US20070144421A1 - Chain driven positioning device methods and systems - Google Patents
Chain driven positioning device methods and systems Download PDFInfo
- Publication number
- US20070144421A1 US20070144421A1 US11/301,653 US30165305A US2007144421A1 US 20070144421 A1 US20070144421 A1 US 20070144421A1 US 30165305 A US30165305 A US 30165305A US 2007144421 A1 US2007144421 A1 US 2007144421A1
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- Prior art keywords
- chain
- self
- sprockets
- arm
- positioning
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000005461 lubrication Methods 0.000 claims description 34
- 239000000463 material Substances 0.000 claims description 19
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 10
- 239000007789 gas Substances 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052759 nickel Inorganic materials 0.000 claims description 5
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 229910052719 titanium Inorganic materials 0.000 claims description 5
- 239000010936 titanium Substances 0.000 claims description 5
- 239000004519 grease Substances 0.000 claims description 3
- 229930195733 hydrocarbon Natural products 0.000 claims description 3
- 150000002430 hydrocarbons Chemical class 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000004215 Carbon black (E152) Substances 0.000 claims 1
- 239000000314 lubricant Substances 0.000 description 8
- 238000010943 off-gassing Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 239000012779 reinforcing material Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Definitions
- This invention relates to the methods and systems for a chain driven positioning device and more generally to the field of providing a chain driven positioning device for use in a vacuum environment.
- a positioning device may be a device used for repetitive operations, working in hostile environments, working in environments that people are not able to work, or for high volume work.
- the positioning devices typically have at least one moveable positioning arm to allow the positioning device to move objects from one location to another.
- the construction of the positioning arms used by the positioning devices typically includes at least one rotating shaft, at least one pulley, and at least one belt.
- the belt may be of a polymer type with reinforcing materials, similar to the belts used on an automobile engine.
- the belts may be used with pulleys, with the pulleys attached to the driving rotating shafts.
- Belts can become worn and stretched over time, requiring maintenance to replace the belts. In some environments, the replacement of the belts may require the shut down of a system to allow access to the belts, adding to the cost of operating the positioning device and the system it supports. The belts may also become an issue in some environments, such as a vacuum system, where the belts may out gas during the vacuum pump down process.
- the chain may be a bicycle type chain. There may be at least one chain in the positioning arm.
- the chain material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium.
- the positioning arm may contain at least two sprockets. The sprocket teeth may engage the chain.
- the sprockets may be the same size or the sprockets may be a different size.
- the sprocket material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium.
- a chain drive position arm may contain the chain, at least two sprockets, and the positioning arm. At least one sprocket may be a drive sprocket mounted on a rotating shaft.
- a positioning device may contain at least one chain drive position arm.
- the chain drive position arm may be in a vacuum.
- the chain drive position arm may have a lubrication material.
- the lubrication material may be at least one of a vacuum compatible grease and perfluorinated hydrocarbons.
- a sealed lubrication enclosure may contain a flexible container, the lubrication material, at least one chain, and at least one sprocket.
- the flexible container may be a polymer material.
- the sealed lubrication enclosure may have a fixed seal on a rotating shaft. The fixed seal may partially twist the flexible container during the chain drive position arm movement.
- the chain drive position arm may rotate less than 360 degrees on the rotating shaft.
- the sealed lubrication enclosure may be evacuated of gases.
- a self-sealing spring may provide the fixed seal on the rotating shaft when the gases are evacuated.
- a self-adjusting tensioner may maintain the chain tension during operation.
- the self-adjusting tensioner may contain a spring, the chain, and a ratchet.
- the spring may push the chain into the self-adjusting tensioner.
- the spring may push the chain toward the ratchet when the chain is not in tension.
- the ratchet may engage a chain link.
- the spring may push the chain link onto the ratchet.
- the chain may be in tension when the ratchet locks on the chain link.
- the chain drive positioning device may be understood by reference to the following figures:
- FIG. 1 shows an embodiment of the top and side view for a chain drive positioning device.
- FIG. 2 shows an embodiment of a sealed lubrication enclosure for the chain drive positioning device.
- FIG. 3 shows the oscillating motion of the chain drive positioning device.
