Nested linear stroke multipliers for robot manipulators

Patent metadata

Field	Value
Publication number	US-12042933-B2
Application number	US-202016752358-A
Country	US
Kind code	B2
Filing date	Jan 24, 2020
Priority date	Jan 24, 2019
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

A robotic manipulator includes a first stage, a second stage, a third stage, and an actuator that actuates movement of the second stage with respect to the first stage. Movement of the second stage with respect to the first stage passively drives movement of the third stage with respect to the second stage. In some embodiments, the passive driving is achieved using one or more cables. In other embodiments, the passive driving is achieved using rack and pinion components. The robotic manipulator may further include additional stages, wherein movement of preceding stages passively drives movement of succeeding stages.

First claim

The invention claimed is:

1. A robotic manipulator, comprising:
a first stage;
a second stage;
a third stage;
a fourth stage configured to translate linearly with respect to the third stage;
a gripper coupled to a distal end of the fourth stage;
an actuator coupled to the first stage and to the second stage to actuate proximal movement of the second stage with respect to the first stage and to actuate distal movement of the second stage with respect to the first stage;
a first cable having a first end coupled to the first stage, a second end coupled to the third stage, and an intermediate portion between the first end and the second end engaged with the second stage such that the distal movement of the second stage with respect to the first stage passively drives distal movement of the third stage with respect to the second stage; and
a second cable having a first end coupled to the first stage, a second end coupled to the third stage, and an intermediate portion between the first end and the second end engaged with the second stage such that the proximal movement of the second stage with respect to the first stage passively drives proximal movement of the third stage with respect to the second stage.

2. The robotic manipulator of claim 1 wherein the distal movement of the second stage with respect to the first stage is linear movement and the distal movement of the third stage with respect to the second stage is linear movement.

3. The robotic manipulator of claim 2 wherein the linear movement of the second stage with respect to the first stage is in the same direction as the linear movement of the third stage with respect to the second stage.

4. The robotic manipulator of claim 1 , further comprising:
a third cable having a first end coupled to the second stage, a second end coupled to the fourth stage, and an intermediate portion between the first end and the second end engaged with the third stage such that the distal movement of the third stage with respect to the second stage passively drives distal movement of the fourth stage with respect to the third stage.

5. The robotic manipulator of claim 1 wherein the intermediate portion of the first cable is positioned within a groove in the second stage.

6. The robotic manipulator of claim 5 wherein the groove is located within a pulley in the second stage.

Assignees

• Kindred Sys Inc
• Ocado Innovation Ltd

Inventors

• Keyes Nicholas
• Hallock David Gabriel
• Hummel Thomas John
• Jeong Jun
• Wojciechowski Sara
• Whittington Bryan

Classifications

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J9/102

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

• B25J15/0616

  with vacuum · CPC title

• B25J18/025 Primary

  telescopic · CPC title