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Extended "Z" Axis With Multi-Level Pick-Up Capability for the IBM 7535 and 7540 Robots

IP.com Disclosure Number: IPCOM000060243D
Original Publication Date: 1986-Mar-01
Included in the Prior Art Database: 2005-Mar-08
Document File: 2 page(s) / 64K

Publishing Venue

IBM

Related People

Gorman, RE: AUTHOR [+4]

Abstract

A technique is described whereby the "Z" axis movement of the IBM 7535 and 7540 Robots are provided with a 30-inch movement in place of the present four- and six-inch "Z" axis movement pick-up arms. The device is unique in that the pick-up has the ability to pick and place items at any height along the 30-inch range, with either high or low pressure cylinder operation, thus producing hard or soft "Z" axis actuation. The extended "Z" axis fixture, as shown in Fig. 1, consists of rodless air cylinder 1, shaft 2 with three load-carrying ball grooves, bearing assembly 3 for rotational control, bearing housing 4 which provides the support of the system and attaches to the robots via the same mounting studs as conventional fixtures.

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Extended "Z" Axis With Multi-Level Pick-Up Capability for the IBM 7535 and 7540 Robots

A technique is described whereby the "Z" axis movement of the IBM 7535 and 7540 Robots are provided with a 30-inch movement in place of the present four- and six-inch "Z" axis movement pick-up arms. The device is unique in that the pick-up has the ability to pick and place items at any height along the 30-inch range, with either high or low pressure cylinder operation, thus producing hard or soft "Z" axis actuation. The extended "Z" axis fixture, as shown in Fig. 1, consists of rodless air cylinder 1, shaft 2 with three load-carrying ball grooves, bearing assembly 3 for rotational control, bearing housing 4 which provides the support of the system and attaches to the robots via the same mounting studs as conventional fixtures. Upper and lower limit switches 5, located on cylinder 1, are only used when full stroke indication is required. The pneumatic system, as shown in Fig. 2, provides the controls for the 30-inch "Z" movement. The system is first operational through valve #1. When a down signal is initiated, the robot controller energizes valve #2 to lower the "Z" shaft under full line pressure. Should a soft "Z" be required, valve #3 is energized directly after valve #2 to direct the line pressure through a pressure regulator with less force. This allows the gripper to make contact with parts to be picked up without damaging the part. The pick-up and place sequence is shown...