Robotic arm for use with pharmaceutical unit of use transport and storage system

• US 20060182609A1
• Filed: 11/23/2004
• Published: 08/17/2006
• Est. Priority Date: 11/23/2004
• Status: Active Grant

• Current Assignee: ScriptPro LLC
• Original Assignee: ScriptPro LLC
• Inventors: Guerra, Lawrence E.
• Granted Patent: US 7,175,381 B2
• Time in Patent Office: Days
• US Class Current: 414/744.700
• CPC Class Codes: B25J 9/109 comprising mechanical programming means, e.g. cams
• CPC Class Codes: G07F 11/165 using xyz-picker or multi-dimensional article picking arrangements
• CPC Class Codes: G07F 11/62 in which the articles are stored in compartments in fixed receptacles
• CPC Class Codes: G07F 11/70 in which the articles are formed in the apparatus from components, blanks, or material constituents
• CPC Class Codes: G07F 17/0092 for assembling and dispensing of pharmaceutical articles medical dispensers for private use, A61J7/00
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A robotic arm (10) for use with a pharmaceutical unit of use transport and storage system (200) comprises a base plate (26) with a first cam track segment (28) and a second cam track segment (34). A first arm segment (62) is rotatably attached to the base plate (26) and a second arm segment (96) is rotatably attached to the first arm segment (62) and includes a cam track follower (108) that engages with the first and second cam track segments (28,34) to guide the movement of the second arm segment (96). A platform (148) is secured to an end of the second arm segment (96) and is adapted to engage a product (208). A series of orientation sprockets (88,120,122,138) and drive chains (154,156) cooperate to maintain the platform (148) rearwardly oriented as the arm (10) extends from a retracted position to an extended position.

Claims

1. A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:

a base plate presenting an arcuate channel;

a first arm segment rotatably attached to the base plate;

a second arm segment with a first portion slidably engaged with the arcuate channel and a second portion rotatably attached to the first arm segment so that when the first arm segment is rotated from a first position to a second position the second arm segment moves from a substantially retracted position to a partially extended position, and when the first arm segment is rotated from the second position to a third position the second arm segment moves from the partially extended position to a more fully extended position; and

an engagement mechanism secured to the second arm segment.

2. The robotic arm as set forth in claim 1, wherein the engagement mechanism is secured to a third portion of the second arm segment.

3. The robotic arm as set forth in claim 1, wherein the channel is a cam track and includes a first segment and a second segment, wherein rotating the first arm segment from the first position to the second position causes the first portion of the second arm segment to follow the first track segment so that a point of the second arm segment follows a curved path and the second arm segment remains tangential to the path.

4. The robotic arm as set forth in claim 3, wherein rotating the first arm segment from the second position to the third position causes the first portion of the second arm segment to follow the second track segment.

5. The robotic arm as set forth in claim 4, wherein each of the first and second track segments has a constant radius of curvature.

6. The robotic arm as set forth in claim 1, wherein the engagement mechanism includes a platform with a plurality of tines.

7. The robotic arm as set forth in claim 6, wherein the tines of the platform remain substantially parallel with the second axis while the first arm segment is rotated from the first position to the second position and from the second position to the third position.

8. The robotic arm as set forth in claim 1, further comprising a motor for rotating the first arm segment.

9. The robotic arm as set forth in claim 8, wherein the motor is a servo motor secured below the base plate and drivingly connected to a drive gear that resides above the base plate and engages the first arm segment.

10. The robotic arm as set forth in claim 1, further comprising an encoder for indicating a position of the first arm segment.

11. The robotic arm as set forth in claim 10, wherein the encoder is adapted to indicate a position of the first arm segment when the system is first activated.

12. The robotic arm as set forth in claim 1, further comprising a drive assembly for moving the arm vertically and horizontally within a product storage cabinet.

13. The robotic arm as set forth in claim 12, further comprising a control system adapted to move the drive assembly to counter lateral movement of the engagement mechanism as the first and second arm segments are moved from a retracted position to an extended position.

