INDUSTRIAL ROBOT

摘要

A programmable industrial robot comprises a mechanical unit for effecting diverse movements of an object, and a control unit positioned at a remote location from the mechanical unit for controlling the movements of the mechanical unit in accordance with a predetermined and interchangeable program of instructions. The mechanical unit includes a gripper mechanism for releasably gripping an object, a pair of oscillatory fluid motors for angularly moving the gripper mechanism about two orthogonal axes, and a movable transfer arm connected to the gripper mechanism. A pair of reciprocatory fluid motors and an oscillatory fluid motor are connected to the transfer arm for linearly moving the transfer arm along two orthogonal axes and angularly moving same about one of the axes. The control unit is programmed by punch cards and includes an array of photoelectrical detectors for reading the punch cards and a logic circuit for deriving a series of comman signals in accordance with the information contained on the punch cards. The command signals are applied to a series of solenoid valves to accordingly control the actuation of the various fluid motors.