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AssigneeUnimation, Inc.
InventorsJoseph F. Engelberger, Torsten H. Lindbom, Maurice J. Dunne, William Perzley, Wilbur N. Roberts, Horace L. Gardener, deceased
Estimating the term…
A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.
portion.] 8. The combination of claim [7, ] 19 which includes a pair of beveled ring gears independently mounted for rotation about said second horizontal axis, means interconnecting said first and second motors with said pair of beveled ring gears to rotate the same, means including first gear means interconnecting one of said beveled ring gears and said hand, thereby to move said hand about said wrist bend axis, and means including second gear means interconnecting the other of said beveled ring gears with said swivel portion to move the same about said
[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
[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
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.
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.
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.
Dependencies are inferred from the claim text.