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Electric and Electric-Pneumatic Drive for Telescoping Arms

IP.com Disclosure Number: IPCOM000046585D
Original Publication Date: 1983-Aug-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 59K

Publishing Venue

IBM

Related People

Glaeser, RD: AUTHOR [+2]

Abstract

The arrangements provide linear extensions on telescoping robot arms. These improvements allow good reach in confined areas. The first telescoping arm consists of a three-piece telescoping slide consisting of one 24-inch-long fixed housing 10 and two 24 inch long slides 12 and 14 which provide the required 24 inches of linear motion. This is achieved via a unique separate drive system on each slide, as shown in Fig. 1. Slide 12, which is the innermost slide, has a closed loop DC servo lead-screw drive 16. This is the fine position slide and is used for positioning from 0 to 12 inches. Within this range only slide 12 is activated. The wrist and gripper are attached to slide 12. To achieve full 24-inch extension, slide 14 is activated. This is the coarse drive.

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Electric and Electric-Pneumatic Drive for Telescoping Arms

The arrangements provide linear extensions on telescoping robot arms. These improvements allow good reach in confined areas. The first telescoping arm consists of a three-piece telescoping slide consisting of one 24-inch-long fixed housing 10 and two 24 inch long slides 12 and 14 which provide the required 24 inches of linear motion. This is achieved via a unique separate drive system on each slide, as shown in Fig. 1. Slide 12, which is the innermost slide, has a closed loop DC servo lead-screw drive 16. This is the fine position slide and is used for positioning from 0 to 12 inches.

Within this range only slide 12 is activated. The wrist and gripper are attached to slide 12. To achieve full 24-inch extension, slide 14 is activated. This is the coarse drive. The slide 14 has only two positions, retract = 0 and extend = 12 inches. Positions are sensed with optical sensors (not shown) and maintained with mechanical detent (not shown). The motion is obtained by a pneumatic cylinder
20. A chain or cable drive could be used in place of the cylinder.

If any position over 12 inches is required, slide 14 is activated.

It will be extended to the 12-inch position and locked into place.

Slide 12 will then provide positions from 12.001 to 24 inches. Both slides can move simultaneously. The second telescoping arm consists of a lead screw, rack and pinion combination, as shown in Fig. 2. The screw assembly 22 with DC...