System and method for robot unit

Abstract

The present invention relates to a method for rapid transfer of a work object in both the horizontal and vertical directions using a robot unit ( 10 ) having a gripping mechanism ( 12 ) preferably from one workstation ( 3 ) to another ( 4 ), the work piece ( 2 ) weighing between one kilo and forty kilos and the transfer in the horizontal direction being at least one metre but less than ten metres and at least partially being effected along an essentially horizontally extending beam unit ( 20 ), and the gripping mechanism ( 12 ) being arranged in such a way that, at least in one end situation (E 1 ) along the beam ( 20 ), it can collect and/or deliver a work object ( 2 ) in a position (E 2 ) situated beyond the end situation (E 1 ) along the said horizontal beam ( 20 ), which robot unit is controlled by means of a control unit ( 50 ) and is driven by means of a belt member ( 24 ) and at least two motors ( 26, 27 ) comprising rotor units connected to drive wheels ( 26 A, 27 A) for the said belt member ( 24 ), the said motors ( 26, 27 ) being immovably arranged in relation to the said workstations ( 3, 4 ) and the transfer of the work object ( 2 ) being effected without displacement of either of the said two motors ( 26, 27 ), characterized in that the whole of the transfer is executed along one and the same beam unit ( 20 ), in that the said belt member ( 24 ) is constituted by a single continuous drive belt ( 24 ), which, at the same time, is connected to and driven by the said drive wheels ( 26 A, 27 A), and by the displacement of the work object being guided along a pre-programmed path by means of a control computer ( 51 ) in the control unit ( 50 ) through the continuous control and registration of the situation of each of the rotors forming part of the said motors ( 26, 27 ).

1 . A method for rapidly transferring a work object in both horizontal and vertical directions, the method comprising: 
 providing a robot unit having a gripping mechanism, the gripping mechanism having a gripping mechanism unit movably mounted thereon and displaceable horizontally relative to the gripping mechanism;    providing a first workstation and a second workstation between which to transfer the work object, the transfer at least partially being effected along an essentially horizontally extending beam;    arranging the gripping mechanism such that in a first end situation along the beam, the gripping mechanism collects the work object in a first position situated beyond the first end situation along the beam;    driving the robot unit with a belt member and at least two motors having rotor units connected to drive wheels for the belt member, the belt member comprising a single continuous drive belt that is connected to and driven by the drive wheels;    immovably arranging the at least two motors in relation to the first and second workstations; and    effecting transfer of the work object without displacement of either of the at least two motors,    wherein, while the gripping mechanism moves along the beam, the gripping mechanism unit moves along the gripping mechanism and provides further horizontal motion that overlays transfer along the horizontal beam, to collect the work object from the first position and deposit the work object in a second position beyond a second end situation along the beam.    
   
   
       2 . The method of  claim 1 , wherein the gripping mechanism comprises an elongated beam.  
   
   
       3 . The method of  claim 2 , wherein the gripping mechanism unit is slidably mounted on the elongated beam.  
   
   
       4 . The method of  claim 1 , wherein the belt member comprises a first belt member and the method further comprises moving the gripping mechanism unit along the gripping mechanism using a second belt member driven by the at least two motors.  
   
   
       5 . The method of  claim 4 , wherein the second belt member is driven by a drive wheel connected to a deflection wheel that is driven by the first belt member.  
   
   
       6 . The method of  claim 1 , the robot unit comprising: 
 a first beam unit extending between two end points and the first and the second workstation, wherein the first beam unit is the essentially horizontally extending beam;    a slide which is arranged movably along the first beam unit, wherein the slide defines a vertical opening, and wherein the slide comprises a first pair of opposing guide rollers on a first side of the vertical opening and a second pair of opposing guide rollers on a second side of the vertical opening opposite to the first side of the vertical opening;    a second beam unit which extends essentially perpendicular to the first beam unit and which is arranged movably on the slide, wherein the second beam unit moves vertically within the vertical opening, and wherein the first and second pairs of opposing guide rollers contact the second beam unit;    the gripping mechanism arranged on one end of the second beam unit; and    the at least two drive motors, which are connected to a plurality of deflection rollers and the belt member,    wherein the belt member travels around the drive wheels of the drive motors and the deflection rollers and is fastened to the one end of the second beam unit,    wherein the gripping mechanism reaches end points placed beyond the two end points of the horizontal beam, and    wherein the belt member is disposed in between the first and second pairs of opposing guide rollers.    
   
   
       7 . The method of  claim 1 , the work object weighing between one kilo and forty kilos, and the transfer in the horizontal direction being at least one meter but less than ten meters.  
   
