Manipulator

• US 4,068,536 A
• Filed: 12/23/1976
• Issued: 01/17/1978
• Est. Priority Date: 12/23/1976
• Status: Expired due to Term

• Current Assignee: ABB Robotics Incorporated
• Original Assignee: Cincinnati Machines Incorporated (Fives SA)
• Inventors: Stackhouse, Theodore Hahn
• Primary Examiner(s): Gerin, Leonard H.
• Application Number:
  US05/753,725
• Time in Patent Office: 390 Days
• Field of Search: 74/417, 74/423
• US Class Current: 74/417
• CPC Class Codes: B25J 17/0283 Three-dimensional joints
• CPC Class Codes: B25J 9/045 Polar coordinate type
• CPC Class Codes: F16H 1/006 the driving and driven axes being designed to assume variable positions relative to one another during operation
• CPC Class Codes: Y10S 700/90 Special robot structural element
• CPC Class Codes: Y10T 74/19665 Bevel gear type

Abstract

A remotely operable manipulator orients an end-effector mounted to one end of a plurality of serially connected drive shafts. The manipulator has two sets of concentric shafts with individual shafts within each set independently rotatable about an axis common to the set. The common axes of the two sets are obliquely oriented with respect to each other; and a third shaft, rotatable about a third axis, is angularly oriented and connected to the most remote set of shafts. The preferred embodiment has the axes of the two sets and the third shaft intersecting at a single point and permits orientation of the third axis normal to any point upon the spherical surface of a spherical sector generated by the combined movement of the plurality of shafts.

Claims

1. An improved manipulator of the type having a plurality of serially connected drive shafts and a mounting surface affixed to one end thereof, wherein the improvement comprises:

a. a first shaft rotatable about a first axis coincident with one ordinant of a mutually perpendicular triordinant system;

b. a second shaft rotatably mounted to said first shaft, said second shaft being rotatable about a second axis obliquely oriented with respect to said first axis and rotatable thereabout;

c. means for imparting rotational movement to said second shaft about the second axis in accordance to rotational movement of a shaft rotatable about said first axis; and

d. a mounting surface having a centerline angularly oriented with respect to said second shaft and affixed thereto, said mounting surface being rotatable about said second axis wherein the movement of said mounting surface has a directional component of movement in each of the directions defined by said mutually perpendicular triordinate system as the mounting surface is rotated about said second axis.

2. A manipulator as recited in claim 1, further comprising a third shaft upon which said mounting surface is attached, said third shaft being rotatable about a third axis angularly oriented with respect to said second axis.

3. A manipulator as recited in claim 2, wherein said third axis is obliquely oriented with respect to said second axis.

4. A manipulator as recited in claim 3, wherein the angle between the first axis and the second axis is fixed.

5. A manipulator as recited in claim 4, wherein the angle between said second axis and said third axis is fixed.

6. An improved manipulator of the type having a plurality of serially connected drive shafts and a mounting surface affixed to one end thereof, wherein the improvement comprises:

a. a first shaft rotatable about a first axis;

b. a second shaft rotatably mounted upon said first shaft, said second shaft being rotatable about a second axis angularly intersecting said first axis and rotatable thereabout;

c. means for imparting rotational movement to said second shaft about said second axis in accordance to rotational movement of a shaft about said first axis; and

d. a third shaft rotabably mounted to said second shaft and rotatable about a third axis obliquely oriented with respect to said second axis and rotatable thereabout, said third shaft having the mounting surface affixed thereto and said third axis intersecting said first axis and said second axis at a single point.

7. A manipulator as recited in claim 6, wherein the angle between the first axis and the second axis is oblique.

8. A manipulator as recited in claim 7, wherein the angle between said first axis and said second axis is fixed.

9. A manipulator as recited in claim 8, wherein the angle between said second axis and said third axis is fixed.

10. An improved manipulator of the type having a plurality of serially connected drive shafts and a mounting surface affixed to one end thereof, wherein the improvement comprises:

a. a first set of concentric drive shafts independently rotatable about a first axis coincident with one ordinate of a mutually perpendicular triordinate system;

b. a second set of concentric drive shafts independently rotatable about a second axis obliquely oriented with respect to said first axis and rotatable thereabout;

c. means for selectively imparting independent rotational movement about said second axis to each concentric shaft in said second set in accordance to rotational movement of one of said shafts in said first set;

d. a third shaft rotatable about a third axis angularly oriented to said second axis, said third shaft being further rotatable about said second axis and having a mounting surface affixed thereto whereby the movement of said mounting surface has a directional component of movement in each of the directions defined by said mutually perpendicular triordinate system as said mounting surface is rotated about said second axis.

11. A manipulator as recited in claim 10, wherein the angle between said second axis and said third axis is oblique.

12. A manipulator as recited in claim 11, wherein the angle between said first axis and said second axis is fixed.

13. A manipulator as recited in claim 12, wherein the angle between said second axis and said third axis is fixed.

14. An improved manipulator of the type having a plurality of serially connected drive shafts and a mounting surface affixed to one end thereof, wherein the improvement comprises:

a. a first set of concentric drive shafts independently rotatable about a first axis;

b. a second set of concentric drive shafts independently rotatable about a second axis angularly oriented with respect to first axis and rotatable thereabout;

c. means for selectively imparting independent rotational movement about said second axis to each concentric shaft in said second set in accordance to rotation of one of said shafts in said first set; and

d. a third shaft mounted to said second set and rotatable about a third axis angularly oriented with respect to said second axis and rotatable thereabout, said third shaft having the mounting surface mounted thereto and said third axis intersecting said first axis and said second axis at a single point.

15. A manipulator as recited in claim 14, wherein said third axis is obliquely oriented with respect to said second axis.

16. A manipulator as recited in claim 15, wherein the angle between said first and second axes is fixed.

17. A manipulator as recited in claim 16 wherein the angle between said second and said third axes is fixed.

18. An improved remotely operable articulated manipulator of the type having a plurality of serially connected drive shafts and an end-effector mounted to one end thereof, wherein the improvement comprises:

a. a first set of concentric drive shafts independently rotatable about a first axis coincident with one ordinant of a mutually perpendicular triordinate system;

b. a second set of concentric drive shafts independently rotatable about a second axis obliquely oriented with respect to said first axis and rotatable thereabout;

c. a first set of gears, including at least two bevel gears, attached to at least two shafts in said first set of shafts;

d. a second set of gears, including at least two bevel gears, attached to at least two shafts in said second set of shafts, said second set of gears being drivingly connected to said first set of gears; and

e. a third shaft mounted to said second set of shafts and rotatable about a third axis obliquely fixed to said second axis and rotatable thereabout, said third shaft having the end-effector mounted thereto whereby the movement of said end-effector has a directional component of movement in each of the directions defined by said mutually perpendicular triordinate system as said end-effector is rotated about said second axis, and said third axis intersects said first axis and said second axis at a single point.