US4564331A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot
Assignee: Individual
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Filing: 1983-01-17
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Granted: 1986-01-14
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Expires: 2003-01-17
Abstract
Abstract A robot of the type having a housing and a manipulator mounted to the housing and movable along a plurality of predetermined axes of movement. A drive mechanism is associated with the each axis of movement for moving, upon actuation, the manipulator along its respective axis of movement. The actuation of the drive mechanisms is controlled by a program drum which is rotatably mounted to the housing. A plurality of cam segments are adjustably secured to the drum at both axially and circumferentially spaced positions thus forming a plurality of axially spaced, segmented cam rings. A plurality of cam followers are secured to the housing so that one cam follower registers with each cam ring. Each cam follower is connected with an actuator so that, when the cam follower engages a cam segment on the drum, the actuator activates the drive mechanism corresponding to the particular cam ring. Conversely, the actuator deactivates its associated drive mechanism when the cam follower disengages from the cam segment.
Inventors
- 👤 Wendell Karr-Ake
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 20:35
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/02; B25J9/04; B25J9/041; B25J9/10
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
201 words
In a robot of the type having a housing, a manipulator movable along predefined axes of movement, a drive means associated with each axis of movement for moving, upon actuation, said manipulator along said axis of movement, means for selectively controlling the actuation of each of said drive means comprising: a drum, means for rotatably mounting said drum to said housing, a plurality of cam segments, said cam segments extending circumferentially around said drum, means for adjustably securing said cam segments to said drum at user selected axially spaced positions along said drum, a plurality of cam followers secured to said housing at axially spaced positions and adjacent said drum so that said cam followers register with said cam segments, means associated with each cam follower for actuating a predetermined drive means when said cam follower engages a cam segment, means for rotatably driving said drum; and wherein said drum comprises an upper hub and a lower hub, said hubs being spaced apart from each other, a plurality of rods extending between said hubs at circumferentially spaced positions around the axis of said drum, and wherein said cam segment securing means comprises means for securing said cam segments to said rods.
Claim 2
Dependent Claim
201 words
In a robot of the type having a housing, a manipulator movable along predefined axes of movement, a drive means associated with each axis of movement for moving, upon actuation, said manipulator along said axis of movement, means for selectively controlling the actuation of each of said drive means comprising: a drum, means for rotatably mounting said drum to said housing, a plurality of cam segments, said cam segments extending circumferentially around said drum, means for adjustably securing said cam segments to said drum at user selected axially spaced positions along said drum, a plurality of cam followers secured to said housing at axially spaced positions and adjacent said drum so that said cam followers register with said cam segments, means associated with each cam follower for actuating a predetermined drive means when said cam follower engages a cam segment, means for rotatably driving said drum; and wherein said drum comprises an upper hub and a lower hub, said hubs being spaced apart from each other, a plurality of rods extending between said hubs at circumferentially spaced positions around the axis of said drum, and wherein said cam segment securing means comprises means for securing said cam segments to said rods.
Claim 3
Dependent Claim
24 words
The invention as defined in claim 1 wherein cam segment securing means comprises means for axially adjustably securing said cam segments to said rods.
Claim 4
Dependent Claim
89 words
The invention as defined in claim 2 wherein said rods comprise a first set of rods extending between said hubs at circumferentially spaced positions around the axis of said drum and a second set of rods so that one rod in the second set is spaced radially inwardly from each rod of the first set, and wherein each cam segment includes two throughbores, one rod in the first set being slidably positioned through one throughbore and one rod in the second set being slidably positioned through the other throughbore.
Claim 5
Dependent Claim
45 words
The invention as defined in claim 1 and comprising means for pivotally mounting said drum to said housing between a first position in which said drum is adjacent said cam followers, and a second position in which said drum is spaced from said cam followers.
Claim 6
Dependent Claim
21 words
The invention as defined in claim 1 wherein said drum rotatable driving means comprises means for incrementally rotatably driving said drum.
Claim 7
Dependent Claim
18 words
The invention as defined in claim 5 wherein said rotatable driving means comprises a ratchet and pawl assembly.
Claim 8
Dependent Claim
16 words
The invention as defined in claim 1 and comprising means for braking one of said hubs.
Claim 9
Dependent Claim
31 words
The invention as defined in claim 1 wherein each drive means comprises a fluid powered drive means and wherein said actuating means comprises a valve fluidly connected with said drive means.
Claim 10
Dependent Claim
19 words
The invention as defined in claim 1 and comprising means for adjusting the speed of said rotatable driving means.
Claim 11
Dependent Claim
212 words
In a robot of the type having a housing, a manipulator movable along predefined axes of movement, a drive means associated with each axis of movement for moving, upon actuation, said manipulator along said axis of movement, means for selectively controlling the actuation of each of said drive means comprising: a drum, means for rotatably mounting said drum to said housing, a plurality of cam segments, means for securing said cam segments to said drum at axially and circumferentially spaced positions, a plurality of cam followers secured to said housing at axially spaced positions and adjacent said drum so that said cam followers register with said cam segments, means associated with each cam follower for actuating a predetermined drive means when said cam follower engages a cam segment, and means for rotatably driving said drum wherein said drum rotatable driving means comprises means for incrementally rotatably driving said drum, wherein said rotatable driving means comprises a ratchet and pawl assembly, and wherein said ratchet and pawl assembly comprises a pawl movable between a retracted and an extended position, means for moving said pawl from said retracted and to said extended position, and an arm secured to said pawl and which abuts against said drum when said pawl is in said extended position.
Claim 12
Dependent Claim
212 words
In a robot of the type having a housing, a manipulator movable along predefined axes of movement, a drive means associated with each axis of movement for moving, upon actuation, said manipulator along said axis of movement, means for selectively controlling the actuation of each of said drive means comprising: a drum, means for rotatably mounting said drum to said housing, a plurality of cam segments, means for securing said cam segments to said drum at axially and circumferentially spaced positions, a plurality of cam followers secured to said housing at axially spaced positions and adjacent said drum so that said cam followers register with said cam segments, means associated with each cam follower for actuating a predetermined drive means when said cam follower engages a cam segment, and means for rotatably driving said drum wherein said drum rotatable driving means comprises means for incrementally rotatably driving said drum, wherein said rotatable driving means comprises a ratchet and pawl assembly, and wherein said ratchet and pawl assembly comprises a pawl movable between a retracted and an extended position, means for moving said pawl from said retracted and to said extended position, and an arm secured to said pawl and which abuts against said drum when said pawl is in said extended position.
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) | 1989-01-13 | 1989-07-15 | 1990-01-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-01-13 | 1993-07-15 | 1994-01-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-01-13 | 1997-07-15 | 1998-01-14 | $7700.00 | Window Closed / Lapsed |