Arm structure for articulated mechanism
First Claim
1. An arm structure for an articulated mechanism, comprising a plurality of links operatively interconnected by articulations actuatable under a fluid pressure, each of said links comprising an accumulator for the fluid pressure.
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Accused Products
Abstract
An arm structure for use in an articulated mechanism such as an industrial robot comprises a plurality of links operatively interconnected by articulations having respective actuators and actuatable by the actuators under a fluid pressure. Each of the links comprises a hollow cylindrical casing and an accumulator comprising a pipe extending axially through the casing and a rubber tube disposed around the pipe. The tube is radially inflatable by the pressure of the fluid supplied into the space between the pipe and the tube through small holes defined in the wall of the pipe and the cylindrical casing is pressurized.
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Citations
17 Claims
- 1. An arm structure for an articulated mechanism, comprising a plurality of links operatively interconnected by articulations actuatable under a fluid pressure, each of said links comprising an accumulator for the fluid pressure.
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6. An articulated robotic arm comprising
a first accumulator comprising a first hollow cylindrical casing fillable with a gas under pressure and also comprising a first pipe extending through said first hollow cylindrical casing, said first pipe having a first aperture, said first accumulator further comprising a first tube which is expandable and contractable and surrounds said first pipe, said first aperture allowing a pressurized fluid in said first pipe to enter from said first pipe into a first space defined between said first pipe and said first tube; -
a first link comprising said first accumulator; a second accumulator comprising a second hollow cylindrical casing fillable with a gas under pressure and also comprising a second pipe extending through said second hollow cylindrical casing, said second pipe having a second aperture, said second accumulator further comprising a second tube which is expandable and contractible and surrounds said second pipe, said second aperture allowing a pressurized fluid in said second pipe to enter from said second pipe into a second space defined between said second pipe and said second tube; and a second link comprising said second accumulator, said second link being operatively coupled to said first link. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of controlling an articulated robotic arm comprising the steps of independently accumulating and applying pressure energy in separate links between articulations, whereby said links are angularly displaced relatively to each other.
Specification