- FIG. 4 shows an embodiment of a self-adjusting tensioner on the chain and a detailed embodiment of the self-adjusting tensioner.
- a positioning arm 100 is shown in both a top view and a side view.
- a positioning arm 100 may be used on a positioning device such as a robot for picking and placing operations, lifting operation, or operation in a hostile environment. It would be obvious to a person knowledgeable in the art that the positioning arm 100 may be used in association with additional positioning arms to allow additional reach or add additional axis of motion for a robotic device.
- the additional positioning arms may be placed in relation to the first positioning arm 100 to allow the required reach for the device.
- the positioning arm 100 may have a covering 102 to protect the positioning hardware from damage, structural strength, or for safety reasons.
- the positioning arm 100 may contain a chain 110 , sprockets 104 108 , and rotating shaft 114 118 .
- the chain 110 may be driven by a drive sprocket 104 that may be mounted on a rotating shaft 114 .
- the chain 110 may engage at least one additional sprocket 108 on a shaft 118 , this sprocket 108 and shaft 118 may be used to drive an additional positioning arms that may be connected to the shaft 118 .
- the sprockets 104 108 of the positioning arm 100 may be the same diameter or of differing diameters.
- Sprockets 104 108 that are the same size may provide a one to one positioning ratio for the positioning arm 100
- sprockets 104 108 of a different size may provide a gearing ratio that may allow the positioning arm 100 to move faster or slower than the rotating shaft 114 of the drive sprocket 104 .
- a robotic device may have a plurality of rotating drive shafts 112 114 for the positioning of a plurality of positioning arms or providing multiple axis motion to the robotic device.
- a chain 100 to drive the positioning arm 100 may be superior to other types of drive devices, such as a belt, that may slip as it becomes worn or loose in time.
- a belt that allows slippage between the belt and the rotating shafts may provide reduced positioning precision than a chain that is locked on the teeth of a sprocket.
- the chain 110 engagement to the sprockets 104 108 may provide a not slip configuration by the chain 1 10 interlocking with the teeth of the sprockets 104 108 .
- the chain 110 may be made of different materials and sizes (e.g. thickness of material, height, width, or length) to provide the tension strength required by positioning arm 100 .
- the chain 110 and sprocket 104 108 material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium. It should also be understood that there may be more than one chain 1 10 and sprocket 104 108 assembly in a positioning arm.
- a second chain and sprocket may be used for additional strength on the same rotating shaft or may be used to drive more than one additional positioning arm on a second rotating shaft.
- the additional chain and sprocket assembly may use a different sprocket diameter and may be driven by a different rotating shaft.
- a positioning arm 100 may operate in a plurality of environments including a vacuum atmosphere. Vacuum systems are very sensitive to materials such as lubricants in the vacuum containment volume. Materials such as lubricants, even vacuum specific lubricants, tend to out gas (e.g. the release of a gas within a material during a vacuum pump down) at a slow rate and may require a substantial amount of time to achieve the required vacuum. The slow out gassing of the lubricant may significantly increase the vacuum pump down time and therefore may significantly increase the cost of the vacuum operation.
- a sealed lubrication enclosure 200 may be used to enclose the chain 110 and sprockets 104 108 as described in FIG. 1 .
- the sealed lubrication enclosure 200 may be made of a polymer or similar material.
- the sealed lubrication enclosure 200 may be filled with lubricant such as vacuum compatible grease or perfluorinated hydrocarbons.
- the sealed lubrication enclosure 200 may completely enclose the chain 110 and sprockets 104 108 maintaining a continuous lubrication of the chain [ 10 and sprockets 104 108 .
- the sealed lubrication enclosure 200 may have a fixed seal 204 for at least one of the rotating shafts maintaining a seal between the lubrication and the vacuum environment.
- the fixed seal 204 may provide a tight fit to prevent the lubricant of the sealed lubrication enclosure 200 from out gassing into the vacuum containment during the vacuum pump down cycle.
- the sealed lubrication enclosure 200 may have any lubricant gas evacuated as part of the sealed lubrication enclosure 200 assembly process.
- a self-sealing spring may provide a tight seal for at least one shaft.
- the sealed lubrication enclosure 200 may have a fixed seal 204 at any of the rotating shafts associated with the positioning arm.
