US3916701A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Rotary wrist actuator for industrial robots
Assignee: Automation Products Inc
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Filing: 1973-04-17
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Granted: 1975-11-04
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Expires: 1993-04-17
Abstract
Abstract An industrial robot for grasping, manipulating and moving parts is disclosed. The robot includes a telescoping boom assembly mounted for movement about two orthogonal axes. A part gripper is mounted on the forwardmost end of the telescoping boom assembly. The gripper is rotatably movable about a third axis which is substantially parallel to the longitudinal axis of the telescoping boom assembly. The gripper is rotated about this third axis by a powered rotary actuator mounted within the forwardmost telescoping boom element and includes an hydraulically actuated linear to rotary converter.
Inventors
- 👤 James R Butler
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 13:07
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/10; B25J9/14; B25J9/144; B25J18/00; B25J18/02; B25J18/025; B25J18/04; B25J9/02; B25J9/04; B25J9/045; F; F16; F16H; F16H25/00; F16H25/18; F16H25/186; Y; Y10; Y10T; Y10T74/00; Y10T74/18; Y10T74/18056; Y10T74/18296; Y10T74/18304; Y10T74/18312
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
233 words
In an industrial robot, an apparatus for providing wrist rotation of a part gripper comprising, in combination: a telescoping boom assembly with at least one extendable boom member telescopically interfitting with a boom support; a power drive means for providing linear movement of a driven member, said driven member being reciprocatable between two positions, said power drive means being fixedly attached to the forwardmost extendable boom member with said driven member being disposed for movement substantially in the direction parallel to the longitudinal axis of said forwardmost boom member; a drive screw member rigidly connected to the part gripper and located within said forwardmost boom member comprising a cylindrical body portion having its longitudinal axis disposed substantially parallel to the axis of motion of said driven member, said drive screw member being mounted for rotary motion about its longitudinal axis, said drive screw member including two oppositely disposed helical grooves; a helical groove engaging member rigidly affixed to said driven member and engaging both said helical grooves to transmit power from said driven member to said drive screw member; and at least one longitudinal track extending in a longitudinal direction substantially parallel to the path of motion of said driven member, said helical groove engaging membeR also engaging said longitudinal track to thereby prevent rotation of said driven member as the driven member is reciprocated to impart wrist rotation to the part gripper.
Claim 2
Dependent Claim
233 words
In an industrial robot, an apparatus for providing wrist rotation of a part gripper comprising, in combination: a telescoping boom assembly with at least one extendable boom member telescopically interfitting with a boom support; a power drive means for providing linear movement of a driven member, said driven member being reciprocatable between two positions, said power drive means being fixedly attached to the forwardmost extendable boom member with said driven member being disposed for movement substantially in the direction parallel to the longitudinal axis of said forwardmost boom member; a drive screw member rigidly connected to the part gripper and located within said forwardmost boom member comprising a cylindrical body portion having its longitudinal axis disposed substantially parallel to the axis of motion of said driven member, said drive screw member being mounted for rotary motion about its longitudinal axis, said drive screw member including two oppositely disposed helical grooves; a helical groove engaging member rigidly affixed to said driven member and engaging both said helical grooves to transmit power from said driven member to said drive screw member; and at least one longitudinal track extending in a longitudinal direction substantially parallel to the path of motion of said driven member, said helical groove engaging membeR also engaging said longitudinal track to thereby prevent rotation of said driven member as the driven member is reciprocated to impart wrist rotation to the part gripper.
Claim 3
Dependent Claim
234 words
In an industrial robot, an apparatus for providing wrist rotation of a part gripper comprising, in combination: a telescoping boom assembly with at least one extendable boom member telescopically interfitting with a boom support; a power drive means for providing a linear movement of a driven member, said driven member being reciprocatable between two positions, said power drive means being fixedly attached to the forwardmost extendable boom member with said driven member being disposed for movement substantially in the direction parallel to the longitudinal axis of said forwardmost boom member; a drive screw member rigidly connected to the part gripper and located within said forwardmost boom member comprising a cylindrical body portion having its longitudinal axis disposed substantially coincident with the axis of motion of said driven member, said drive screw member being mounted for rotary motion about its longitudinal axis, said drive screw member including at least one helical groove; a helical groove engaging member rigidly affixed to said driven member and engaging each said helical groove to transmit power from said driven member to said drive screw member; and at least one longitudinal track extending in a longitudinal direction substantially parallel to the path of motion of said driven member, said helical groove engaging member also engaging said longitudinal track to thereby prevent rotation of said driven member as the driven member is reciprocated to impart wrist rotation to the part gripper.
Claim 4
Dependent Claim
234 words
In an industrial robot, an apparatus for providing wrist rotation of a part gripper comprising, in combination: a telescoping boom assembly with at least one extendable boom member telescopically interfitting with a boom support; a power drive means for providing a linear movement of a driven member, said driven member being reciprocatable between two positions, said power drive means being fixedly attached to the forwardmost extendable boom member with said driven member being disposed for movement substantially in the direction parallel to the longitudinal axis of said forwardmost boom member; a drive screw member rigidly connected to the part gripper and located within said forwardmost boom member comprising a cylindrical body portion having its longitudinal axis disposed substantially coincident with the axis of motion of said driven member, said drive screw member being mounted for rotary motion about its longitudinal axis, said drive screw member including at least one helical groove; a helical groove engaging member rigidly affixed to said driven member and engaging each said helical groove to transmit power from said driven member to said drive screw member; and at least one longitudinal track extending in a longitudinal direction substantially parallel to the path of motion of said driven member, said helical groove engaging member also engaging said longitudinal track to thereby prevent rotation of said driven member as the driven member is reciprocated to impart wrist rotation to the part gripper.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-11-03 | 1979-05-05 | 1979-11-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-11-03 | 1983-05-05 | 1983-11-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-11-03 | 1987-05-05 | 1987-11-04 | $7700.00 | Window Closed / Lapsed |