   
       8 . The method of  claim 1 , further comprising: 
 controlling the robot unit with a control unit; and    guiding the transfer of the work object along a pre-programmed path using a control computer in the control unit, through continuous control and registration of the situation of each of the rotor units of the motors,    wherein the control unit is connected to an operator panel through which the control computer in the control unit can continuously be re-programmed by manually controlling the gripping mechanism to move into chosen situations.    
   
   
       9 . The method of  claim 8 , wherein the control unit is programmed by an operator's actually transferring the gripping mechanism through a work cycle, and 
 wherein successive registration of desired values is programmed in with respect to the rotor units forming part of the said motors, so that the control computer, through communication with a registration unit, can subsequently ensure automatic operation.    
   
   
       10 . An apparatus for transferring work objects in both horizontal and vertical directions between a first workstation and a second workstation, comprising: 
 a first beam unit disposed between the first workstation and the second workstation, wherein the first beam unit is essentially horizontal, wherein the first workstation is disposed beyond a first end of the first beam unit and the second workstation is disposed beyond a second end of the first beam unit;    a slide movably mounted on the first beam unit, wherein the slide has at least two deflection rollers;    a second beam unit that is essentially perpendicular to the first beam unit and is movably mounted on the slide, wherein a first end of the second beam unit has at least one deflection roller, and wherein the second beam unit moves vertically with respect to the slide;    a gripping mechanism mounted on a second end of the second beam unit that is opposite the first end, wherein the gripping mechanism includes a gripping mechanism unit movably mounted thereon and displaceable horizontally relative to the gripping mechanism;    at least two stationary drive motors; and    a belt member routed around the at least two deflection rollers on the slide and the at least one deflection roller on the second beam unit, wherein the belt member is attached at its two ends to the second end of the second beam unit, and wherein the belt member is driven by the at least two stationary drive motors, such that the belt member displaces the slide along the first beam unit and raises and lowers the second beam unit.    
   
   
       11 . The apparatus of  claim 10 , wherein the gripping mechanism comprises a horizontal elongated beam that is shorter in length than the first beam unit.  
   
   
       12 . The apparatus of  claim 11 , wherein as the gripping mechanism moves along the first beam unit, the gripping mechanism unit moves along the elongated beam and provides further horizontal motion that overlays transfer along the first beam unit, to collect a work object from the first workstation and deposit the work object in the second workstation.  
   
   
       13 . The apparatus of  claim 10 , further comprising a second belt member that is attached to and drives the gripping mechanism unit relative to the gripping mechanism, wherein the second belt member is driven by the at least two stationary drive motors.  
   
   
       14 . The apparatus of  claim 13 , wherein the second belt member is driven by a drive wheel connected to the at least one deflection roller, and wherein the drive wheel and the at least one deflection roller are equal in diameter.  
   
   
       15 . The apparatus of  claim 10 , wherein the slide defines a vertical opening, and wherein the slide comprises a first pair of opposing guide rollers on a first side of the vertical opening and a second pair of opposing guide rollers on a second side of the vertical opening opposite to the first side of the vertical opening, 
 wherein the second beam unit moves vertically within the vertical opening, and wherein the first and second pairs of opposing guide rollers contact the second beam unit, and    wherein the belt member is disposed in between the first and second pairs of opposing guide rollers.    
   
   
       16 . The apparatus of  claim 15 , wherein, when the second beam unit is viewed in cross section, the first pair of opposing guide rollers contacts a first distal end of the second beam unit and the second pair of opposing guide rollers contacts a second distal end of the second beam unit opposite to the first distal end.  
   
   
       17 . The apparatus of  claim 15 , wherein the second beam unit is an I-beam having a first flange and a second flange, wherein the first pair of opposing guide rollers contacts the first and second flanges, and wherein the second pair of opposing guide rollers contacts the first and second flanges.  
   
   
       18 . The apparatus of  claim 17 , wherein, when the second beam unit is viewed in cross section, a roller of the first pair of opposing guide rollers contacts a first distal end of the first flange and wherein a roller of the second pair of opposing guide rollers contacts a second distal end of the first flange opposite to the first distal end.  
   