- the sealed lubrication enclosure 200 may twist at the fixed seal 204 without tearing.
- the interface 202 may have extra material or may have an accordion type design to allow the twisting required by the positioning arm motion.
- the positioning arm 100 may be limited in the rotational travel. Instead of rotating a full 360 degrees, the positioning arm 100 with a sealed lubrication enclosure 200 may oscillate back and forth to reach all of the required positions for the positioning device. There may be a limiting device (e.g. mechanical, electrical, or programmed) to limit the rotation motion of the positioning arm 100 .
- a limiting device e.g. mechanical, electrical, or programmed
- FIG. 3 an embodiment of the restricted rotation of the positioning arm 100 is shown.
- a positioning arm 100 moved from position 304 to position 308 it may move along path 300 in a counter clockwise direction. If the next required motion was to go from position 308 to position 310 , the position arm 100 may not continue to move in the counter clockwise direction because of the restricted motion of the sealed lubricated enclosure 200 .
- the positioning arm 100 may instead move clockwise along path 300 past position 304 and on to position 310 along path 302 .
- the limit of the motion for the position arm 100 may be a function of the amount of rotation permitted by the sealed lubrication enclosure 200 without tearing. There may be a limiting device (e.g. mechanical, electrical, or programmed) to limit the rotation motion of the positioning arm 100 .
- a limiting device e.g. mechanical, electrical, or programmed
- a self-adjusting tensioner 400 is shown. Over the operational life of the positioning arm 100 , the chain 110 may stretch or elongate from the tensile load on the chain 110 . Since the positioning arm 100 may be in a vacuum environment, the chain 110 may be fully enclosed in a sealed lubrication enclosure 200 and the chain may not be serviceable. In order to maintain the useful life of the chain 110 , a self-adjusting tensioner 400 may be used. The self-adjusting tensioner 400 may be positioned on the chain 110 to remove any slack that may develop over time. There may be at least one self-adjusting tensioner 400 on a chain 110 .
- one side (the pull side) of the chain 110 may be in tension but the opposite site (the push side) may have less tension.
- the tension and less tension sides of the chain 110 may be dependent on the direction of rotation of the chain 110 around the sprockets 104 108 .
- the self-adjusting tensioner 400 may be able to remove slack in the chain 100 while the self-adjusting tensioner 400 is on the less tension side of the chain 110 .
- the detail of the self-adjusting tensioner 400 shows one embodiment of a self-adjusting tensioner 400 design.
- One end of the chain 410 may be connected to one side of a housing 418 .
- the other end of the chain 402 may pass into the housing 418 and connect to a plate 414 .
- the plate 414 may not be anchored to the housing 418 and may be free moving within the housing 418 or the plate 414 may be attached to the housing 418 using a slide to allow freedom of motion within the housing 418 .
- the chain 402 may also pass through a spring 404 , the spring 404 may be positioned between housing 418 and the plate 414 .
- the spring 404 may be of a large enough diameter to allow the chain 402 to pass inside the spring 404 diameter and connect to the plate 414 .
- the spring 404 may be compressed between the housing 418 and the plate 414 when the chain 402 is extended to its max length. With the spring 404 in compression, a force in a direction 408 is applied to the chain 402 exerting a force on the chain 402 to “push” the chain 402 into the housing 418 . The spring 404 push on the chain 414 into the housing 418 may remove slack from the chain 110 .
- the self-adjusting tensioner 400 may have a ratchet 412 that may engage and lock the chain 402 . It would be obvious to a person knowledgeable in the art that the location, design, and number of ratchets may vary based on the selected chain 110 , spring 404 , and housing 418 design. During a move sequence of the chain 110 , when the self-adjusting tensioner 400 is on the less tension side of the chain 110 , the spring may push the slack chain 402 into the housing 418 . The ratchet 412 may automatically lock onto the closest chain 402 link when the spring 404 pushes the chain 402 into the housing.
