Two-axis cartesian robot

Claim 2

A two-axis Cartesian robot, comprising: a first elongated and substantially vertically disposed Y-axis support having upper and lower ends; said Y-axis support having an elongated Y-axis bearing way provided thereon positioned between the upper and lower ends thereof; said Y-axis support having an elongated Y-axis traction means connected to and positioned between the upper and lower ends thereof; a traverse carriage vertically movably mounted on said Y-axis bearing way; a motor mount provided on said traverse carriage for movement therewith; a drive motor mounted on said motor mount and having a driven shaft extending horizontally therefrom; said traverse carriage having an X-axis bearing block provided thereon; an elongated and substantially horizontally disposed X-axis support movably mounted on said X-axis bearing block and having first and second ends; said X-axis support having an elongated X-axis traction means connected to and positioned between said first and second ends thereof; a differential drive means in operative engagement with said driven shaft and including an X-axis drive means and a Y-axis drive means; said X-axis drive means being in operative engagement with said X-axis traction means; said Y-axis drive means being in operative engagement with said Y-axis traction means; a Y-axis brake for preventing movement of said tranverse carriage relative to said Y-axis support; an X-axis brake for preventing movement of said traverse carriage relative to said x-axis support; and a workpiece manipulating apparatus operatively secured to said X-axis support.

Claim 3

The two-axis Cartesian robot of claim 1 wherein said X-axis traction means and said Y-axis traction means each comprise a drive belt and wherein said X-axis drive means and said Y-axis drive means each comprise a drive pulley.

Claim 4

The two-axis Cartesian robot of claim 2 further comprising: opposing X-axis idler pulleys, each having an axle, aligned with said X-axis drive pulley and X-axis drive belt; said X-axis brake including opposing X-axis brake pressure pads pivotally mounted on said X-axis idler pulley axles substantially encircling said X-axis drive pulley; X-axis actuator means for selectively drawing the opposing X-axis brake pressure pads toward or away from each other; opposing Y-axis idler pulleys, each having an axle, aligned with said Y-axis drive pulley and Y-axis drive belt; said Y-axis brake including opposing Y-axis brake pressure pads pivotally mounted on said Y-axis idler pulley axles substantially encircling said Y-axis drive pulley; Y-axis actuator means for selectively drawing the opposing Y-axis brake pressure pads toward or away from each other; and control means for selectively activating said X-axis actuator means and said Y-axis actuator means whereby said opposing X-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said X-axis drive pulley and said opposing Y-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said Y-axis drive pulley, thereby maintaining said workpiece manipulating apparatus in a stationary position, and whereby said control means selectively activates either said X-axis actuator means to draw said opposing X-axis brake pressure pads away from each other and allow the rotation of said X-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said X-axis support or said Y-axis actuator means to draw said opposing Y-axis brake pressure pads away from each other and allow the rotation of said Y-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said Y-axis support.

Claim 5

The two-axis Cartesian robot of claim 1 wherein said X-axis traction means and said Y-axis traction means each comprise a gear rack and wherein said X-axis engagement means and said Y-axis engagement means each comprise a drive pinion gear.

Claim 6

A two-axis Cartesian robot, comprising: a first elongated and substantially vertically disposed Y-axis support having upper and lower ends; said Y-axis support having an elongated Y-axis traction means thereon positioned between the upper and lower ends thereof; a traverse carriage selectively vertically movably mounted on said Y-axis support; a drive motor mounted on said carriage; an elongated and substantially horizontally disposed X-axis support movably mounted on said carriage and having first and second ends; said X-axis support having an elongated X-axis traction means thereon positioned between said first and second ends thereof; a differential drive means driven by said drive motor and including an X-axis drive means and a Y-axis drive means; said X-axis drive means being in engagement with said X-axis traction means; said Y-axis drive means being in engagement with said Y-axis traction means; a Y-axis brake for preventing movement of said traverse carriage relative to said Y-axis support; an X-axis brake for preventing movement of said traverse carriage relative to said X-axis support; and a workpiece manipulating apparatus operatively secured to said X-axis support for movement therewith.

Claim 7

A two-axis Cartesian robot, comprising: a first elongated and substantially vertically disposed Y-axis support having upper and lower ends; said Y-axis support having an elongated Y-axis traction means thereon positioned between the upper and lower ends thereof; a traverse carriage selectively vertically movably mounted on said Y-axis support; a drive motor mounted on said carriage; an elongated and substantially horizontally disposed X-axis support movably mounted on said carriage and having first and second ends; said X-axis support having an elongated X-axis traction means thereon positioned between said first and second ends thereof; a differential drive means driven by said drive motor and including an X-axis drive means and a Y-axis drive means; said X-axis drive means being in engagement with said X-axis traction means; said Y-axis drive means being in engagement with said Y-axis traction means; a Y-axis brake for preventing movement of said traverse carriage relative to said Y-axis support; an X-axis brake for preventing movement of said traverse carriage relative to said X-axis support; and a workpiece manipulating apparatus operatively secured to said X-axis support for movement therewith.

Claim 8

The two-axis Cartesian robot of claim 5 wherein said X-axis traction means and said Y-axis traction means each comprise a drive belt and wherein said X-axis drive means and said Y-axis drive means each comprise a drive pulley.

