ROBOTIC SYSTEM AND METHOD FOR TRANSPORT OF MATERIALS WITH MINIMIZATION OF FOOTPRINT SIZE
First Claim
1. A robotic transfer system, comprising:
- a control system;
a frame;
a plurality of first actuators attached to the frame;
a plurality of linear bearings attached to the frame wherein each of the plurality of linear bearings is controlled to be moveable to any position by one corresponding actuator in the plurality of first actuators only in a first axis of motion;
a plurality of shelves each containing a plurality of targets wherein each shelf in the plurality of shelves is attached to one corresponding bearing in the plurality of linear bearings and wherein each of said plurality of shelves is stacked in a vertical arrangement;
an arm attached to the frame and moveable only in two axes of motion both orthogonal to the first axis of motion, wherein the arm comprises;
a second actuator that moves only in one of the two axes of motion; and
a third actuator that moves only in the other of the two axes of motion; and
an end effector attached to the third actuator;
the control system electronically coupled to the plurality of first actuators and the second and third actuators, wherein the control system controls coupling the end effector to one of the plurality of targets by controlling an actuator in the plurality of first actuators corresponding to the shelf containing the one of the plurality of targets to independently move in the first axis of motion, and controlling the second and third actuators to move in the two axes of motion to align the end effector with the one of the plurality of targets, wherein said second and third actuators are not controllable to move in the first axis of motion.
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Accused Products
Abstract
A robotic system and method that provides three axes of movement to couple a robotic arm with a desired target for movement of materials, including but not limited to fluids. The robotic arm moves in two axes of direction only, and the targets move in the third axis of direction to couple the robotic arm with the desired target. The targets are contained on trays that are controlled to move linearly to accomplish the third axis of movement. Multiple trays each containing targets are provided and are vertically stacked on top of each other to increase the target handling capacity of the robotic system without increasing the footprint size of the robotic system. Each axis of motion is accomplished by control of an actuator by a control system and associated motion controller.
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Citations
19 Claims
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1. A robotic transfer system, comprising:
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a control system;
a frame;
a plurality of first actuators attached to the frame;
a plurality of linear bearings attached to the frame wherein each of the plurality of linear bearings is controlled to be moveable to any position by one corresponding actuator in the plurality of first actuators only in a first axis of motion;
a plurality of shelves each containing a plurality of targets wherein each shelf in the plurality of shelves is attached to one corresponding bearing in the plurality of linear bearings and wherein each of said plurality of shelves is stacked in a vertical arrangement;
an arm attached to the frame and moveable only in two axes of motion both orthogonal to the first axis of motion, wherein the arm comprises;
a second actuator that moves only in one of the two axes of motion; and
a third actuator that moves only in the other of the two axes of motion; and
an end effector attached to the third actuator;
the control system electronically coupled to the plurality of first actuators and the second and third actuators, wherein the control system controls coupling the end effector to one of the plurality of targets by controlling an actuator in the plurality of first actuators corresponding to the shelf containing the one of the plurality of targets to independently move in the first axis of motion, and controlling the second and third actuators to move in the two axes of motion to align the end effector with the one of the plurality of targets, wherein said second and third actuators are not controllable to move in the first axis of motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of robotically transporting a material, comprising the steps of:
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selecting a target containing a material to transfer from a plurality of shelves containing a plurality of targets wherein each of the plurality of shelves are stacked in a vertical arrangement with respect to one another;
moving a shelf containing the target from the plurality of shelves only in a first axis of motion by causing a first actuator coupled to the shelf to move the shelf in the first axis of motion to align an end effector with the target; and
coupling the end effector with the target comprised of;
moving an arm that is only moveable in two axes of motion both orthogonal to the first axis of motion, which is comprised of;
instructing a second actuator to move the arm in a second axis of motion from the two axes of motion; and
instructing a third actuator to move the arm in a third axis of motion from the two axes of motion in a different axis from the second axis of motion;
wherein said second and third actuators are not controllable to move in the first axis of motion. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification