Manipulator apparatus
AssigneeTL Systems Corporation
InventorHans W. Trechsel
Life of this patent
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Abstract
A manipulator apparatus (10) for performing a plurality of motions is disclosed. The apparatus (10) includes a rotatable support shaft (14) supported on a frame (12) for rotary motion. A plurality of discrete cams (16-22) are supported in a spaced relationship on the support shaft. An individual coupling mechanism (26-32) couples each of the cams to a motion transmitting device. Each coupling mechanism (26-32) includes a cam follower (146, 280, 333). Individual force limiting mechanisms (158, 404) are provided for each of the coupling mechanisms (26-32) for uncoupling a respective coupling mechanism when a force beyond a predetermined level is reached in the respective coupling mechanism.
Claims52
A manipulator apparatus for perfoming a plurality of motions comprising:
- a rotatable support shaft;
- means for holding said support shaft for rotary motion about its axis;
- a plurality of discrete cams supported in a spaced relationship on said support shaft;
- individual coupling means for coupling each of said cams to a motion transmitting device, each coupling means including a cam follower for following the profile of one of said cams;
- and
- individual force limiting means for coupling one of said coupling means when a force beyond a predetermined level is reached in said one of said coupling means;
- wherein each of said cams is a radial cam, and at least one of said coupling means includes a slide assembly supported on said frame for motion in a direction generally transverse to the axis of said support shaft, and wherein at least one of said cam followers includes an attachment portion attached to said slide assembly and a contact portion adapted to contact the profile of one of said cams.
A manipulator apparatus for performing a plurality of of motions comprising:
- a rotatable support shaft;
- means for holding said support shaft for rotary motion about is axis;
- a plurality of discrete cams supported in a spaced relationship on said support shaft;
- individual coupling means for coupling each of said cams to a motion transmitting device, each coupling means including a cam follower for following the profile of one of said cams;
- individual force limiting means for uncoupling one of said coupling means when a force beyond a predetermined level is reached in said one of said coupling means;
- and
- a support tube for supporting additional motion transmitting devices, said support tube forming a portion of a rotary motion transmitting device, said support tube extending through a hollow interior of said support shaft, and one of said coupling means forming rotary motion coupling means for coupling one of said cams to said support tube for rotating at least a portion of said support tube.
A manipulator apparatus for performing a plurality of motions comprising:
- a frame;
- a rotatable support shaft having a hollow interior;
- means connected to said frame for holding said support shaft for rotary motion about is axis;
- a plurality of discrete radial cams supported in a spaced relationship on said support shaft;
- individual coupling means for coupling each of said cams to a motion transmitting device, each coupling means including a cam follower for following the profile of one of said cams, at least one of said coupling means including a slide assembly movable inwardly and outwardly in a direction generally transverse to the axis of said support shaft;
- individual force limiting means associated with each of said coupling means for uncoupling one of said coupling means when a force beyond a predetermined level is reached in a respective one of said coupling means;
- and
- a support tube received within and extending from the hollow interior of said support shaft for supporting at least one motion transmitting device.
A manipulator apparatus for performing a plurality of motions comprising:
- a frame;
- a rotatable support shaft having a hollow interior;
- means connected to said frame for holding said support shaft for rotary motion about its axis;
- a single rotary input drive shaft having a drive gear supported thereon;
- a driven gear fixed to said rotatable shaft and meshing with said drive gear;
- a plurality of discrete radial cams supported in a spaced relationship on said support shaft;
- individual coupling means for coupling each of said cams to a motion transmitting device, each coupling means including a cam follower for following the profile of one of said cams;
- individual force limiting means associated with each of said coupling means for uncoupling one of said coupling means when a force beyond a predetermined level is reached in a respective one of said coupling means;
- a support tube received within and extending from the hollow interior of said support shaft for supporting at least one motion transmitting device, said support tube being comprised of a lower non-rotatable section and an upper rotatable section;
- said upper rotatable section including a discrete outer portion and a discrete inner portion, means for connecting said outer and inner portions together for rotation as a unit, and means for connecting a lower end of said inner portion to an upper end of said lower non-rotatable section whereby said inner portion is freely rotatable with respect to said lower non-rotatable section, and means for connecting said outer and inner portions together so that said inner portion and said lower non-rotatable section are movable in a linear direction along the axis of said support tube;
- one of said coupling means forming a rotary motion coupling means for coupling one of said cams to the outer portion of the upper rotatable section of said support tube for rotating said outer portion;
- another of said coupling means forming a support tube coupling means for coupling one of said cams to said support tube for moving said support tube inwardly and outwardly in a direction generally transverse to the major face of said cams;
- at least one of said coupling means including a slide assembly movable inwardly and outwardly in a direction generally transverse to the axis of said support shaft, said slide assembly having a rotatable roller carried by said slide assembly for motion therewith, a flexible tape, said flexible tape having one end fixed to a point and a second end fixed to a motion transmitting device, said tape passing around said roller at a point intermediate its first and second ends, whereby the motion of said slide assembly changes the straight line distance between the first and second ends of said tape to activate said motion transmitting device coupled thereto;
- and
- each slide assembly including a first slide and a second slide, said first and second slides being movable with respect to one another, one of said first and second slides carrying said rotatable roller and the other of said first and second slides supporting said cam follower, said force limiting means including a connecting means for connecting said first slide to said second slide for motion as a unit when the force between said first and second slides of one of said coupling means is less than said predetermined level and for releasing said first and second slides from one another when the force between a pair of first and second slides exceeds said predetermined level.
A slide assembly for use in a manipulator apparatus comprising a first slide and a second slide, said first and second slides being movable with respect to one another, said first slide carrying coupling means for coupling said first slide to a motion transmitting device, said second slide supporting a cam follower, a force limiting means including connecting means for connecting said first slide to said second slide for motion as a unit when the force between said first and second slides is less than said predetermined level and for releasing said first and second slides from one another when the force between a pair of first and second slides exceeds said predetermined level whereby said first and second slides are free to move relative to one another and the force being transmitted from said cam to said cam follower ceases to be transmitted to a motion transmitting device.
Dependencies are inferred from the claim text.