Two-axis magnetically coupled robot
First Claim
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1. A robot comprising:
- a first magnetic coupling that magnetically couples a first motor across a first cylindrical section of wall to a first member that is rotatable about an axis of rotational symmetry of said first cylindrical section of wall;
a second magnetic coupling that magnetically couples a second motor across a second cylindrical section of wall to a second member that is rotatable about an axis of rotational symmetry of said second cylindrical section of wall;
means for converting rotations of the first and second rotatable members into a pair of independent motions of said robot.
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Abstract
A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
92 Citations
29 Claims
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1. A robot comprising:
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a first magnetic coupling that magnetically couples a first motor across a first cylindrical section of wall to a first member that is rotatable about an axis of rotational symmetry of said first cylindrical section of wall; a second magnetic coupling that magnetically couples a second motor across a second cylindrical section of wall to a second member that is rotatable about an axis of rotational symmetry of said second cylindrical section of wall; means for converting rotations of the first and second rotatable members into a pair of independent motions of said robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 29)
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20. Robot apparatus for controlling the position of a robot arm, comprising:
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first and second struts, each having an inner end and an outer end, the inner end of the first strut being attached to a first rotation means for controllably revolving the inner end of the first strut about an axis of revolution, and the second strut being attached to second rotation means for controllably revolving the inner end of the second strut about said axis of revolution; third and fourth struts, each having an inner end and an outer end, the inner end of the third strut being pivotally attached to the outer end of the first strut by a first pivot, and the inner end of the fourth strut being pivotally attached to the outer end of the second strut by a second pivot; a robot arm; a third pivot for pivotally attaching the outer end of the third strut to the robot arm; and a fourth pivot for pivotally attaching the outer end of the fourth strut to the robot arm; and
whereinthe first rotation means includes a first ring attached to the inner end of the first strut, the first ring being mounted so as to be rotatable about said axis of revolution, whereby rotation of the first ring causes the inner end of the first strut to revolve about said axis of revolution; and the second rotation means includes a second ring attached to the inner end of the second strut, the second ring being mounted so as to be rotatable about said axis of revolution, whereby rotation of the second ring causes the inner end of the second strut to revolve about said axis of revolution. - View Dependent Claims (21)
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22. A robot mechanism, comprising:
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a motor chamber containing first and second motors; a robot chamber containing first and second rotatable members and a movable robot arm, the motor chamber and the robot chamber having an airtight seal between them; means for coupling rotational movement of the first and second motors to the first and second rotatable members, respectively, in the robot chamber; and means for converting rotational movements of the first and second rotatable members into a desired combination of rotational movement and linear radial movement of the robot arm; wherein the means for coupling rotational movement includes first and second sets of magnets mounted in the motor chamber, for rotation by the first and second motors, respectively; and third and fourth sets of magnets carried by the first and second rotatable members, respectively, in the robot chamber; and wherein there is close magnetic coupling between the first and third sets of magnets and between the second and fourth sets of magnets, such that rotation of the first and second motors causes corresponding rotation of the first and second rotatable members. - View Dependent Claims (23, 24)
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25. A robot mechanism, comprising:
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a motor chamber containing first and second motors; a robot chamber containing first and second rotatable members and a movable robot arm, the motor chamber and the robot chamber having an airtight seal between them; means for coupling rotational movement of the first and second motors to the first and second rotatable members, respectively, in the robot chamber; and means for converting rotational movements of the first and second rotatable members into a desired combination of rotational movement and linear radial movement of the robot arm; wherein the means for converting rotational movements of the first and second rotatable members into a desired combination of rotational movement and linear radial movement of the robot arm, includes a first pivot arm, pivotally attached by one end to the first rotatable member and by the other end to the robot arm; and a second pivot arm, pivotally attached by one end to the second rotatable member and by the other end to the robot arm; whereby rotation of the first and the second rotatable members at the same speed and in the same direction causes similar rotation of the robot arm, but rotation of the first and second rotatable members in opposite directions results in linear movement of the robot arm in a radial direction with respect to the axis of rotation of the first and second rotatable members.
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26. A magnetic coupling mechanism for connecting respective rotational movements of first and second motors with first and second coaxial rotatable members located in a chamber that is separated from the motors by an airtight seal, the coupling mechanism comprising:
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first and second sets of magnets mounted for rotation by the first and second motors, respectively, and located on one side of the airtight seal; and third and fourth sets of magnets carried by the first and second rotatable members, respectively, and located on the other side of the airtight seal; and wherein there is close magnetic coupling between the first and third sets of magnets and between the second and fourth sets of magnets, but not between the first and fourth sets of magnets or between the second and third sets of magnets, such that rotation of the first and second motors on one side of the airtight seal causes corresponding rotation of the first and second rotatable members on the other side of the airtight seal. - View Dependent Claims (27, 28)
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Specification