Robotic arm for use with pharmaceutical unit of use transport and storage system
First Claim
1. A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
- a base plate presenting an arcuate channel;
a first arm segment rotatably attached to the base plate;
a second arm segment with a first portion slidably engaged with the arcuate channel and a second portion rotatably attached to the first arm segment so that when the first arm segment is rotated from a first position to a second position the second arm segment moves from a substantially retracted position to a partially extended position, and when the first arm segment is rotated from the second position to a third position the second arm segment moves from the partially extended position to a more fully extended position; and
an engagement mechanism secured to the second arm segment.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic arm (10) for use with a pharmaceutical unit of use transport and storage system (200) comprises a base plate (26) with a first cam track segment (28) and a second cam track segment (34). A first arm segment (62) is rotatably attached to the base plate (26) and a second arm segment (96) is rotatably attached to the first arm segment (62) and includes a cam track follower (108) that engages with the first and second cam track segments (28,34) to guide the movement of the second arm segment (96). A platform (148) is secured to an end of the second arm segment (96) and is adapted to engage a product (208). A series of orientation sprockets (88,120,122,138) and drive chains (154,156) cooperate to maintain the platform (148) rearwardly oriented as the arm (10) extends from a retracted position to an extended position.
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Citations
41 Claims
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1. A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
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a base plate presenting an arcuate channel;
a first arm segment rotatably attached to the base plate;
a second arm segment with a first portion slidably engaged with the arcuate channel and a second portion rotatably attached to the first arm segment so that when the first arm segment is rotated from a first position to a second position the second arm segment moves from a substantially retracted position to a partially extended position, and when the first arm segment is rotated from the second position to a third position the second arm segment moves from the partially extended position to a more fully extended position; and
an engagement mechanism secured to the second arm segment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
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a base plate presenting an arcuate channel;
a first arm segment rotatably attached to the base plate;
a second arm segment with a first portion slidably engaged with the arcuate channel and a second portion rotatably attached to the first arm segment so that when the first arm segment is rotated from a first position to a second position the second arm segment moves from a position substantially parallel with a first axis of the robotic arm to a position substantially parallel with a second axis of the robotic arm, and when the first arm segment is rotated from the second position to a third position the second arm segment remains substantially parallel with the second axis and extends over an edge of the base plate; and
an engagement mechanism for engaging a product, the mechanism secured to a third portion of the second arm segment. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A robotic arm for transporting products in a product storage and dispensing system, the robotic arm comprising:
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a base plate presenting an arcuate cam track;
a first orientation sprocket fixedly secured to the base plate;
a first arm segment rotatably attached to the base plate;
a second arm segment rotatably secured to the first arm segment, the second arm segment including a cam follower secured to a first portion of the second arm segment for following the cam track, wherein rotating the first arm segment from a first position to a second position causes the second arm segment to move from a position substantially parallel with a first axis of the robotic arm to a position substantially parallel with a second axis of the robotic arm, and wherein rotating the first arm segment from the second position to a third position causes the second arm segment to remain substantially parallel with the second axis and to extend over an edge of the base plate;
a second orientation sprocket rotatably secured to a second portion of the first arm segment;
a third orientation sprocket rotatably secured to a third portion of the second arm segment and fixedly secured to the second orientation sprocket;
a first drive chain for entraining the first orientation sprocket and the second orientation sprocket;
a platform for engaging a product, the platform pivotally secured to a fourth portion of the second arm segment and including a fourth orientation sprocket fixedly attached to the platform; and
a second drive chain for entraining the third orientation sprocket and the fourth orientation sprocket. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36)
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37. A robotic arm for transporting products in a product storage and dispensing system, the robotic arm comprising:
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a base plate presenting a cam track with a first arcuate track segment and a second arcuate track segment, wherein each track segment has a constant radius of curvature;
a base pivot shaft fixedly secured to and extending through the base plate;
a first orientation sprocket fixedly secured to an end of the base pivot shaft distal the base plate;
a first arm segment with a first end rotatably attached to the base pivot shaft between the base plate and the first orientation sprocket;
an arm pivot shaft rotatably secured to a second end of the first arm segment;
a second arm segment rotatably secured to the arm pivot shaft, the second arm segment including a cam follower rotatably secured to a first end of the second arm segment for engaging and following the cam track, wherein rotating the first arm segment from a first position to a second position causes the arm pivot shaft to follow a curved path while the second arm segment remains tangential to the path and moves from a position substantially parallel with a lateral axis of the robotic arm to a position substantially parallel with a longitudinal axis of the robotic arm, and wherein rotating the first arm segment from the second position to a third position the second causes the second arm segment to remain substantially parallel with the longitudinal axis and to extend over a back edge of the base plate;
a second orientation sprocket fixedly secured to a top end of the arm pivot shaft;
a third orientation sprocket fixedly secured to a bottom end of the arm pivot shaft;
a first drive chain for entraining the first orientation sprocket and the second orientation sprocket;
a platform including a plurality of tines for supporting a product, the platform pivotally secured to a second end of the second arm segment and including a fourth orientation sprocket fixedly attached to the platform;
a second drive chain for entraining the third orientation sprocket and the fourth orientation sprocket;
an electric motor secured to the base plate and drivingly connected to the first arm segment; and
an encoder for indicating a position of the first arm segment. - View Dependent Claims (38, 39)
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40. A storage and dispensing system for storing and dispensing products, the system comprising:
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a substantially enclosed cabinet;
a plurality of product holders mounted within the cabinet, each product holder configured for holding at least one product;
an infeed conveyor for receiving products that are to be stored in the cabinet;
an outfeed conveyor for receiving products that are to be dispensed from the cabinet;
a transporter enclosed by and moveable within the cabinet for transporting products between the infeed conveyor and the product holders and between the product holders and the outfeed conveyor for storing products in or dispensing products from the cabinet, the transporter including a robotic arm with a first arm segment rotatably attached to a second arm segment, wherein rotating the first arm segment from a first position to a second position causes the second arm segment to move from a position substantially parallel with a first axis of the arm to a position substantially parallel with a second axis of the arm, and wherein rotating the first arm segment from the second position to a third position causes the second arm segment to remain parallel with the second axis and to extend toward a back of the cabinet; and
a control system for controlling operation of the infeed conveyor, the outfeed conveyor, and the transporter. - View Dependent Claims (41)
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Specification