Robot apparatus
    9.
    发明授权
    Robot apparatus 失效
    机器人装置

    公开(公告)号:US4721005A

    公开(公告)日:1988-01-26

    申请号:US870999

    申请日:1986-06-05

    摘要: A robot apparatus is operable in a Cartesian coordinate system for moving a workpiece gripped by a hand thereof. The robot apparatus includes a self-propelled X-axis slide unit movably mounted on an X-axis rail unit extending in the direction of the X-axis of the Cartesian coordinate system. A Y-axis slide unit extending in the Y-axis direction normal to the X-axis direction has one end fixed to the X-axis slide unit. A self-propelled Z-axis slide unit is movably mounted on the Y-axis slide unit, and a slide base to which the robot hand is attached is mounted on the Z-axis slide unit. Lead wires connected to drive mechanisms for driving the X-axis slide unit, the Y-axis slide unit, and the Z-axis slide unit pass through case members, and are housed in the X-axis rail unit and connected to a terminal box secured to an end of the X-axis rail unit. The X-axis, Y-axis, and Z-axis slide units are prevented from interfering with the respective tracks of other units during operation of the robot apparatus, so that the working envelope of the robot apparatus can be increased.

    摘要翻译: 机器人装置在笛卡尔坐标系中可操作,用于移动由其手抓住的工件。 机器人装置包括可自由移动地安装在沿笛卡尔坐标系X轴方向延伸的X轴轨道单元上的自推进X轴滑动单元。 在与X轴方向垂直的Y轴方向上延伸的Y轴滑动单元的一端固定于X轴滑动单元。 自行式Z轴滑动单元可移动地安装在Y轴滑动单元上,并且附接有机器人手的滑动基座安装在Z轴滑动单元上。 与驱动X轴滑动单元,Y轴滑动单元和Z轴滑动单元的驱动机构连接的引线穿过壳体,并被容纳在X轴导轨单元中并连接到接线盒 固定在X轴导轨单元的一端。 在机器人装置的操作期间,防止X轴,Y轴和Z轴滑动单元干扰其他单元的各个轨迹,从而可以增加机器人装置的工作范围。