Precision robot apparatus
AssigneeEquipe Technologies
InventorLubomir Skrobak
Life of this patent
Estimating the term…
Abstract
A precision robot apparatus (10) is disclosed which has an arm supporting cylinder (16) capable of being moved vertically by means of a lead screw (24) which rotates within a lead screw nut (38) attached to the arm supporting cylinder (16). A linear guide rod (44) is positioned parallel to the arm supporting cylinder (16) with an anti-rotation plate (42) therebetween. An arm drive belt (74) transfers rotational power from the linear guide rod (44) to the arm supporting cylinder (16). Rotational motion of the arm supporting cylinder (16) relative to a fixed arm pulley (92) is employed to power an arm portion (14).
Claims11
An object transport apparatus, comprising:
- a stationary portion;
- a rotating stage rotatably affixed to said stationary portion such that said rotating stage may be rotated about a rotational axis;
- a lead screw rotatably affixed to the stationary portion coaxially about said rotational axis, and further such that the lead screw may be independently rotated about said rotational axis relative to the rotating stage;
- a lead screw nut threaded onto the lead screw and affixed to the rotating stage by an anti-rotation means such that the lead screw nut is prevented from rotating about said rotational axis relative to the rotating stage, and further such that the lead screw nut is free to move axially along said rotational axis as the lead screw rotates within the lead screw nut;
- an arm actuating means rotatably affixed to the lead screw nut such that at least a portion of the arm actuating means may be rotated about said rotational axis relative to the lead screw nut;
- a first motive means for rotating the rotating stage relative to the stationary portion;
- a second motive means for rotating the lead screw relative to the stationary portion;
- and
- a third motive means for rotating the arm actuating means relative to the lead screw nut.
A robotic apparatus for rotating an arm about a rotational axis, and further for moving the arm longitudinally along the rotational axis, and further for transferring power form an arm power means to said arm for enabling motion of the arm, comprising:
- a lead screw;
- a lead screw power means for rotating the lead screw about the rotational axis relative to a fixed base;
- a lead screw nut threaded on the lead screw for moving longitudinally along the rotational axis as the lead screw rotates;
- a rotating platform rotatably affixed to the fixed base such that the rotating platform may be rotated about the rotational axis independent of the lead screw;
- rotating platform power means for rotating the rotating platform about the rotational axis;
- anti-rotation means connected between the lead screw nut and the rotating platform such that the lead screw nut is prevented form rotating about the rotational axis relative to the rotating platform;
- an arm actuator rotatably affixed to the lead screw nut such that the arm actuator may be rotated about the rotational axis;
- and
- arm actuator power transfer means for transferring power form the arm power means to the arm actuator for rotating the arm actuator about the rotational axis such that relative rotational motion between the arm actuator and the lead screw nut is produced, by which relative rotational motion the arm may optionally be powered, wherein;
- the anti-rotation means includes an anti-rotation plate rigidly affixed to the lead screw nut and further slidably affixed to a guide rod, the guide rod being a rod affixed to the rotating platform so as to be parallel to the rotational axis, such that the lead screw nut is caused to rotate in unison with the rotating platform and further such that the lead screw nut is free to move longitudinally along the rotational axis as the lead screw is threaded through the lead screw nut.
Dependencies are inferred from the claim text.