- the self-adjusting tensioner 400 may have at least one ratchet 412 . With every chain 110 move the self-adjusting tensioner 400 may attempt to adjust the chain link that the ratchet 412 is locked on. It should be understood that the ratchet 412 may only lock onto an different chain link when the chain 110 has stretched enough to permit locking onto a different chain link.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
Description
- 1. Field
- This invention relates to the methods and systems for a chain driven positioning device and more generally to the field of providing a chain driven positioning device for use in a vacuum environment.
- 2. Background
- A positioning device may be a device used for repetitive operations, working in hostile environments, working in environments that people are not able to work, or for high volume work. The positioning devices typically have at least one moveable positioning arm to allow the positioning device to move objects from one location to another. The construction of the positioning arms used by the positioning devices typically includes at least one rotating shaft, at least one pulley, and at least one belt. The belt may be of a polymer type with reinforcing materials, similar to the belts used on an automobile engine. The belts may be used with pulleys, with the pulleys attached to the driving rotating shafts.
- Belts can become worn and stretched over time, requiring maintenance to replace the belts. In some environments, the replacement of the belts may require the shut down of a system to allow access to the belts, adding to the cost of operating the positioning device and the system it supports. The belts may also become an issue in some environments, such as a vacuum system, where the belts may out gas during the vacuum pump down process.
- Accordingly, a need exists for a positioning device that uses alternate materials for the belt to provide long life with minimal service requirements and can be used in many different environments.
- Provided herein are methods and systems for providing a positioning arm; and driving the positioning arm with a chain. The chain may be a bicycle type chain. There may be at least one chain in the positioning arm. The chain material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium. The positioning arm may contain at least two sprockets. The sprocket teeth may engage the chain. The sprockets may be the same size or the sprockets may be a different size. The sprocket material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium. A chain drive position arm may contain the chain, at least two sprockets, and the positioning arm. At least one sprocket may be a drive sprocket mounted on a rotating shaft.
- A positioning device may contain at least one chain drive position arm. The chain drive position arm may be in a vacuum. The chain drive position arm may have a lubrication material. The lubrication material may be at least one of a vacuum compatible grease and perfluorinated hydrocarbons. A sealed lubrication enclosure may contain a flexible container, the lubrication material, at least one chain, and at least one sprocket. The flexible container may be a polymer material. The sealed lubrication enclosure may have a fixed seal on a rotating shaft. The fixed seal may partially twist the flexible container during the chain drive position arm movement. The chain drive position arm may rotate less than 360 degrees on the rotating shaft. The sealed lubrication enclosure may be evacuated of gases. A self-sealing spring may provide the fixed seal on the rotating shaft when the gases are evacuated.
- A self-adjusting tensioner may maintain the chain tension during operation. There may be at least one self-adjusting tensioner for the chain. The self-adjusting tensioner may contain a spring, the chain, and a ratchet. There may be at least one ratchet. The spring may push the chain into the self-adjusting tensioner. The spring may push the chain toward the ratchet when the chain is not in tension. The ratchet may engage a chain link. The spring may push the chain link onto the ratchet. The chain may be in tension when the ratchet locks on the chain link.
- The chain drive positioning device may be understood by reference to the following figures:
-
FIG. 1 shows an embodiment of the top and side view for a chain drive positioning device. -
FIG. 2 shows an embodiment of a sealed lubrication enclosure for the chain drive positioning device. -
FIG. 3 shows the oscillating motion of the chain drive positioning device. -
FIG. 4 shows an embodiment of a self-adjusting tensioner on the chain and a detailed embodiment of the self-adjusting tensioner. - Referring to
FIG. 1 , an embodiment of apositioning arm 100 is shown in both a top view and a side view. Apositioning arm 100 may be used on a positioning device such as a robot for picking and placing operations, lifting operation, or operation in a hostile environment. It would be obvious to a person knowledgeable in the art that thepositioning arm 100 may be used in association with additional positioning arms to allow additional reach or add additional axis of motion for a robotic device. The additional positioning arms may be placed in relation to thefirst positioning arm 100 to allow the required reach for the device. Thepositioning arm 100 may have a covering 102 to protect the positioning hardware from damage, structural strength, or for safety reasons. - The