Claim 9

The two-axis Cartesian robot of claim 6 further comprising: opposing X-axis idler pulleys, each having an axle, aligned with said X-axis drive pulley and X-axis drive belt; said X-axis brake including opposing X-axis brake pressure pads pivotally mounted on said X-axis idler pulley axles substantially encircling said X-axis drive pulley; X-axis actuator means for selectively drawing the opposing X-axis brake pressure pads toward or away from each other; opposing Y-axis idler pulleys, each having an axle, aligned with said Y-axis drive pulley and Y-axis drive belt; said Y-axis brake including opposing Y-axis brake pressure pads pivotally mounted on said Y-axis idler pulley axles substantially encircling said Y-axis drive pulley; Y-axis actuator means for selectively drawing the opposing Y-axis brake pressure pads toward or away from each other; and control means for selectively activating said X-axis actuator means and said Y-axis actuator means whereby said opposing X-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said X-axis drive pulley and said opposing Y-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said Y-axis drive pulley, thereby maintaining said workpiece manipulating apparatus in a stationary position; whereby said control means selectively activates either said X-axis actuator means to draw said opposing X-axis brake pressure pads away from each other and allow the rotation of said X-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said X-axis support or said Y-axis actuator means to draw said opposing Y-axis brake pressure pads away from each other and allow the rotation of said Y-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said Y-axis support.

Claim 10

The two-axis Cartesian robot of claim 5 wherein said X-axis traction means and said Y-axis traction means each comprise a gear rack and wherein said X-axis engagement means and said Y-axis engagement means each comprise a drive pinion gear.

Claim 11

A two-axis Cartesian robot, comprising: a first elongated and substantially vertically disposed Y-axis support having upper and lower ends; said Y-axis support having a discrete elongated Y-axis traction means thereon positioned between the upper and lower ends thereof; a traverse carriage vertically movably mounted on said Y-axis support; an elongated and substantially horizontally disposed X-axis support movably mounted on said carriage and having first and second ends; said X-axis support having a discrete elongated X-axis traction means thereon positioned between said first and second ends thereof; a drive motor mounted on said carriage and having a driven shaft extending horizontally therefrom; a differential drive means in operative engagement with said driven shaft and including an X-axis drive means and a Y-axis drive means; said X-axis drive means being in operative engagement with said X-axis traction means; said Y-axis drive means being in operative engagement with said Y-axis traction means; a Y-axis brake for preventing movement of said traverse carriage relative to said Y-Axis support; an X-axis brake for preventing movement of said traverse carriage relative to said X-axis support; and a workpiece manipulating apparatus operatively secured to said X-axis support for movement therewith.

Claim 12

A two-axis Cartesian robot, comprising: a first elongated and substantially vertically disposed Y-axis support having upper and lower ends; said Y-axis support having a discrete elongated Y-axis traction means thereon positioned between the upper and lower ends thereof; a traverse carriage vertically movably mounted on said Y-axis support; an elongated and substantially horizontally disposed X-axis support movably mounted on said carriage and having first and second ends; said X-axis support having a discrete elongated X-axis traction means thereon positioned between said first and second ends thereof; a drive motor mounted on said carriage and having a driven shaft extending horizontally therefrom; a differential drive means in operative engagement with said driven shaft and including an X-axis drive means and a Y-axis drive means; said X-axis drive means being in operative engagement with said X-axis traction means; said Y-axis drive means being in operative engagement with said Y-axis traction means; a Y-axis brake for preventing movement of said traverse carriage relative to said Y-Axis support; an X-axis brake for preventing movement of said traverse carriage relative to said X-axis support; and a workpiece manipulating apparatus operatively secured to said X-axis support for movement therewith.

Claim 13

The two-axis Cartesian robot of claim 9 wherein said X-axis traction means and said Y-axis traction means each comprise a drive belt and wherein said X-axis drive means and said Y-axis drive means each comprise a drive pulley.

Claim 14

The two-axis Cartesian robot of claim 10 further comprising: opposing X-axis idler pulleys, each having an axle, aligned with said X-axis drive pulley and X-axis drive belt; said X-axis brake including opposing X-axis brake pressure pads pivotally mounted on said X-axis idler pulley axles substantially encircling said X-axis drive pulley; X-axis actuator means for selectively drawing the opposing X-axis brake pressure pads toward or away from each other; opposing Y-axis idler pulleys, each having an axle, aligned with said Y-axis drive pulley and Y-axis drive belt; said Y-axis brake including opposing Y-axis brake pressure pads pivotally mounted on said Y-axis idler pulley axles substantially encircling said Y-axis drive pulley; Y-axis actuator means for selectively drawing the opposing Y-axis brake pressure pads toward or away from each other; and control means for selectively activating said X-axis actuator means and said Y-axis actuator means whereby said opposing X-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said X-axis drive pulley and said opposing Y-axis brake pressure pads are drawn toward each other to frictionally prevent the rotation of said Y-axis drive pulley, thereby maintaining said workpiece manipulating apparatus in a stationary position; whereby said control means selectively activates either said X-axis actuator means to draw said opposing X-axis brake pressure pads away from each other and allow the rotation of said X-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said X-axis support or said Y-axis actuator means to draw said opposing Y-axis brake pressure pads away from each other and allow the rotation of said Y-axis drive pulley and thereby effect movement of the workpiece manipulating apparatus parallel to said Y-axis support.

Claim 15

The two-axis Cartesian robot of claim 9 wherein said X-axis traction means and said Y-axis traction means each comprise a gear rack and wherein said X-axis engagement means and said Y-axis engagement means each comprise a drive pinion gear.