Drive mechanisms for robot arms

Patent metadata

Field	Value
Publication number	US-11154371-B2
Application number	US-201916731482-A
Country	US
Kind code	B2
Filing date	Dec 31, 2019
Priority date	Jul 22, 2015
Publication date	Oct 26, 2021
Grant date	Oct 26, 2021

Abstract

A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon; and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear, the intermediate gear train comprising an intermediate shaft arranged to rotate about an axis parallel with the first rotation axis, the intermediate shaft having a third shaft gear thereon, the third shaft gear being arranged to engage the second drive gear.

First claim

What is claimed is:

1. A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising:
an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis;
a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier;
a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs;
a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear;
a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon; and
an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear, the intermediate gear train comprising an intermediate shaft arranged to rotate about an axis parallel with and offset from the first rotation axis, the intermediate shaft having a third shaft gear thereon, the third shaft gear being arranged to engage the second drive gear.

2. A robot arm as claimed in claim 1 , wherein the intermediate gear train comprises a plurality of interlinked gears arranged to rotate about axes parallel with the first rotation axis.

3. A robot arm as claimed in claim 2 , wherein the interlinked gears are on one side of a plane perpendicular to the first rotation axis and containing teeth of the first drive gear, and at least part of the third shaft gear is on the other side of that plane.

4. A robot arm as claimed in claim 1 , wherein the third shaft gear is a worm gear.

5. A robot arm as claimed in claim 1 , wherein one or both of the first and second shaft gears is/are worm gears.

6. A robot arm as claimed in claim 1 , wherein one or both of the first drive gear and the second drive gear is/are bevel gear(s).

7. A robot arm as claimed in claim 6 , wherein one or both of the first drive gear and the second drive gear is/are skew axis gear(s).

8. A robot arm as claimed in claim 1 , wherein the first drive gear is a part-circular gear.

9. A robot arm as claimed in claim 8 , wherein at least part of the second drive gear intersects a circle about the first rotation axis that is coincident with a radially outermost part of the first drive gear.

10. A robot arm as claimed in claim 8 , wherein at least part of the intermediate shaft intersects a circle about the first rotation axis that is coincident with the radially outermost part of the first drive gear.

11. A robot arm as claimed in claim 1 , wherein the first and second rotation axes are orthogonal.

12. A robot arm as claimed in claim 1 , wherein the first and second rotation axes intersect each other.

Assignees

• Cmr Surgical Ltd

Inventors

• Jackson Thomas Bates
• Hares Luke David Ronald
• Marshall Keith
• Randle Steven James

Classifications

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B25J17/00 Primary

  Joints · CPC title

• B25J9/102 Primary

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• Y10S901/25

  Gearing · CPC title

• A61B2034/305

  Details of wrist mechanisms at distal ends of robotic arms · CPC title