US 4,702,668 AGranted

Direct drive robotic system

AssigneeAdept Technology, Inc.

InventorsBrian R. Carlisle, Carl R. Witham, Donald R. Allan, John W. Meadows

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Abstract

A direct drive robot which includes a pedestal having two motors which rotate around a common axis to directly drive rotation of first and of second linking arms which are rotating in a plane perpendicular to this pedestal. The first, inner link is preferably driven through a column directly driven by a first motor rotor, the column supporting the inner end of the link. The second, outer link is driven by the second coaxial direct drive motor through a simple, highly-tensioned belt and pulley arrangement. As a result of this direct drive arrangement, movement is provided about two separate parallel axes by two arms arranged perpendicular to the first axis which mounts the two major driving motors of the robot. These two arms are linked together between this major pedestal and the end effector of the robot, centralizing the driving motors at the main stabilizing pedestal, while providing rapid rotational movement around each of the two axes. The first axis is defined by the major pedestal, the second axis is defined by the junction between the inner and outer linking arms which connect the pedestal to the end effector.

Claims13

Dependent claims

An articulated direct drive robotic manipulator providing rotation about first and second parallel axes, (J1, J2) said robot comprising first (30) and second (62) motors rotating about a common axis (J1) which is in common with the first axis (J1) of rotation of the manipulator, said common axis (J1) being perpendicular to the floor (10) on which the robot stands, the manipulator including a pedestal (16) comprising a base portion and a fixed central support column, said pedestal being coaxial with the first axis, the base portion (12, 14) of the pedestal including said first (30) and second (62) motors, a first linking arm (18) mounted atop said pedestal on a first column (40) rotating around and extending along the outside of said fixed central support column (54) for movement with said first column in a first plane perpendicular to the first axis (J1) about a joint centered at said first axis, said first motor (30) including a rotor (46) directly coupled to said first linking arm (18) through said first column (40) for controlling said first linking arm's movement in said first plane, the end of said first linking arm (18) distal from the first axis supporting a second linking arm (20) and including a joint for allowing rotation of said second linking arm (20) about said second axis (J2), said second motor being coupled to said second axis joint through connecting means including a shaft (56) extending along the length of and rotating inside said fixed central support column (54) of said pedestal to rotate said second linking arm (20) about said second axis joint.

An articulated direct drive robotic manipulator providing rotation about first and second parallel axes, said robot comprising first and second motors rotating about a common axis which is in common with the first axis of rotation of the manipulator, said common axis being perpendicular to the floor on which the robot stands, the manipulator including a pedestal coaxial with the first axis and terminating in a base portion including said first and second motors, said second motor being mounted adjacent said first motor, a first linking arm mounted atop said pedestal for rotational movement in a first plane perpendicular to the first axis about a first joint centered at said first axis, said first motor including a rotor directly coupled to said first arm for controlling said rotational movement in said first plane, the end of said first linking arm distal from the first axis supporting a second linking arm and including a joint rotatable about said second axis, said rotor of said second motor being directly coupled at the first joint to motion translating means for translating rotation of the rotor of said second motor to said second axis joint to rotate said second joint and said second arm, said motion translating means comprising a pair of drums and a band movable with said drums, one of said drums being mounted coaxially with said first and second motors at said first axis and directly driven by said second motor, the other of said pair of drums being mounted coaxial with said second axis and directly coupled to said second arm, said second arm rotating with rotation of said other drum, a distal end of said outer linking arm including a movable hollow quill mounted on a third joint including means for providing movement of said quill along a vertical third axis, and a fourth joint comprising means for providing rotational movement of said quill around said third axis parallel to said first and second axis, the means for providing movement at said third joint further including a housing mounting said quill, said housing including the stator of a third motor, the rotor of said third motor being mounted coaxially with said third axis, and means coupling said rotor and said quill, rotation of said rotor causing vertical movement of said quill along said third axis, means coupled to an end effector at a working end of said quill comprising a modular fifth axis device driven by a motor power source inserted in the hollow barrel of said quill, said modular device being movable in planes incorporating said third axis of rotation to provide an added degree of freedom for operations of said robotic manipulator.

Dependencies are inferred from the claim text.