# US 12,759,138 B1 · Robotic system including movable aiming device mount and related methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,138 B1 - Document ID: US12759138B1 - Status: Granted - Kind: B1 - Application number: 19/238,239 - Filed: 2025-06-13 - Granted: 2026-10-13 - Earliest claimed: 2025-06-13 - Assignees: Eagle Technology, LLC - Applicants: Eagle Technology, LLC - Inventors: Paul M. Bosscher; John R. Archer; Bradley R. Yemm - Web page: https://patentgrep.com/patent/US12759138B1 ## CPC - B25J 9/1015: {using additional, e.g. microadjustment of the end effector} - B25J 5/005: {mounted on endless tracks or belts} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/0015: {Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion} - B25J 9/1005: {comprising adjusting means} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robotic system may include a motorized chassis, and an articulating arm carried by the motorized chassis. The articulating arm may be configured to carry an aimable device for coarse aiming thereof. The robotic system may also include an aiming device mount carried by the articulating arm and configured to mount the aimable device, and an aiming arrangement configured to move the aiming device mount relative to the articulating arm for fine aiming of the aimable device. The robotic system may also include a controller configured to operate the articulating arm and the aiming arrangement for aiming the aimable device for coarse and fine aiming. ## Claims ### Claim 1 A robotic system comprising: a motorized chassis; an articulating arm carried by the motorized chassis and configured to carry an aimable device for coarse aiming thereof; an aiming device mount carried by the articulating arm and configured to mount the aimable device; an aiming arrangement configured to move the aiming device mount relative to the articulating arm for fine aiming of the aimable device; and a controller configured to operate the articulating arm and the aiming arrangement for aiming the aimable device for coarse and fine aiming. ### Claim 2 (depends on 1) The robotic system of claim 1 wherein the articulating arm comprises a plurality of arm segments with respective movable joints between adjacent arm segments. ### Claim 3 (depends on 2) The robotic system of claim 2 wherein one of the plurality of arm segments comprises a hollow elongated housing containing the aiming arrangement. ### Claim 4 (depends on 3) The robotic system of claim 3 wherein the hollow elongated housing has an opening therein; and comprising a flexure coupling the aiming device mount to the hollow elongated housing within the opening. ### Claim 5 (depends on 4) The robotic system of claim 4 wherein the hollow elongated housing has opposing forward and rearward ends; and wherein the flexure is coupled to the hollow elongated housing adjacent the forward end. ### Claim 6 (depends on 1) The robotic system of claim 1 wherein the aiming arrangement comprises: first and second movable bodies movable relative to the aiming device mount; and first and second motors coupled to the first and second movable bodies. ### Claim 7 (depends on 6) The robotic system of claim 6 wherein the first and second movable bodies each has a wedge shape. ### Claim 8 (depends on 6) The robotic system of claim 6 wherein the aiming arrangement further comprises a fixed body coupled to the aiming device mount and cooperating with the first and second movable bodies. ### Claim 9 (depends on 1) The robotic system of claim 1 further comprising a gripper coupled to a distal end of the articulating arm. ### Claim 10 An aiming system for a robotic system comprising a motorized chassis and an articulating arm to be carried by the motorized chassis, the articulating arm configured to carry an aimable device for coarse aiming thereof, the aiming system comprising: an aiming device mount configured to be carried by the articulating arm to mount the aimable device; an aiming arrangement configured to move the aiming device mount relative to the articulating arm for fine aiming of the aimable device; and a controller configured to operate the aiming arrangement for aiming the aimable device for fine aiming. ### Claim 11 (depends on 10) The aiming system of claim 10 wherein the aiming arrangement is contained within a hollow elongated housing of one of a plurality of arm segments with respective movable joints between adjacent arm segments. ### Claim 12 (depends on 11) The aiming system of claim 11 wherein the hollow elongated housing has an opening therein; and comprising a flexure coupling the aiming device mount to the hollow elongated housing within the opening. ### Claim 13 (depends on 10) The aiming system of claim 10 wherein the aiming arrangement comprises: first and second movable bodies movable relative to the aiming device mount; and first and second motors coupled to the first and second movable bodies. ### Claim 14 (depends on 13) The aiming system of claim 13 wherein the first and second movable bodies each has a wedge shape. ### Claim 15 (depends on 13) The aiming system of claim 13 wherein the aiming arrangement further comprises a fixed body coupled to the aiming device mount and cooperating with the first and second movable bodies. ### Claim 16 A method of aiming an aimable device carried by an articulating arm of a robotic system comprising a motorized chassis, the method comprising: using a controller to operate the articulating arm for aiming the aimable device for coarse aiming, and operate an aiming arrangement to move an aiming device mount relative to the articulating arm for fine aiming of the aimable device, the aiming device mount carried by the articulating arm and mounting the aimable device. ### Claim 17 (depends on 16) The method of claim 16 wherein using the controller to operate the aiming arrangement comprises using the controller to operate the aiming arrangement contained within a hollow elongated housing of one of a plurality of arm segments of the articulating arm. ### Claim 18 (depends on 17) The method of claim 17 wherein the hollow elongated housing has an opening therein; and wherein a flexure couples the aiming device mount to the hollow elongated housing within the opening. ### Claim 19 (depends on 18) The method of claim 18 wherein the hollow elongated housing has opposing forward and rearward ends; and wherein the flexure is coupled to the hollow elongated housing adjacent the forward end. ### Claim 20 (depends on 16) The method of claim 16 wherein using the controller to operate the aiming arrangement comprises using the controller to operate first and second motors to move first and second movable bodies movable relative to the aiming device mount.