Continuously rotatable multiple link robot arm mechanism
First Claim
1. A robot arm mechanism, comprising:
- an upper arm supporting a forearm and a hand and operable for rotation about a shoulder axis;
the forearm having a first end that is supported by the upper arm for rotation about an elbow axis and having a second end that supports the hand for rotation about a wrist axis;
the upper arm, forearm, and hand constituting link elements through which a fluid pressure conduit passes to deliver vacuum pressure to releasably secure a specimen to the hand; and
the shoulder axis, elbow axis, and wrist axis defining rotary joints through which the fluid pressure conduit passes;
a rotary fluid slip ring fitted into least one of the rotary joints, the rotary fluid slip ring having a central aperture through which vacuum pressure is delivered and having first and second surfaces that form a vacuum pressure seal at an interface between the link elements forming the rotary joint into which the slip ring is fitted;
a first motor for rotatably positioning the forearm about the elbow axis;
a second motor for rotatably positioning the upper arm about the shoulder axis;
a mechanical linkage operatively connecting the upper arm and the forearm, the mechanical linkage forming an active drive link between the first motor and the forearm to cause the forearm to rotate about the elbow axis in response to operation of the first motor and a passive drive link between the forearm and the hand to cause the hand to rotate about the wrist axis in response to rotation of the forearm about the elbow axis; and
a controller coordinating the operation of the first and second motors in first and second states, the first state characterized by operating the second motor and holding stationary the first motor so that the mechanical linkage causes linear displacement of the hand and the second state characterized by operating the first and second motors so that the mechanical linkage causes angular displacement of the hand about the shoulder axis.
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Accused Products
Abstract
A multiple link robot arm mechanism uses first and second motors capable of synchronized operation to permit movement of the robot arm hand along a curvilinear path as the extension of the hand changes. A motor controller controls the first and second motors in two preferred operational states to enable the robot arm mechanism to perform two principal motion sequences. The first operational state maintains the position of the first motor and rotates the second motor so that the mechanical linkage causes linear displacement (i.e., extension or retraction) of the hand. The second operational state rotates the first and second motors so that a mechanical linkage causes angular displacement of the hand about a shoulder axis. The second operational state can provide an indefinite number of travel paths for the hand, depending on coordination of the control of the first and second motors. An alternative preferred embodiment of the robot arm mechanism substitutes for the hand an end effector structure that has two oppositely extending hands and rotates about a wrist axis. All rotary joints of either embodiment are preferably fitted with rotary fluid slip rings or multiple fluid-passageway spools that permit continuous rotation about any of three axes.
144 Citations
16 Claims
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1. A robot arm mechanism, comprising:
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an upper arm supporting a forearm and a hand and operable for rotation about a shoulder axis;
the forearm having a first end that is supported by the upper arm for rotation about an elbow axis and having a second end that supports the hand for rotation about a wrist axis;
the upper arm, forearm, and hand constituting link elements through which a fluid pressure conduit passes to deliver vacuum pressure to releasably secure a specimen to the hand; and
the shoulder axis, elbow axis, and wrist axis defining rotary joints through which the fluid pressure conduit passes;a rotary fluid slip ring fitted into least one of the rotary joints, the rotary fluid slip ring having a central aperture through which vacuum pressure is delivered and having first and second surfaces that form a vacuum pressure seal at an interface between the link elements forming the rotary joint into which the slip ring is fitted; a first motor for rotatably positioning the forearm about the elbow axis; a second motor for rotatably positioning the upper arm about the shoulder axis; a mechanical linkage operatively connecting the upper arm and the forearm, the mechanical linkage forming an active drive link between the first motor and the forearm to cause the forearm to rotate about the elbow axis in response to operation of the first motor and a passive drive link between the forearm and the hand to cause the hand to rotate about the wrist axis in response to rotation of the forearm about the elbow axis; and a controller coordinating the operation of the first and second motors in first and second states, the first state characterized by operating the second motor and holding stationary the first motor so that the mechanical linkage causes linear displacement of the hand and the second state characterized by operating the first and second motors so that the mechanical linkage causes angular displacement of the hand about the shoulder axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robot arm mechanism, comprising:
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an upper arm supporting a forearm and a hand and operable for rotation about a shoulder axis, the forearm having a first end that is supported by the upper arm for rotation about an elbow axis and having a second end that supports the hand for rotation about a wrist axis, and the shoulder axis, elbow axis, and wrist axis defining rotary joints for, respectively, the upper arm, the upper arm and forearm, and the forearm and hand; a fluid pressure conduit passing through the upper arm, forearm, and hand to deliver vacuum pressure to releasably secure a specimen to the hand; a first motor including a first spindle for rotatably positioning the forearm about the elbow axis and a second motor including a second spindle for rotatably positioning the upper arm about the shoulder axis, the first and second motors being positioned in concentric relation such that their respective first and second spindles rotate about a common axis; a mechanical linkage operatively connecting the upper arm and the forearm, the mechanical linkage forming an active drive link between the first motor and the forearm to cause the forearm to rotate about the elbow axis in response to operation of the first motor and a passive drive link between the forearm and the hand to cause the hand to rotate about the wrist axis in response to rotation of the forearm about the elbow axis; a rotary fluid slip ring fitted within the rotary joint defined by the elbow axis, the slip ring having a central aperture through which vacuum pressure is delivered and first and second surfaces that form a vacuum pressure seal between the upper arm and the forearm; and a controller coordinating the operation of the first and second motors so that the mechanical linkage causes linear displacement of the hand and angular displacement of the hand about the shoulder axis. - View Dependent Claims (13, 14, 15, 16)
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Specification