Apparatus for pivotally orienting a projection device

• US 20070019330A1
• Filed: 07/07/2006
• Published: 01/25/2007
• Est. Priority Date: 07/12/2005
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Wolfersberger, Charles
• Granted Patent: US 7,690,619 B2
• Time in Patent Office: Days
• US Class Current: 360/244
• CPC Class Codes: H01Q 3/08 for varying two co-ordinates of the orientation

Abstract

An apparatus that provides for rotation about two axes orthogonal to each other includes a gimbal having two arms adjoining a portion that is mounted to a base for rotation about a first axis. A shaft defining a second axis orthogonal to the first pivotally couples a mounting plate to the arms. The mounting plate has an arcuate edge with first and second parallel grooves therein adapted to receiving a drive cable. A drive cable that is engaged with a drive pulley is aligned by at least one idler pulley with the first and second grooves of the mounting plate. The drive cable has opposing free ends that are received in the first and second grooves of the mounting plate. A motor is coupled to the drive pulley for controlling the drive cable travel, to accordingly rotate the mounting plate to provide for orientating a device in a desired direction.

Claims

1. An apparatus for controllably orienting a component in a desired direction, the apparatus comprising:

a gimbal bracket having two laterally spaced arms adjoining a base portion of the gimbal bracket, which is mounted for rotation about a first axis extending through the base portion of the gimbal bracket;

a mounting plate disposed between the laterally spaced arms of the gimbal bracket, the mounting plate having an arcuate edge portion with first and second parallel grooves therein adapted to receiving a drive cable;

a pivot shaft pivotally coupling the mounting plate to the laterally spaced arms of the gimbal bracket, the pivot shaft defining a second axis orthogonal to the first axis about which the mounting plate pivots;

a drive pulley;

at least one idler pulley;

a drive cable engaged with the drive pulley and supported by the at least one idler pulley, the drive cable having opposing ends that are each received into the first and second grooves of the mounting plate and are secured thereto;

a drive motor coupled to the drive pulley for controllably rotating the drive pulley to displace the drive cable and rotate the mounting plate about the second axis; and

at least one component mounted to the mounting plate, wherein the at least one component may be rotated about at least two axes orthogonal to each other to be oriented in a desired direction.

2. The apparatus of claim 1 further comprising a drive motor coupled to the base for controllably rotating the gimbal bracket about the first axis such that the component on the mounting plate may be rotated about at least two rotational axis orthogonal to each other to provide for orientation of the component in a desired direction.

3. The apparatus of claim 1 wherein the first and second grooves in the arcuate edge of the mounting plate serve as guideways for receiving the respective opposing ends of the drive cable when the mounting plate is rotated about the second axis.

4. The apparatus of claim 1 wherein the drive pulley comprises a plurality of helical tracks for receiving and engaging the drive cable.

5. The apparatus of claim 4 wherein the drive pulley comprises at least two anchors within at least one track for securing at least two drive cables therein, wherein the at least two drive cables are coiled around the helical tracks of the drive pulley to provide a drive pulley assembly having opposing free cable ends.

6. The apparatus of claim 5 where one free end is being wound while the other free end unwinds when the pulley is rotated in a first direction, and one free end respectively unwinds while the other free end is being wound when the pulley is rotated in the second direction opposite the first direction.

7. The apparatus of claim 6 wherein the apparatus comprises at least two idler pulleys for aligning the opposing free cable ends with the first and second grooves in the actuate edge of the mounting plate.

8. The apparatus of claim 2 wherein the at least one component comprises a pair of permanent magnets.

11. The apparatus of claim 9 The apparatus of claim 1 wherein the first and second grooves in the arcuate edge of the mounting plate serve as guideways for receiving the respective opposing ends of the drive cable when the mounting plate is rotated about the second axis.

9. An apparatus for controllably orienting a component in a desired direction, the apparatus comprising:

a first generally u-shaped member having a base portion and two laterally spaced arms extending therefrom, the u-shaped member being adapted to be rotatably mounted to a base for rotation about a first axis;

a shaft between the two laterally spaced arms, the longitudinal axis of the shaft defining a second axis orthogonal to the first axis,

a component mounting plate disposed on the shaft defining the second axis, about which the component mounting plate may pivot, the component mounting plate having a curved edge portion with first and second parallel grooves therein;

a drive pulley;

at least one idler pulley;

a drive cable engaged with the drive pulley and supported by the at least one idler pulley, the drive cable having opposing ends that are each received into the first and second grooves of the component mounting plate and are secured thereto;

a reversible drive motor coupled to the drive pulley for controllably rotating the drive pulley to move the drive cable to cause the component mounting plate to rotate about the second axis; and

at least one component mounted to the mounting plate, wherein the at least one component may be rotated about at least two axes orthogonal to each other to be oriented in a desired direction.

