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US 2019/0344293 A1Published application
End effector for a robot
AssigneesBAE SYSTEMS plc, The University of Sheffield
InventorsMartin Knott, Ryan Wesley Diver
Life of this patent
Estimating the term…
Abstract
An end effector for a robot comprising: a threaded shaft; a motor coupled to the shaft and configured to rotate the shaft about its axis; a nut threaded onto the shaft; means for preventing the nut from rotating about the axis of the shaft; and an elongate member fixed at one end to the nut and extending from the nut in a direction parallel to the axis of the shaft. The end effector may further comprise a container for containing a fluid comprising: an elongate body portion comprising an opening at one end; and a reciprocable plunger extending into an opposite end of the body portion. A second end of the elongate member may be coupled to the plunger.
Claims15
An end effector for a robot, the end effector comprising:
- a threaded shaft;
- a motor coupled to the threaded shaft and configured to rotate the threaded shaft about a longitudinal axis of the threaded shaft;
- a nut threaded onto the threaded shaft;
- means configured to prevent or oppose the nut from rotating about the longitudinal axis of the threaded shaft;
- and
- a first elongate member having a first end fixedly coupled to the nut and a second end opposite to its first end, the first elongate member extending from the nut in a direction that is substantially parallel to the longitudinal axis of the threaded shaft;
- a second elongate member having a first end fixedly coupled to the nut and a second end opposite to its first end, the second elongate member extending from the nut in a direction that is substantially parallel to the longitudinal axis of the threaded shaft;
- a first container for containing a first fluid, the first container comprising a first body portion comprising a first fluid discharge opening at or proximate to one end thereof, and a first reciprocable plunger extending into an end of the first body portion opposite to the end of the first body portion at or proximate to which the first fluid discharge opening is located, wherein the second end of the first elongate member is coupled to the first reciprocable plunger;
- a second container for containing a second fluid, the second container comprising a second body portion comprising a second fluid discharge opening at or proximate to one end thereof, and a second reciprocable plunger extending into an end of the second body portion opposite to the end of the second body portion at or proximate to which the second fluid discharge opening is located, wherein the second end of the second elongate member is coupled to the second reciprocable plunger;
- and
- a mixer comprising:
- an inlet in fluid communication with each fluid discharge opening;
- an outlet;
- a channel between the inlet and the outlet through which a fluid may flow;
- and
- mixing means at least partially located in the channel and configured to mix together multiple fluids flowing through the channel.
13 more elements
A method of providing an end effector for a robot, the method comprising:
- providing a threaded shaft;
- coupling a motor to the threaded shaft such that the motor is arranged to rotate the threaded shaft about a longitudinal axis of the threaded shaft;
- threading a nut onto the threaded shaft;
- coupling, to the nut and the threaded shaft, means for preventing or opposing the nut from rotating about the longitudinal axis of the threaded shaft;
- providing a first elongate member having a first end and a second end opposite to the first end;
- and
- fixedly coupling the first end of the first elongate member to the nut such that the first elongate member extends away from the nut in a direction that is substantially parallel to the longitudinal axis of the threaded shaft;
- providing a first container for containing a first fluid, the first container comprising a first body portion comprising a first fluid discharge opening at or proximate to one end thereof, and a first reciprocable plunger extending into an end of the first body portion opposite to the end of the first body portion at or proximate to which the first fluid discharge opening is located;
- fixedly coupling the second end of the first elongate member to the first reciprocable plunger;
- providing a second elongate member having a first end and a second end opposite to the first end;
- fixedly coupling the first end of the second elongate member to the nut such that the second elongate member extends away from the nut in a direction that is substantially parallel to the longitudinal axis of the threaded shaft;
- providing a second container for containing a second fluid, the second container comprising a second body portion comprising a second fluid discharge opening at or proximate to one end thereof, and a second reciprocable plunger extending into an end of the second body portion opposite to the end of the second body portion at or proximate to which the second fluid discharge opening is located;
- fixedly coupling the second end of the second elongate member to the second reciprocable plunger;
- providing a mixer comprising an inlet, an outlet, a channel between the inlet and the outlet through which a fluid may flow, and mixing means at least partially located in the channel and configured to mix together multiple fluids flowing through the channel;
- and
- arranging the inlet of the mixer in fluid communication with each fluid discharge opening.
13 more elements
Dependencies are inferred from the claim text.