Handling large, heavy workpieces using gantry robots with two robot arms

Abstract

A robot system for handling and transporting workpieces in a workspace includes a rail (20) supported above a floor, at least two robot arms (50) supported on the rail for mutual relative displacement and coordinated displacement along the rail, each arm articulating about multiple axes for engaging and supporting the workpiece (76), and a controller (96) communicating with each of the robot arms to control displacement and articulation of each robot arm, whereby the workpiece is engaged by each gripper (78, 80), lifted above the floor on the robot arm, carried along the rail, and released from the gripper at its destination.

Description

[0001] References relevant to this application [0002] This patent application claims subject matter of US Provisional Patent Application No. 60 / 488,668, filed July 18, 2003, the entire contents of which are hereby incorporated by reference. technical field [0003] The present invention relates to material handling of workpieces using coordinated gantry, and in particular, the present invention relates to a system comprising a plurality of remotely operated robots (robots) movable along guide rails. Background technique [0004] Purpose-built automatic transfer equipment, heavy-duty area crane gantry and heavy-duty pedestal remote-controlled machinery are all conventional techniques used to transfer large and heavy workpieces over short distances on the shop floor as required. [0005] A single heavy-duty remote-controlled machine usually requires a large tool to grasp a large workpiece, which seriously affects the payload available for the workpiece, and the design of suc...

AI Technical Summary

Problems solved by technology

Such devices are stereotyped, or require highly complex structures to obtain the required adaptability

They take up a lot of space, are complex to install and require long commissioning times, especially when they are large enough to accommodate particularly large workpieces

[0007] The traditional crane frame is not easy to support workpiece steering and workpiece conveying control. It generally requires large tools to hold large workpieces. The design of tools is very complicated, especially when workpiece steering is required and the steering function is integrated into the tool.

Traditional crane racks require very high top beam spacing if fixed vertical columns are used, or are costly and load dropping if telescoping vertical columns are used

Images