Abstract

Cable linkages are used to implement a 2-DoF joint. The output pulley of the joint can revolve around a first axis and can rotate around a second axis that is orthogonal to and offset from the first axis. The output pulley is mounted on an intermediate link, which rotates around the first axis. The output pulley is connected by cables to an idler pulley mounted on the intermediate link and to a pair of input pulleys which rotate around the first axis. When the input pulleys rotate in the same direction around the first axis, the intermediate link and the output pulley revolve around the first axis in that same direction. When the input pulleys rotate in different directions or by different amounts around the first axis, the output pulley rotates around the second axis, and also may revolve around the first axis.

IPC Classes  ?

• F16H 37/12 - Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these three types
• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 17/02 - Wrist joints

Abstract

Rigid linkages are used implement a 2-DoF joint. The output link of the joint can revolve around a first axis and can rotate around a second axis that is orthogonal to and offset from the first axis. The output link is mounted on an intermediate link, which rotates around the first axis. The output link is connected by driving rods to a pair of input elements, which also rotate around the first axis. When the input elements rotate in the same direction around the first axis, the intermediate link and the output link revolve around the first axis in that same direction. When the input elements rotate in different directions or by different amounts around the first axis, the output link rotates around the second axis and also may revolve around the first axis.

IPC Classes  ?

• B25J 17/02 - Wrist joints
• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
• H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa

Abstract

A revolute joint incorporates a planetary gear set, which may be nested with an electric motor. An axle of the planetary gear set turns a pulley that engages with a belt, which drives a pulley that turns an output shaft of the joint. In the joint output there is a coaxial slip ring that allows continuous rotation of the joint, meaning that output revolutions are not limited for maximum possible range of motion for the robot arm. The slip ring replaces dynamic cabling (which can fatigue over time), which is good for reliability/cycle life.

IPC Classes  ?

• H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
• B25J 17/00 - Joints
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
• H02K 7/10 - Structural association with clutches, brakes, gears, pulleys or mechanical starters
• H02K 11/21 - Devices for sensing speed or position, or actuated thereby
• H02K 13/00 - Structural associations of current collectors with motors or generators, e.g. brush mounting plates or connections to windingsDisposition of current collectors in motors or generatorsArrangements for improving commutation

Abstract

Rigid linkages are used implement a 2-DoF joint. The output link of the joint can revolve around a first axis and can rotate around a second axis that is orthogonal to and offset from the first axis. The output link is mounted on an intermediate link, which rotates around the first axis. The output link is connected by driving rods to a pair of input elements, which also rotate around the first axis. When the input elements rotate in the same direction around the first axis, the intermediate link and the output link revolve around the first axis in that same direction. When the input elements rotate in different directions or by different amounts around the first axis, the output link rotates around the second axis and also may revolve around the first axis.

IPC Classes  ?

• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 17/02 - Wrist joints
• B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms

Abstract

Cable linkages are used to implement a 2-DoF joint. The output pulley of the joint can revolve around a first axis and can rotate around a second axis that is orthogonal to and offset from the first axis. The output pulley is mounted on an intermediate link, which rotates around the first axis. The output pulley is connected by cables to an idler pulley mounted on the intermediate link and to a pair of input pulleys which rotate around the first axis. When the input pulleys rotate in the same direction around the first axis, the intermediate link and the output pulley revolve around the first axis in that same direction. When the input pulleys rotate in different directions or by different amounts around the first axis, the output pulley rotates around the second axis, and also may revolve around the first axis.

IPC Classes  ?

• B25J 17/02 - Wrist joints
• B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
• F16H 48/16 - Differential gearings without gears having orbital motion with freewheels

Abstract

A revolute joint incorporates a planetary gear set, which may be nested with an electric motor. An axle of the planetary gear set turns a pulley that engages with a belt, which drives a pulley that turns an output shaft of the joint. In the joint output there is a coaxial slip ring that allows continuous rotation of the joint, meaning that output revolutions are not limited for maximum possible range of motion for the robot arm. The slip ring replaces dynamic cabling (which can fatigue over time), which is good for reliability/cycle life.

IPC Classes  ?

• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• F16H 1/28 - Toothed gearings for conveying rotary motion with gears having orbital motion
• H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Goods & Services

Industrial robots; industrial robots for all purposes Downloadable software for connecting and operating robots and artificial intelligence apparatus; Computer hardware and recorded software for use in the automation of industrial robots and artificial intelligence apparatus

Goods & Services

Industrial robots; industrial robots for all purposes

Goods & Services

Industrial robots; industrial robots for all purposes

Goods & Services

Industrial robots; industrial robots for all purposes