US4627169A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Remote center compliance device
Assignee: Westinghouse Electric Co LLC
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Filing: 1986-01-27
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Granted: 1986-12-09
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Expires: 2006-01-27
Abstract
Abstract A single stage remote center compliance device having a high degree translational and rotational compliance for use in connection with a manipulator device which includes first and second members spaced from each other and interconnected by a pair of crossed interconnected shafts and a plurality of tilted, axially compressible and laterally deformable compression coil springs.
Inventors
- 👤 Paolo R. Zafred
- 👤 Luciano Veronesi
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 11:30
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0208; B23; B23Q; B23Q1/00; B23Q1/25; B23Q1/26; B23Q1/34; B23Q1/36; B23Q1/44; B23Q1/50; B23Q1/54; B23Q1/5406; B25J17/0258; B25J17/0275
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
123 words
A remote center compliance device having a high degree of translational and rotational compliance for use in connection with a manipulator device comprising: a first member adapted to be connected to said manipulator device; a second member spaced from said first member; and means interconnecting said first member with said second member for providing both rotational and translational compliance about a remote center of compliance external to said compliance device; said interconnecting means including a pair of crossed, interconnected shafts, one of said shafts being connected to said first member and the other of said shafts being connected to said second member; said interconnecting means further including a plurality of axially compressible and laterally deformable elements connected between said first and second members.
Claim 2
Dependent Claim
123 words
A remote center compliance device having a high degree of translational and rotational compliance for use in connection with a manipulator device comprising: a first member adapted to be connected to said manipulator device; a second member spaced from said first member; and means interconnecting said first member with said second member for providing both rotational and translational compliance about a remote center of compliance external to said compliance device; said interconnecting means including a pair of crossed, interconnected shafts, one of said shafts being connected to said first member and the other of said shafts being connected to said second member; said interconnecting means further including a plurality of axially compressible and laterally deformable elements connected between said first and second members.
Claim 3
Dependent Claim
13 words
The compliance device of claim 1 wherein said elements are compression coil springs.
Claim 4
Dependent Claim
18 words
The compliance device of claim 2 which includes means for adjusting the stiffness of each of said springs.
Claim 5
Dependent Claim
54 words
The compliance device of claim 3 wherein said adjusting means comprises an adjustable screw at one end of each of said springs mounted in one of said members and wherein said compliance device further includes a stabilizer pin at the other end of each of said springs mounted in the other of said members.
Claim 6
Dependent Claim
32 words
The compliance device of claim 3 wherein said first and second members have a common axis extending therethrough and which includes at least four separate compression coil springs spaced about said axis.
Claim 7
Dependent Claim
24 words
The compliance device of claim 1 wherein said shafts are rigidly connected to each other and are slidably and rotatably connected to said members.
Claim 8
Dependent Claim
40 words
The compliance device of claim 1 wherein one of said shafts is rigidly connected to one of said members and the other of said shafts is slidably and rotatably connected to said one shaft and the other of said members.
Claim 9
Dependent Claim
29 words
The compliance device of claim 1 wherein each of said members has a pair of spaced yokes extending out from a surface thereof for mounting one of said shafts.
Claim 10
Dependent Claim
212 words
A remote center compliance device having a high degree of translational and rotational compliance for use in connection with a manipulator device comprising: a first member adapted to be connected to said manipulator device; a second member spaced from said first member, said first and second members having a common axis extending therethrough; means interconnecting said first member with said second member for providing both rotational and translational compliance about a remote center of compliance external to said compliance device; said interconnecting means including a pair of spaced yokes extending out from a surface of each of said members and a pair of crossed, interconnected shafts, one of said shafts being mounted in one of said pair of yokes and the other of said shafts being mounted in the other of said pair of yokes; said interconnecting means further including at least four separate axially compressible and laterally deformable compression coil springs spaced about said axis and connected between said first and second members; means for adjusting the stiffness of each of said springs comprising an adjustable screw at one end of each of said springs mounted in one of said members; and a stabilizer pin at the other end of each of said springs mounted in the other of said members.
Claim 11
Dependent Claim
212 words
A remote center compliance device having a high degree of translational and rotational compliance for use in connection with a manipulator device comprising: a first member adapted to be connected to said manipulator device; a second member spaced from said first member, said first and second members having a common axis extending therethrough; means interconnecting said first member with said second member for providing both rotational and translational compliance about a remote center of compliance external to said compliance device; said interconnecting means including a pair of spaced yokes extending out from a surface of each of said members and a pair of crossed, interconnected shafts, one of said shafts being mounted in one of said pair of yokes and the other of said shafts being mounted in the other of said pair of yokes; said interconnecting means further including at least four separate axially compressible and laterally deformable compression coil springs spaced about said axis and connected between said first and second members; means for adjusting the stiffness of each of said springs comprising an adjustable screw at one end of each of said springs mounted in one of said members; and a stabilizer pin at the other end of each of said springs mounted in the other of said members.
Claim 12
Dependent Claim
24 words
The compliance device of claim 9, wherein said shafts are rigidly connected to each other and are slidably and rotatable mounted in said yokes.
Claim 13
Dependent Claim
42 words
The compliance device of claim 9, wherein one of said shafts is rigidly connected to one pair of said yokes and the other of said shafts is slidably and rotatably connected to said one shaft and the other pair of said yokes.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-12-08 | 1990-06-09 | 1990-12-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-12-08 | 1994-06-09 | 1994-12-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-12-08 | 1998-06-09 | 1998-12-09 | $7700.00 | Window Closed / Lapsed |