arm portion, a ring gear mounted within said sleeve portion, and means

Claim 8

interconnecting said third motor and said ring gear. 17. The combination of claim 16, which includes a beveled ring gear mounted for rotation about said second horizontal axis, means connected to the driveshaft of said third motor for rotating said beveled ring gear, and gear means interconnecting said beveled ring gear and said sleeve mounted ring gear.

Claim 9

The combination of claim 17, which includes forearm encoder means having an input shaft, and means including a beveled gear in engagement

Claim 10

with said beveled ring gear for driving said input shaft. .Iadd.19. In a programmable manipulator, the combination of, a base member mounted for rotation about a vertical axis, a first arm portion pivotally mounted on said base member for rotation about a first horizontal axis, a second arm portion mounted on the upper end of said first arm portion for movement about a second horizontal axis, a manipulator hand mounted on the outer end of said second arm portion and movable about a wrist bend axis which is perpendicular to the longitudinal axis of said second arm portion, said hand having a swivel portion on the outer end thereof which is rotatable about a wrist swivel axis which is perpendicular to said wrist bend axis, means for rotating said first and second arm portions about their respective axes, a first drive motor for said hand, and a second drive motor for said swivel portion, said first and second motors being mounted on and positioned relatively close to the central axis of said first arm portion and having the drive shafts thereof extending generally parallel to said central axis, thereby to limit the rotational inertia of said first arm portion. .Iaddend. .Iadd.20. In a programmable manipulator, the combination of, a base member mounted for rotation about a vertical axis, a first arm portion pivotally mounted on said base member for rotation about a first horizontal axis, a second arm portion mounted on the upper end of said first arm portion for movement about a second horizontal axis, a manipulator hand mounted on the outer end of said second arm portion and movable about a wrist bend axis which is perpendicular to the longitudinal axis of said second arm portion, said hand having a swivel portion on the outer end thereof which is rotatable about a wrist swivel axis which is perpendicular to said wrist bend axis, means for rotating said first and second arm portions about their respective axes, drive means for said hand and swivel portions mounted on said first arm portion and movable therewith, a housing mounted on the end of said second arm portion, an input shaft rotatably mounted in said housing, including said drive means, a motor mounted on said first arm portion, means connecting the output shaft of said motor to said input shaft, a ring gear mounted on said hand, a shaft rotatably mounted in said housing, a gear in said shaft and in engagement with said ring gear, gear means interconnecting said shaft and said input shaft, and antibacklash means for continuously exerting a biasing force on said shaft in the direction to hold said gear in engagement with said ring gear. .Iaddend. .Iadd.21. In a programmable manipulator, the combination of, a base member mounted for rotation about a vertical axis, a first arm portion pivotally mounted on said base member for rotation about a first horizontal axis, a second arm portion mounted on the upper end of said first arm portion for movement about a second horizontal axis, a manipulator hand mounted on the outer end of said second arm portion and movable about a wrist bend axis which is perpendicular to the longitudinal axis of said second arm portion, said hand having a swivel portion on the outer end thereof which is rotatable about a wrist swivel axis which is perpendicular to said wrist bend axis, means for rotating said first and second arm portions about their respective axes, drive means for said hand and swivel portions mounted on said first arm portion and movable therewith, said second arm portion including an elbow arm portion mounted for rotation about said second horizontal axis, and a forearm portion positioned concentric with said elbow arm portion and rotatable with respect thereto, said manipulator hand being mounted on the outer end of said forearm portion. .Iaddend.