Note: Descriptions are shown in the official language in which they were submitted.
CA 02497249 2005-02-14
SADDLE FOR A GANTRY ROBOT AND A GANTRY ROBOT INCLUDING THE SAME
FIELD OF THE INVENTION
[0001] The present invention relates to the field of automation, and more
particularly, to saddles for use with robots in gantry robots.
BACKGROUND OF THE INVENTION
[0002] Gantry robots are well-known. These devices include a rail elevated on
stanchions or supports, a saddle mounted to the rail for movement therealong,
and
a robot mounted to the saddle for movement therewith.
[0003] In one known type of gantry robot, the robot comprises an articulated
arm. The arm is of the type found in a 6-axis articulated robot, wherein the
arm is
secured by a bearing to a mount to provide for relative movement of the arm
and
mount about a vertical axis. In this known type of gantry robot, the arm is
secured
to the saddle for movement therewith, to provide a 6-axis articulated gantry
robot,
inclusive of a,linear axis defined by the rail. This type of gantry robot
suffers from
a relatively limited range of movement.
[0004] In another known type of gantry robot, the robot comprises a 6-axis
articulated robot. The robot includes an arm secured by a bearing to a mount
to
provide for relative movement of the arm and mount about a vertical axis. In
this
gantry robot, the mount is secured to the saddle, for movement therewith, to
provide a 7-axis articulated gantry robot, inclusive of a linear axis defined
by the
rail. This type of gantry robot has improved range of movement, in comparison
to
the first type, but suffers from the need for increased clearance, which
limits the
applications for which the gantry robot can be utilized.
CA 02497249 2005-02-14
SUMMARY OF THE INVENTION
[0005] A saddle forms one aspect of the invention. The saddle is for use with
a
rail defining a linear axis. The saddle is also for use with an articulated
robotic arm
and bearing assembly of the type found in a 6-axis articulated robot, wherein
the
arm is secured by the bearing to a mount for relative movement about a pivot
axis
defined by the bearing. The saddle comprises a main body portion and means for
mounting the main body portion to the rail in use to permit movement of the
main
body portion along the linear axis. The main body portion is adapted to, in
use,
fixedly receive the bearing such that the arm and bearing assembly is movable
with
the main body portion along the linear axis, such that the pivot axis is
vertical and
such that the arm is movable with respect to the main body portion about the
pivot
axis.
[0006] A gantry robot forms another aspect of the invention. The gantry
robot comprises a rail, stanchions, a saddle and an articulated arm and
bearing
assembly. The rail defines a linear axis. The stanchions support the rail such
that
the linear axis is substantially horizontal. The saddle includes a main body
portion
and means for mounting the main body portion to the rail to permit movement of
the main body portion along the linear axis. The articulated robotic arm and
bearing assembly is of the type found in a 6-axis articulated robot wherein
the arm
is secured by the bearing to a mount for relative movement about a pivot axis
defined by the bearing. The bearing of the articulated robotic arm and bearing
assembly is secured to the main body portion such that the arm and bearing
assembly is movable with the main body portion along the linear axis, such
that the
pivot axis is vertical and such that the arm is movable with respect to the
main
body portion about the pivot axis.
CA 02497249 2005-02-14
[0007] Advantages, features and characteristics of the present invention, as
well
as methods of operation and functions of the related elements of the
structure, and
the combination of parts and economies of manufacture, will become more
apparent upon consideration of the following detailed description and the
appended
claims with reference to the accompanying drawings, the latter being briefly
described hereinbelow.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Figure 1 is a perspective view of a gantry robot constructed according
to a preferred embodiment of the invention;
[0009] Figure 2 is a top plan view of the structure of Figure 1;
[0010] Figure 3 is a front elevational view of the structure of Figure 1;
[0011] Figure 4 is a side elevational view of the structure of Figure 1;
[0012] Figure 5 is a perspective view of a portion of the structure of Figure
1;
[0013] Figure 6 is a side elevational view of the structure of Figure 5; and
[0014] Figure 7 is a front elevational view of the structure of Figure 5.
CA 02497249 2005-02-14
DETAILED DESCRIPTION
[0015] A gantry robot 20 constructed according to a preferred embodiment of
the
present invention is shown in Figures 1-4.
[0016] The gantry robot 20 will be seen to include a rail 22, stanchions 24, a
saddle 26, an articulated arm and bearing assembly 28,30 and a drive mechanism
32,34.
[0017] The rail 22 defines a straight linear axis X-X and is a square tube.
[0018] The stanchions 24 are tripod structures that support the rail 20 in
elevated relation such that the linear axis X-X is substantially horizontal.
[0019] As best seen in Figures 5-7, the saddle 26 includes a main body portion
36; a plurality of pairs of cam followers 38 and a linear bearing 40. The main
body
portion 36 defines a rail-receiving channel 42 through which the rail 20
passes.
The cam followers 38 and the linear bearing 40, respectively, are disposed in
horizontally-spaced relation on opposite sides of said rail-receiving channel
42, and
together define means for mounting the main body portion 36 to the rail 22 to
permit movement of the main body portion 36 along the linear axis X-X.
[0020] The articulated robotic arm and bearing assembly 28,30 is of the type
found in the 6-axis articulated robot sold by ABB Robotics Corporation under
model
no. IRB 2400 (not shown). In this robot, the arm 28 is secured by the bearing
30
to a mount for relative movement about a pivot axis A-A defined by the bearing
30.
CA 02497249 2005-02-14
[0021] The bearing 30 of the articulated robotic arm and bearing assembly
28,30
is secured to the main body portion 36 such that the arm 28 is disposed in
underslung relation to the rail 22, such that the arm and bearing assembly
28,30 is
movable with the main body portion 36 along the linear axis X-X, such that the
pivot axis A-A is vertical and such that the arm 28 is movable with respect to
the
main body portion 36 about the pivot axis A-A.
[0021] The drive mechanism 32,34 comprises a rack 32 and a drive assembly 34.
The rack 32 is secured to the rail 22 and the drive assembly 34 is mounted to
the
main body portion 36 in mesh with the rack 32 to drive the saddle 26 along the
linear axis A-A.
[0027] While but a single preferred embodiment of the present invention has
been herein shown and described, it will be understood that various changes
can be
made without departing from the spirit or scope of the invention. For example,
only, whereas the rail of the preferred embodiment is a square tube, other
geometries could be employed; I-beams, for example, could be employed.
Further,
whereas a plurality of pairs of cam-followers and a linear bearing are
employed in
the preferred embodiment illustrated for the purpose of mounting the main body
portion to the rail, other arrangements, such as a pair of linear bearings,
could be
utilized for the purpose. Yet further, whereas the arm and bearing assembly
utilized in the preferred embodiment is from an ABB Model IRB 2400 robot,
other
arm and bearing assemblies could be utilized, such as that found in the ABB
Model
IRB 1400. In view of these potential variations, it should be understood that
the
invention is to be limited only by the claims appended hereto, purposively
construed.
