US 4,776,749 AGranted

Robotic device

AssigneeNorthrop Corporation

InventorsFritz W. Wanzenberg, Richard L. Grover

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Abstract

A robotic positioning device has a support structure and a tool implement holding member which is positional within the three dimensional space of the support structure. The tool implement holding member is connected to the support structure utilizing five positioning members. Each of these positioning members is connected to the tool implement holding member. Three of the positioning members are connected to the holding member at a first common center of rotation and the other two positioning members are connected to the holding member at a second common center of rotation. Each of the positioning members is attached to the support structure utilizing a connecting member which allows for the positioning member to freely pivot with respect to the support structure and additionally allows the member to move with respect to the support structure axially along an axis of the member. This is accomplished by moving the members axially toward or away from the support structure. Because of the movement of the individual members, any tool located on the tool implement holding member can be precisely located with respect to the support structure.

Claims10

Dependent claims

A robotic device comprising:

a support structure;
an implement element;
means for moving the implement element in a controlled manner consisting of first and second sets of positioning members each having two members;
and a further positioning member so that there are five positioning members;
and
first and second coupling means defining two coupling points;
said members making up a set of exactly five positioning members;
said implement element being supported solely by said five members;
said first set consisting of two elongated positioning members, each pivotally attached to said implement element about a first common center of rotation;
said second set consisting of two elongate positioning members, each pivotally attached to said implement element about a second common center of rotation distal from said first common center of rotation;
said further elongated positioning member being pivotally attached to said implement element about said first common center of rotation in association with said members of said first set of positioning members;
first connecting means for movably attaching each of the members of said first set of positioning members to said support structure, said first connecting means operatively connecting each of said members of said first set of positioning members to said support structure;
second connecting means for movably attaching each of the members of said second set of positioning members to said support structure, said second connecting means operatively connecting each of said members of said second set of positioning members to said support structure;
further means for movably attaching said further positioning member to said support structure, said further means operatively connecting said further positioning member to said support structure;
actuator means for independently moving at least the members of one of said first and second sets of positioning members axially along their elongated axes between said support structure and said implement element whereby the position of said implement element with respect to said support structure is solely controlled by said movement of said five positioning members.

12 more elements

A robotic device comprising:

a support structure;
a tool carrier for supporting a working tool;
and positioning and coupling means for moving the carrier in a controlled manner consisting of exactly five members including
a first triangular support having first and second members, said first triangular support formed in part by said first and second members and in a further part by a first section of said support structure, said first and second members forming side portions of said first triangular support and said first section of said support structure forming a base portion of said first triangular support;
first connecting means for independently operatively connecting each of said first and second members to said first section of said support structure whereby each of said first and second members are independently pivotal respect to said first section of said support structure and each of said members are independently axially movable along an axis of said member with respect to said first section of said support structure;
a second triangular support having third and fourth members said second triangular support formed in part by said third and fourth members and in a further part by a second section of said support structure, said third and fourth members forming side portions of said second triangular support and said second section of said support structure forming a base portion of said second triangular support;
second connecting means for independently operatively connecting each of said third and fourth members to said second section of said support structure whereby each of said third and fourth members are independently pivotal with respect to said second section of said support structure and each of said members are independently axially movable along an axis of said member with respect to said second section of said support structure;
first coupling means for connecting said first triangular support to said tool carrier, said first coupling means operatively connecting the apex of said first triangular support at the junction of said first and second members to said tool carrier, said first coupling means including at least a first coupler and a second coupler, said first coupler attaching to said first member proximal to the apex of said first triangular support, said second coupler attaching to said second member proximal to the apex of said first triangular support, each of said first and second couplers pivotally coupled to said tool carrier about a first common center of rotation;
second coupling means for connecting said second triangular support to said tool carrier, said second coupling means operatively connecting the apex of said second triangular support at the junction of said third and fourth members to said tool carrier, said second coupling means including at least a third coupler and a fourth coupler, said third coupler attaching to said third member proximal to the apex of said second triangular support, said fourth coupler attaching to said fourth member proximal to the apex of said second triangular support, each of said third and fourth couplers pivotally coupled to said tool carrier about a second common center of rotation;
moving means for independently moving said first and said second members with respect to said first section of said support structure and said third and said fourth members with respect to said second section of said support structure;
and
further means for moving said tool carrier with respect to said support structure, said further means operatively associated with both said support structure and said tool carrier, moving said tool carrier with respect to said support structure independently from said movement imparted to said tool carrier by said moving means said further means including a fifth member, a fifth member connecting means and a fifth member moving means, said fifth member pivotally coupled to said tool carrier about said first common center of rotation;
said fifth member connecting means for connecting said fifth member to said support structure whereby said fifth member is both pivotally movable and axially movable along an axis of the fifth member with respect to said support structure;
said fifth member moving means for moving said fifth member with respect to said support structure,
said tool carrier being supported solely by said five members.

12 more elements

Dependencies are inferred from the claim text.