   
       19 . A method for rapidly transferring a work object in both horizontal and vertical directions, the method comprising: 
 providing a robot unit having a gripping mechanism;    providing a first workstation and a second workstation between which to transfer the work object, the transfer at least partially being effected along an essentially horizontally extending beam;    arranging the gripping mechanism such that, at least in a first end situation along the beam, the gripping mechanism collects the work object in a first position situated beyond the first end situation along the beam;    controlling the robot unit with a control unit;    driving the robot unit with a belt member and at least two motors having rotor units connected to drive wheels for the belt member;    immovably arranging the at least two motors in relation to the first and second workstations;    effecting transfer of the work object without displacement of either of the at least two motors;    providing the belt member as a single continuous drive belt that is connected to and driven by the drive wheels; and    guiding the transfer of the work object along a pre-programmed path using a control computer in the control unit, through continuous control and registration of the situation of each of the rotor units of the motors,    wherein the gripping mechanism moves along the beam and has a gripping mechanism unit that collects the work object from the first position and deposits the work object in a second position beyond a second end situation along the beam,    wherein transfer of the work object in the horizontal direction is unobstructed by the robot unit,    the robot unit comprising: 
 a first beam unit extending between two end points and the first and the second workstation, wherein the first beam unit is the essentially horizontally extending beam;  
 a slide that is arranged movably along the first beam unit, wherein the slide defines a vertical opening, and wherein the slide comprises a first pair of opposing guide rollers on a first side of the vertical opening and a second pair of opposing guide rollers on a second side of the vertical opening opposite to the first side of the vertical opening;  
 a second beam unit which extends essentially perpendicular to the first beam unit and which is arranged movably on the slide, wherein the second beam unit moves vertically within the vertical opening, and wherein the first and second pairs of opposing wide rollers contact the second beam unit;  
 the gripping mechanism arranged on one end of the second beam unit, wherein the gripping mechanism includes the gripping unit,  
 the at least two drive motors, which are connected to the control unit, a plurality of deflection rollers, and the belt member,  
 wherein the belt member travels around the drive wheels of the drive motors and the deflection rollers and is fastened to the one end of the second beam unit, and  
 wherein the gripping mechanism unit reaches end points placed beyond the two end points of the horizontal beam, and  
 wherein the control unit is connected to an operator panel through which the control computer in the control unit can continuously be re-programmed by manually controlling the gripping mechanism to move into chosen situations,  
 wherein the slide further comprises: 
 a third pair of opposing guide rollers on the first side of the vertical opening in the same vertical plane as the first pair of opposing guide rollers and vertically offset from the first pair of opposing guide rollers; and  
 a fourth pair of opposing guide rollers on the second side of the vertical opening in the same vertical plane as the second pair of opposing guide rollers and vertically offset from the second pair of opposing guide rollers,  
 wherein the third and fourth pairs of opposing guide rollers contact the second beam unit.  
 
   
   
   
       20 . An apparatus for transferring work objects in both horizontal and vertical directions between a first workstation and a second workstation, comprising: 
 a first beam unit disposed between the first workstation and the second workstation, wherein the first beam unit is essentially horizontal, wherein the first workstation is disposed beyond a first end of the first beam unit and the second workstation is disposed beyond a second end of the first beam unit;    a slide movably mounted on the first beam unit, wherein the slide has at least two deflection rollers, wherein the slide defines a vertical opening, and wherein the slide comprises a first pair of opposing guide rollers on a first side of the vertical opening and a second pair of opposing guide rollers on a second side of the vertical opening opposite to the first side of the vertical opening;    a second beam unit that is essentially perpendicular to the first beam unit and is movably mounted on the slide, wherein a first end of the second beam unit has at least one deflection roller, wherein the second beam unit moves vertically within the vertical opening, and wherein the first and second pairs of opposing guide rollers contact the second beam unit;    a gripping mechanism mounted on a second end of the second beam unit that is opposite the first end, wherein the gripping mechanism includes a gripping mechanism unit that picks up a work object from the first workstation and releases the work object at the second workstation;    at least two stationary drive motors; and    a belt member routed around the at least two deflection rollers on the slide and the at least one deflection roller on the second beam unit, wherein the belt member is attached at its two ends to the second end of the second beam unit, and wherein the belt member is driven by the at least two stationary drive motors, such that the belt member displaces the slide along the first beam unit and raises and lowers the second beam unit,    wherein the slide further comprises: 
 a third pair of opposing guide rollers on the first side of the vertical opening in the same vertical plane as the first pair of opposing guide rollers and vertically offset from the first pair of opposing guide rollers; and  
 a fourth pair of opposing guide rollers on the second side of the vertical opening in the same vertical plane as the second pair of opposing guide rollers and vertically offset from the second pair of opposing guide rollers,  
 wherein the third and fourth pairs of opposing guide rollers contact the second beam unit.