发明授权
- 专利标题: Method and system for quickly and efficiently transferring a workpiece from a first station to a second station
- 专利标题(中): 用于将工件从第一站快速有效地传送到第二站的方法和系统
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申请号: US823206申请日: 1992-01-21
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公开(公告)号: US5423648A公开(公告)日: 1995-06-13
- 发明人: Hadi A. Akeel , Chris K. Reed
- 申请人: Hadi A. Akeel , Chris K. Reed
- 申请人地址: MI Auburn Hills
- 专利权人: FANUC Robotics North America, Inc.
- 当前专利权人: FANUC Robotics North America, Inc.
- 当前专利权人地址: MI Auburn Hills
- 主分类号: B21D43/05
- IPC分类号: B21D43/05 ; B25J9/04 ; B25J9/10 ; B65H5/12
摘要:
A method and system are provided for quickly and efficiently transferring a workpiece from a first work station including a first sheet metal press to a second sheet metal press by providing a pendulum-type robot, including an arm assembly mounted on a support structure to swing about a first axis located above and between the first and second presses. The arm assembly not only swings about a first axis but also rotates about a second axis orthogonal to the first axis and a third axis which is orthogonal to the second axis. During swinging movement of the arm assembly about the first axis, rotation of the arm assembly about the second and third axes allows a center of gravity of the workpiece to follow a substantially straight line path between the first and second presses. The arm assembly includes first and second four-bar linkages, which are pivotally connected together to rotate about the second axis. Preferably, a wrist mechanism is provided to permit rotation of the part between the presses. Also preferably, a counterbalance mechanism in the form of a cable balancing device is provided to support the arm assembly against gravity.
公开/授权文献
- US5844454A Dielectric filter with non-conductive edge 公开/授权日:1998-12-01