Semi-automatic precision positioning robot apparatus and method

Patent metadata

Field	Value
Publication number	US-11471225-B2
Application number	US-201916258143-A
Country	US
Kind code	B2
Filing date	Jan 25, 2019
Priority date	Jan 25, 2018
Publication date	Oct 18, 2022
Grant date	Oct 18, 2022

Abstract

A semi-automatic precision positioning robot apparatus and method for use of the same to hold, position, orient and/or move a workpiece are provided. The positioning apparatus utilizes an actuator system of a given configuration to manipulate a workpiece holding unit with multiple degrees of freedom to achieve various positions and orientations. An associated tool may further be provided to interact with the workpiece in various positions and orientations. The positioning apparatus enables an operator to obtain high degrees of maneuverability while maintaining precision and consistency in the manufacture and production of various products and components.

First claim

We claim:

1. The semi-automatic precision positioning robot apparatus comprising:
a movable platform for supporting a workpiece;
a plurality of linear actuators, wherein each individual linear actuator comprises:
a slide track; and
a slidable base configured to be actuated to move along the slide track, wherein the slidable base has a movable platform receiving groove, the moveable platform receiving groove extending within the slidable base in an angled direction away from the slide track; and
wherein the moveable platform is coupled to the plurality of linear actuators, the movable platform including connecting portions, each of the connecting portions received within a corresponding one of the moveable platform receiving grooves,
wherein movement of the slidable bases along their corresponding slide track results in a corresponding movement of the connecting portions within their corresponding moveable platform receiving groove.

2. The semi-automatic precision positioning robot apparatus of claim 1 , wherein the movable platform moves in a direction transverse to a longitudinal axis of at least one of the moveable platform receiving grooves.

3. The semi-automatic precision positioning robot apparatus of claim 1 , wherein the movable platform moves in a direction perpendicular to a longitudinal axis of at least one of the slide tracks.

4. The semi-automatic precision positioning robot apparatus of claim 1 , wherein at least one of the movable platform receiving grooves extends within their corresponding slidable base at an increasing angle with respect to a longitudinal axis of the corresponding slide track.

5. The semi-automatic precision positioning robot apparatus of claim 1 , wherein each of the connecting portions includes a wheel sized and configured to be received within the corresponding movable platform receiving groove,
wherein the wheel is movable within the platform receiving grooves.

6. The semi-automatic precision positioning robot apparatus of claim 1 , including a workpiece holding unit coupled to the movable platform.

7. The semi-automatic precision positioning robot apparatus of claim 6 , wherein movement of the movable platform is configured to position a workpiece coupled to the workpiece holding unit relative a tool, the tool configured to facilitate performance of a manufacturing operation on the workpiece.

8. The semi-automatic precision positioning robot apparatus of claim 7 , wherein the tool comprises a needle guide.

9. The semi-automatic precision positioning robot apparatus of claim 8 , wherein the needle guide comprises:
a rotary actuator configured to rotate the needle guide relative to the workpiece holding unit; and
wherein the tool further comprises a tensioning device including:
a magnetic head configured to removably couple with a stitching thread; and
a base configured to position the magnetic head in proximity to the needle guide and the workpiece holding unit.

10. The semi-automatic precision positioning robot apparatus of claim 1 , further comprising:
a support frame, wherein the support frame further comprises:
a frame base;
frame posts coupled to the frame base, and
a frame cover coupled to the frame posts;
wherein the slide track of each of the plurality of linear actuators is fixedly coupled to the support frame.

11. A method for assembling a semi-automatic precision positioning robot apparatus, the method comprising:
assembling a support frame, wherein assembling the support frame comprises:
providing a frame base,
coupling frame posts to the frame base, and
coupling a frame cover to the frame posts;

providing a plurality of linear actuators, wherein an individual linear actuator comprises: at least one slide track;
fixedly coupling the at least one slide track to the support frame;
coupling a slidable base to the at least one slide track, the slidable base configured to be actuated to move along the at least one slide track, wherein the slidable base has at least one movable platform receiving groove, the at least one moveable platform receiving groove extending within the slidable base in an angled direction away from the at least one slide track;
coupling a moveable platform to the plurality of linear actuators; and
coupling a workpiece holding unit to the moveable platform,
wherein the movable platform is configured to position a workpiece, by positioning the workpiece holding unit, relative to a tool, the tool configured to facilitate performance of a manufacturing operation on the workpiece.

12. The method of claim 11 , wherein the movable platform includes connecting portions extending from a first and second side edge of the movable platform;
wherein coupling the moveable platform to the plurality of linear actuators further compnses:
receiving the connection portions within a corresponding one of the movable platform receiving grooves such that the connecting portions are coupled to and moveable within the movable platform receiving grooves.

13. The method of claim 11 , further comprising assembling the tool, assembling the tool comprising assembling a needle guide and coupling the needle guide to the semi-automatic precision positioning robot apparatus.

14. The method of claim 13 , wherein assembling the needle guide comprises:
coupling a rotary actuator to the semi-automatic precision positioning robot apparatus, the rotary actuator configured to rotate the needle guide relative to the workpiece holding unit; and
coupling the needle guide to the rotary actuator.

15. The method of claim 14 , wherein assembling the tool further comprises:
assembling a magnetic tensioning device and coupling the magnetic tensioning device to the semi-automatic precision positioning robot apparatus.

16. The method of claim 15 , wherein assembling the magnetic tensioning device comprises:
coupling a magnetic head to a base, and coupling the base to the semi-automatic precision positioning robot, the magnetic head configured to removably couple with a stitching thread; and the base configured to position the magnetic head in proximity to the needle guide and the workpiece holding unit.

17. The method of claim 15 , further comprising:
tensioning a stitching thread with the magnetic tensioning device of the semi-automatic precision positioning robot apparatus such that the thread has a desired amount of tension.

18. The method of claim 14 , further comprising establishing a coordinate system based on one or both of:
(1) positioning the workpiece holding unit relative to the needle guide by actuating the plurality of linear actuators to move the movable platform and as a result the workpiece holding unit; and
(2) positioning the needle guide relative to the workpiece holding unit by actuating the rotary actuator to rotate the needle guide.

Assignees

• Edwards Lifesciences Corp

Inventors

• Gorelik Grigoriy
• Zolotnik Vladimir
• Cody Iii James R
• Shih Ping-Yang
• Tran Tiffany Diemtrinh

Classifications

• B25J9/0033

  with kinematics chains having a prismatic joint at the base · CPC title

• A61B2017/00526

  Methods of manufacturing · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title

• A61F2/2409

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• A61F2/24

  Heart valves {; Vascular valves, e.g. venous valves; Heart implants, e.g. passive devices for improving the function of the native valve or the heart muscle; Transmyocardial revascularisation [TMR] devices; Valves implantable in the body} · CPC title