10. The apparatus of claim 9 further comprising a drive motor coupled to the base for controllably rotating the gimbal bracket about the first axis such that the component on the mounting plate may be rotated about at least two rotational axis orthogonal to each other to provide for orientation of the component in a desired direction.

12. The apparatus of claim 9 wherein the drive pulley comprises a plurality of helical tracks for receiving the drive cable.

13. The apparatus of claim 12 wherein the drive pulley comprises at least two anchors within at least one track for securing at least two drive cables therein, wherein the at least two drive cables are coiled around the helical tracks of the drive pulley to provide a drive pulley assembly having opposing free cable ends.

14. The apparatus of claim 13 where one free end is being wound while the other free end unwinds when the pulley is rotated in a first direction, and one free end respectively unwinds while the other free end is being wound when the pulley is rotated in the second direction opposite the first direction.

15. The apparatus of claim 14 wherein the apparatus comprises at least two idler pulleys for aligning the opposing free cable ends with the first and second grooves in the actuate edge of the mounting plate.

16. An apparatus for controllably orienting at least one permanent magnet to provide a magnetic field in a desired direction, the apparatus comprising:

a first generally u-shaped member having a base portion and two laterally spaced arms extending therefrom, the u-shaped member being adapted to be rotatably mounted to a base for rotation about a first axis extending through the base portion of the u-shaped member;

a shaft between the two laterally spaced arms, the shaft having a longitudinal axis that defines a second axis orthogonal to the first axis,

a mounting plate coupled to the shaft defining the second axis about which the mounting plate pivots, the mounting plate having an arcuate edge portion with a first and second parallel grooves therein for serving as guideways for receiving a drive cable;

a drive pulley having a plurality of helical tracks for receiving at least one drive cable;

at least one drive cable secured to the drive pulley, the at least one drive cable having opposing free ends that are each respectively received into the first and second guideways in the arcuate edge of the mounting plate, where the opposing free ends of the drive cable are secured to the mounting plate;

a first idler pulley and a second idler pulley for respectively aligning the drive cable with the first guideway and the second guideway in the mounting plate;

a reversible drive motor coupled to the drive pulley for controllably rotating the drive pulley to move the drive cable to cause the mounting plate to rotate about the second axis; and

at least one magnetic field generating device being mounted to the mounting plate for applying a magnetic field in a predetermined direction, wherein the at least one magnetic field generating device may be rotated about at least two axes orthogonal to each other to controllably orient the magnetic field in a desired direction.

17. The apparatus of claim 16 wherein the at least one drive cable preferably comprises two drive cables that are ridigly anchored within at least one helical track of the drive pulley for securing the two drive cables therein, such that the two drive cables will not slip with respect to the drive pulley track to control drive cable movement relative to pulley rotation for providing reliable rotation and positioning of the mounting plate.

18. The apparatus of claim 17 where one free end is being wound while the other free end unwinds when the pulley is rotated in a first direction, and one free end respectively unwinds while the other free end is being wound when the pulley is rotated in the second direction opposite the first direction.

19. The apparatus of claim 18 wherein the first and second idler pulleys provide for respectively aligning the opposing free ends of the drive cable with the first and second guideways on the mounting plate, such that the drive pulley may be mounted to the generally u-shaped member in a position that is out of alignment with the first and second guideways.

20. The apparatus of claim 18 wherein the drive motor may be selectively actuated in either the first or second direction for moving the drive cable to rotate the at least one magnetic field generating device to point in a desired direction.

21. The apparatus of claim 20 wherein the at least one magnetic field generating device comprises a permanent magnet capable of applying a magnetic field in a predetermined direction being mounted to the mounting plate, wherein the at least one permanent magnet may be rotated about at least two axes orthogonal to each other to controllably orient the magnetic field in a desired direction.