Robot arm assembly

• US 8,176,808 B2
• Filed: 09/13/2007
• Issued: 05/15/2012
• Est. Priority Date: 09/13/2007
• Status: Expired due to Fees

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Inventors: Hastie, Jonathan, Hug, Hans, Andrus, Lance, Johnson, Michael, Hoadley, David, Fisk, Allan T.
• Primary Examiner(s): Krause, Justin
• Application Number:
  US11/901,200
• Publication Number:
  US 20090071281A1
• Time in Patent Office: 1,706 Days
• Field of Search: 744/900.1, 744/900.3, 744/900.5, 901/25, 901/27
• US Class Current: 74/490.05
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 18/025 telescopic
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: Y10T 74/20317 including electric motor
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A robot arm assembly a base unit with a shoulder assembly rotatably disposed on the base unit. A lower robot arm is pivotably attached to the shoulder assembly. An upper robot arm is pivotably attached to the lower robot arm. The base unit includes a first motor which rotates a main shaft fixed to the shoulder assembly to rotate the shoulder. A second motor in the base unit rotates a second shaft in the shoulder assembly extending through the main shaft to pivot the lower robot arm with respect to the shoulder.

Claims

1. A robot arm assembly comprising:

a base unit;

a shoulder assembly rotatably disposed on the base unit;

a lower robot arm pivotably attached to the shoulder assembly;

an upper robot arm pivotably attached to the lower robot arm;

a main shaft rotatably disposed in the base unit and connected to the shoulder assembly;

the base unit including a first motor which rotates the main shaft connected to the shoulder assembly to rotate the shoulder assembly;

a second shaft rotatably disposed in the shoulder assembly and extending transversely through and rotatable with respect to the main shaft and connected to the lower robot arm;

the base unit further including a second motor which rotates the second shaft in the shoulder assembly to pivot the lower robot arm with respect to the shoulder assembly.

2. The robot arm assembly of claim 1 in which the lower robot arm includes a third motor for pivoting the upper robot arm.

3. The robot arm assembly of claim 2 further including a brake associated with each motor for locking the shoulder with respect to the base unit, for locking the lower robot arm with respect to the shoulder, and for locking the upper robot arm with respect to the lower robot arm automatically when the motors are de-energized.

4. The robot arm assembly of claim 3 further including a brake release for each brake for manually rotating the shoulder assembly, pivoting the lower robot arm, and pivoting the upper robot arm.

5. The robot arm assembly of claim 1 in which the upper robot arm includes at least one telescoping section.

6. The robot arm assembly of claim 1 in which the lower robot arm is pivotably attached to the shoulder assembly via a yoke.

7. The robot arm assembly of claim 1 in which there is a gear fixed to the main shaft driven by the first motor.

8. The robot arm assembly of claim 7 including a gear reducer between the main shaft and the first motor.

9. The robot arm assembly of claim 1 in which there is a gear on the second shaft in the shoulder driven by a gear train.

10. The robot arm assembly of claim 9 in which there is a gear reducer between the second motor and the gear train.

11. The robot arm assembly of claim 1 in which the upper robot arm includes a rotatable wrist and a motor for driving the rotatable wrist.

12. A robot arm assembly comprising:

a base unit;

a shoulder assembly rotatably disposed on the base unit;

a lower robot arm pivotably attached to the shoulder assembly;

a main vertical shaft rotatably disposed in the base unit and connected to the shoulder assembly;

the base unit including a first motor which rotates the main vertical shaft connected to the shoulder assembly to rotate the shoulder assembly; and

a second horizontal shaft rotatably disposed in the shoulder assembly and extending transversely through and rotatable with respect to the main shaft and connected to the lower robot arm;

the base unit further including a second motor which rotates the second horizontal shaft in the shoulder assembly to pivot the lower robot arm with respect to the shoulder assembly.

13. The robot arm assembly of claim 12 further including an upper robot arm pivotably attached to the lower robot arm.

14. The robot arm assembly of claim 13 in which the lower robot arm includes a third motor for pivoting the upper robot arm.

15. The robot arm assembly of claim 14 further including a brake associated with each motor for locking the shoulder with respect to the base unit, for locking the lower robot arm with respect to the shoulder, and for locking the upper robot arm with respect to the lower robot arm automatically when the motors are de-energized.

16. The robot arm assembly of claim 15 further including a brake release for each brake for manually rotating the shoulder assembly, pivoting the lower robot arm, and pivoting the upper robot arm.

17. The robot arm assembly of claim 13 in which the upper robot arm includes at least one telescoping section.

18. The robot arm assembly of claim 13 in which the upper robot arm includes a rotatable wrist and a motor for driving the rotatable wrist.

19. The robot arm assembly of claim 12 in which the lower robot arm is pivotably attached to the shoulder assembly via a yoke.

20. The robot arm assembly of claim 12 in which there is a gear fixed to the main shaft driven by the first motor.

21. The robot arm assembly of claim 20 including a gear reducer between the main shaft and the first motor.

22. The robot arm assembly of claim 12 in which there is a gear on the second shaft driven by a gear train.

23. The robot arm assembly of claim 22 in which there is a gear reducer between the second motor and the gear train.

24. A robot arm assembly comprising:

a base unit;

a shoulder assembly rotatably disposed on the base unit;

a lower robot arm pivotably attached to the shoulder assembly;

an upper robot arm pivotably attached to the lower robot arm and driven by a motor in the lower robot arm, the upper robot arm including a telescoping section and a motor driven rotatable wrist;

a main shaft rotatably disposed in the base unit and connected to the shoulder assembly;

a second shaft rotatably disposed in the shoulder assembly and extending transversely through and rotatable with respect to the main shaft and connected to the lower robot arm;

the base unit including;

a first motor which rotates the main shaft connected to the shoulder assembly to rotate the shoulder,

a second motor which rotates the second shaft in the shoulder assembly to pivot the lower robot arm with respect to the shoulder assembly,

a gear fixed to the main shaft driven by the first motor through a gear reducer,

a brake with a release associated with the first motor, and

a brake with a release associated with the second motor; and

the shoulder assembly including a gear fixed to the second shaft driven by the second motor through a gear train and a gear reducer.