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EP0065859A2 Expired / Lapsed EP ⏱️ 0.0 years remaining

Robotic manipulator structure

Assignee: Westinghouse Electric Corp
•
Filing: 1982-05-14
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Granted: —
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Expires: 2002-05-14
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Abstract

Abstract A robotic manipulator structure including a base supporting first and second independently operable drive motors 16 and 18, a first swinging arm rotatably supported by the base and driven from the first drive, a second swinging arm 42 supported for rotation at the end of the first arm for rotation through a plane translationally displaced from the plane in which the first arm rotates, and a mechanism for coupling the rotation of the second drive motor 18 through the hollow shaft 50 concentrically located and rotatable within the hollow shaft 38, and through a sprocket and chain arrangement in the hollow 58 of the first arm to independently effect the rotation of the second arm 42. When the first and second swinging arms move arcuately, it does not involve any physical bodily movement of the drive motors. The second arm at its distal end carries a workhead which is able to perform a predetermined function.

Inventors

  • 👤 Lanson Yatsang Shum

Bibliographic Details

Application Number —
Jurisdiction EP
Data Source google_patents
Last Synchronized 2026-11-03 10:13
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/10; B25J9/106; B25J19/00; B25J19/0025; B25J19/0029; B25J9/02; B25J9/04; B25J9/041; B25J9/042; B25J9/104; B25J9/1045; B25J9/108

Claims Analysis

Total Claims: 7
Claim 1
Independent Claim 119 words
A robotic manipulator structure comprising: a base which includes and supports first and second independently operable drive means; a first swinging arm rotatably supported by said base; coupling means coupled to said first drive means for driving said first arm for arcuate movement in one plane; a second swinging arm having one end rotatably carried, by the end of said first arm opposite said base for arcuate movement in a second plane which is translationally displaced from said first plane; and second coupling means coupling said second drive means to drive said second arm independently of said first arm, said second coupling means extending from said base through said first arm to said one end of said second arm.
Claim 2
Dependent Claim 119 words
A robotic manipulator structure comprising: a base which includes and supports first and second independently operable drive means; a first swinging arm rotatably supported by said base; coupling means coupled to said first drive means for driving said first arm for arcuate movement in one plane; a second swinging arm having one end rotatably carried, by the end of said first arm opposite said base for arcuate movement in a second plane which is translationally displaced from said first plane; and second coupling means coupling said second drive means to drive said second arm independently of said first arm, said second coupling means extending from said base through said first arm to said one end of said second arm.
Claim 3
Dependent Claim 110 words
A manipulator structure according to claim 1 wherein: said driving means for said first arm includes a hollow shaft rotatably supported from said base and fixed at its one end to said first arm and having at its other end, driven means coupled to said first drive means; and wherein said coupling means for said second arm includes a shaft concentrically, and rotatably disposed within said first hollow shaft, said second shaft having at its one end toothed gearing coupled by toothed linking means through said first arm to drive said second arm, and at the other end of said second shaft driven means coupled to said second drive means.
Claim 4
Dependent Claim 22 words
A manipulator structure according to claim 2 wherein: said first shaft is carried for rotation from said base through angular contact bearings.
Claim 5
Dependent Claim 28 words
A manipulator structure according to claims 2 or 3 wherein: said second shaft is rotatably supported from the interior of said first hollow shaft through angular contact bearings.
Claim 6
Dependent Claim 62 words
A manipulator structure according to claim 2 including: a third hollow shaft disposed at a right angle to said second arm and fixed thereto, said third shaft being rotatably carried by said end of said first arm, said third shaft having toothed driven means thereon adapted to be connected by said toothed linking means to said toothed gearing of said second shaft.
Claim 7
Dependent Claim 56 words
A manipulator structure according to claim 2 wherein: the distal end of said second arm carries a work head; said second shaft is hollow; and including means for operating said work head comprising a flexible power conduit extending through said second shaft, through most of the length of said first arm and through said third shaft.

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