Three dimensional movement of a robot manipulator
AssigneeMannesmann Aktiengesellschaft
InventorKarl-Ernst Kaufmann
Life of this patent
Estimating the term…
Abstract
A system for moving a robot manipulator being mounted on a carriage over a track system which includes a pair of rail carriers for rails and being interconnected to extend parallel to each other in spaced apart relationship; a carrier carriage runs on these rails with unequally large rollers and the manipulator carriage runs on a rail on the carrier carriage; all of the rails are mounted by means of a plurality of nonstraightness compensating support bars being adjustably bolted to the rail carriers, at least two per carrier, as well as on the carrier carriage and in aligned relationship as to each carrier to establish straight rail mounting facilities.
Claims12
In a system for moving a manipulator mounted on carriage means, the combination comprising:
- a carrier for a rail bar being preferably of hollow section type configuration, and being generally straight but with a relatively high tolerance as to straightness;
- a plurality of rail support bars being spaced apart as mounted to the carrier but in true alignment for adapting for lack of straightness of the carrier and establishing low tolerance straight mounting surfaces;
- each support bar having a plurality of threaded bores, there being threaded plugs each with an opening respectively in said bores;
- bolt means traversing the openings with play but clamping the respective support bar in relation to the carrier;
- and
- a straight rail bar mounted on said plurality of support bars for said carriage means to run on, said rail bar being kept straight as mounted.
In a system for moving a manipulator mounted on a carriage, a track system comprising:
- a first and a second rail carrier mounted and interconnected to extend parallel to each other in spaced apart relationship;
- a carrier carriage;
- a plurality of nonstraightness compensating support bars mounted on the rail carriers, at least two per carrier, as well as on the carrier carriage and in aligned relationship as to each carrier to establish straight rail mounting facilities;
- a first, second and third rail bar means respectively mounted to said first and second rail carriers and the carrier carriage by means of the support bars;
- each support bar having a plurality of threaded bores, there being threaded plugs each with an opening respectively in said bores;
- bolt means traversing the openings with play but clamping the support in relation to the respective one of the carriers;
- and
- said carrier carriage running on the first and second rail bar means, the carriage running on the third rail bar means.
In a system for moving a manipulator mounted on a carriage, a track system comprising:
- a first and a second rail carrier mounted and interconnected to extend parallel to each other in spaced apart relationship;
- a carrier carriage;
- a plurality of nonstraightness compensating support bars mounted on the rail carriers, at least two per carrrier, as well as on the carrier carriage and in aligned relationship as to each carrier to establish straight rail mounting facilities;
- a first, second, and third rail bar means respectively mounted to said first and second rail carriers, and the carrier carriage by means of the support bars;
- the carrier carriage having one portion with two rollers running on the first rail bar means and another portion with a single roller running on the second rail bar means;
- a drive motor driving said one portion;
- and
- the carriage running on the third rail bar means.
Dependencies are inferred from the claim text.