14. The robotic arm as set forth in claim 1, wherein the second arm segment is substantially parallel with a first axis of the robotic arm when in the retracted position, and is substantially parallel with a second axis of the robotic arm when in the partially extended position.

15. The robotic arm as set forth in claim 14, wherein the first axis is a lateral axis and the second axis is a longitudinal axis.

16. A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:

a base plate presenting an arcuate channel;

a first arm segment rotatably attached to the base plate;

a second arm segment with a first portion slidably engaged with the arcuate channel and a second portion rotatably attached to the first arm segment so that when the first arm segment is rotated from a first position to a second position the second arm segment moves from a position substantially parallel with a first axis of the robotic arm to a position substantially parallel with a second axis of the robotic arm, and when the first arm segment is rotated from the second position to a third position the second arm segment remains substantially parallel with the second axis and extends over an edge of the base plate; and

an engagement mechanism for engaging a product, the mechanism secured to a third portion of the second arm segment.

17. The robotic arm as set forth in claim 16, wherein the channel is a cam track and includes a first segment and a second segment, wherein rotating the first arm segment from the first position to the second position causes the first portion of the second arm segment to follow the first track segment so that a point of the second arm segment follows a curved path and the second arm segment remains tangential to the path.

18. The robotic arm as set forth in claim. 17, wherein rotating the first arm segment from the second position to the third position causes the first portion of the second arm segment to follow the second track segment.

19. The robotic arm as set forth in claim 18, wherein each of the first and second track segments has a constant radius of curvature.

20. The robotic arm as set forth in claim 16, wherein the engagement mechanism includes a platform with a plurality of tines.

21. The robotic arm as set forth in claim 20, wherein the tines of the platform remain substantially parallel with the second axis while the first arm is rotated from the first position to the second position and from the second position to the third position.

22. The robotic arm as set forth in claim 16, further comprising a motor for rotating the first arm segment.

23. The robotic arm as set forth in claim 22, wherein the motor is a servo motor secured below the base plate and drivingly connected to a drive gear that resides above the base plate and engages the first arm segment.

24. The robotic arm as set forth in claim 16, further comprising an encoder for indicating a position of the first arm segment.

25. The robotic arm as set forth in claim 24, wherein the encoder is adapted to indicate a position of the first arm segment when the system is first activated.

26. The robotic arm as set forth in claim 16, further comprising a drive assembly for moving the arm vertically and horizontally within a product storage cabinet.

27. The robotic arm as set forth in claim 26, further comprising a control system adapted to move the drive assembly to counter lateral movement of the engagement mechanism as the first and second arm segments are moved from a retracted position to an extended position.

28. The robotic arm as set forth in claim 16, wherein the first axis is a lateral axis and the second axis is a longitudinal axis.

29. A robotic arm for transporting products in a product storage and dispensing system, the robotic arm comprising:

a base plate presenting an arcuate cam track;

a first orientation sprocket fixedly secured to the base plate;

a first arm segment rotatably attached to the base plate;

a second arm segment rotatably secured to the first arm segment, the second arm segment including a cam follower secured to a first portion of the second arm segment for following the cam track, wherein rotating the first arm segment from a first position to a second position causes the second arm segment to move from a position substantially parallel with a first axis of the robotic arm to a position substantially parallel with a second axis of the robotic arm, and wherein rotating the first arm segment from the second position to a third position causes the second arm segment to remain substantially parallel with the second axis and to extend over an edge of the base plate;

a second orientation sprocket rotatably secured to a second portion of the first arm segment;

a third orientation sprocket rotatably secured to a third portion of the second arm segment and fixedly secured to the second orientation sprocket;

a first drive chain for entraining the first orientation sprocket and the second orientation sprocket;

a platform for engaging a product, the platform pivotally secured to a fourth portion of the second arm segment and including a fourth orientation sprocket fixedly attached to the platform; and

a second drive chain for entraining the third orientation sprocket and the fourth orientation sprocket.

30. The robotic arm as set forth in claim 29, further comprising an electric motor secured to the base plate and drivingly connected to the first arm segment.

31. The robotic arm as set forth in claim 30, wherein the motor is a servo motor secured below the base plate and drivingly connected to a drive gear that resides above the base plate and engages the first arm segment.

32. The robotic arm as set forth in claim 29, further comprising an encoder for indicating a position of the first arm segment.

33. The robotic arm as set forth in claim 32, wherein the encoder is adapted to indicate a position of the first arm segment when the system is first activated.

34. The robotic arm as set forth in claim 29, further comprising a drive assembly for moving the arm vertically and horizontally within a product storage cabinet.

35. The robotic arm as set forth in claim 34, further comprising a control system adapted to move the drive assembly to counter lateral movement of the platform as the first and second arm segments are moved from a retracted position to an extended position.

36. The robotic arm as set forth in claim 29, wherein the first axis is a lateral axis and the second axis is a longitudinal axis.

37. A robotic arm for transporting products in a product storage and dispensing system, the robotic arm comprising:

a base plate presenting a cam track with a first arcuate track segment and a second arcuate track segment, wherein each track segment has a constant radius of curvature;

a base pivot shaft fixedly secured to and extending through the base plate;

a first orientation sprocket fixedly secured to an end of the base pivot shaft distal the base plate;

a first arm segment with a first end rotatably attached to the base pivot shaft between the base plate and the first orientation sprocket;

an arm pivot shaft rotatably secured to a second end of the first arm segment;

a second arm segment rotatably secured to the arm pivot shaft, the second arm segment including a cam follower rotatably secured to a first end of the second arm segment for engaging and following the cam track, wherein rotating the first arm segment from a first position to a second position causes the arm pivot shaft to follow a curved path while the second arm segment remains tangential to the path and moves from a position substantially parallel with a lateral axis of the robotic arm to a position substantially parallel with a longitudinal axis of the robotic arm, and wherein rotating the first arm segment from the second position to a third position the second causes the second arm segment to remain substantially parallel with the longitudinal axis and to extend over a back edge of the base plate;

a second orientation sprocket fixedly secured to a top end of the arm pivot shaft;

a third orientation sprocket fixedly secured to a bottom end of the arm pivot shaft;

a first drive chain for entraining the first orientation sprocket and the second orientation sprocket;

a platform including a plurality of tines for supporting a product, the platform pivotally secured to a second end of the second arm segment and including a fourth orientation sprocket fixedly attached to the platform;

a second drive chain for entraining the third orientation sprocket and the fourth orientation sprocket;

an electric motor secured to the base plate and drivingly connected to the first arm segment; and

an encoder for indicating a position of the first arm segment.

38. The robotic arm as set forth in claim 37, further comprising a drive assembly for moving the arm vertically and horizontally within a product storage cabinet.

39. The robotic arm as set forth in claim 38, further comprising a control system adapted to move the drive assembly to counter lateral movement of the platform as the first and second arm segments are moved from a retracted position to an extended position.

40. A storage and dispensing system for storing and dispensing products, the system comprising:

a substantially enclosed cabinet;

a plurality of product holders mounted within the cabinet, each product holder configured for holding at least one product;

an infeed conveyor for receiving products that are to be stored in the cabinet;

an outfeed conveyor for receiving products that are to be dispensed from the cabinet;

a transporter enclosed by and moveable within the cabinet for transporting products between the infeed conveyor and the product holders and between the product holders and the outfeed conveyor for storing products in or dispensing products from the cabinet, the transporter including a robotic arm with a first arm segment rotatably attached to a second arm segment, wherein rotating the first arm segment from a first position to a second position causes the second arm segment to move from a position substantially parallel with a first axis of the arm to a position substantially parallel with a second axis of the arm, and wherein rotating the first arm segment from the second position to a third position causes the second arm segment to remain parallel with the second axis and to extend toward a back of the cabinet; and

a control system for controlling operation of the infeed conveyor, the outfeed conveyor, and the transporter.

41. The storage and dispensing system as set forth in claim 40, wherein the control system moves the transporter to counter lateral movement of an end of the second arm segment so that the end does not move laterally as the first and second arm segments are moved.