positioning arm 100 may contain achain 110,sprockets 104 108, and rotatingshaft 114 118. Thechain 110 may be driven by adrive sprocket 104 that may be mounted on a rotatingshaft 114. Thechain 110 may engage at least oneadditional sprocket 108 on ashaft 118, thissprocket 108 andshaft 118 may be used to drive an additional positioning arms that may be connected to theshaft 118. Thesprockets 104 108 of thepositioning arm 100 may be the same diameter or of differing diameters.Sprockets 104 108 that are the same size may provide a one to one positioning ratio for thepositioning arm 100,sprockets 104 108 of a different size may provide a gearing ratio that may allow thepositioning arm 100 to move faster or slower than the rotatingshaft 114 of thedrive sprocket 104. It would be obvious to a person knowledgeable in the art that a robotic device may have a plurality of rotatingdrive shafts 112 114 for the positioning of a plurality of positioning arms or providing multiple axis motion to the robotic device. - The use of a
chain 100 to drive thepositioning arm 100 may be superior to other types of drive devices, such as a belt, that may slip as it becomes worn or loose in time. A belt that allows slippage between the belt and the rotating shafts may provide reduced positioning precision than a chain that is locked on the teeth of a sprocket. Thechain 110 engagement to thesprockets 104 108 may provide a not slip configuration by the chain 1 10 interlocking with the teeth of thesprockets 104 108. - It should be understood that the
chain 110 may be made of different materials and sizes (e.g. thickness of material, height, width, or length) to provide the tension strength required by positioningarm 100. Thechain 110 andsprocket 104 108 material may be at least one of stainless steel, nickel plated steel, aluminum, and titanium. It should also be understood that there may be more than one chain 1 10 andsprocket 104 108 assembly in a positioning arm. For example, a second chain and sprocket may be used for additional strength on the same rotating shaft or may be used to drive more than one additional positioning arm on a second rotating shaft. The additional chain and sprocket assembly may use a different sprocket diameter and may be driven by a different rotating shaft. - Referring to
FIG. 2 , an embodiment of a sealedlubrication enclosure 200 for thepositioning arm 100,chain 110, andsprockets 104 108 as described inFIG. 1 is shown. It should be understood that moving interlocking metallic parts may require lubrication to allow for a continued smooth working action over an operating life. Apositioning arm 100 may operate in a plurality of environments including a vacuum atmosphere. Vacuum systems are very sensitive to materials such as lubricants in the vacuum containment volume. Materials such as lubricants, even vacuum specific lubricants, tend to out gas (e.g. the release of a gas within a material during a vacuum pump down) at a slow rate and may require a substantial amount of time to achieve the required vacuum. The slow out gassing of the lubricant may significantly increase the vacuum pump down time and therefore may significantly increase the cost of the vacuum operation. - A sealed
lubrication enclosure 200 may be used to enclose thechain 110 andsprockets 104 108 as described inFIG. 1 . The sealedlubrication enclosure 200 may be made of a polymer or similar material. The sealedlubrication enclosure 200 may be filled with lubricant such as vacuum compatible grease or perfluorinated hydrocarbons. The sealedlubrication enclosure 200 may completely enclose thechain 110 andsprockets 104 108 maintaining a continuous lubrication of the chain [10 andsprockets 104 108. The sealedlubrication enclosure 200 may have a fixedseal 204 for at least one of the rotating shafts maintaining a seal between the lubrication and the vacuum environment. The fixedseal 204 may provide a tight fit to prevent the lubricant of the sealedlubrication enclosure 200 from out gassing into the vacuum containment during the vacuum pump down cycle. To further reduce any out gas from the lubricant, the sealedlubrication enclosure 200 may have any lubricant gas evacuated as part of the sealedlubrication enclosure 200 assembly process. During the sealed lubrication enclosure evacuation process a self-sealing spring may provide a tight seal for at least one shaft. The sealedlubrication enclosure 200 may have a fixedseal 204 at any of the rotating shafts associated with the positioning arm. - When the rotating shaft rotates, the sealed
lubrication enclosure 200 may twist at the fixedseal 204 without tearing. There may be aninterface 202 between thefixed seal 204 and the sealedlubrication enclosure 200 to aid in the twisting of the sealed lubrication enclosure. Theinterface 202 may have extra material or may have an accordion type design to allow the twisting required by the positioning arm motion. - In an embodiment, with the fixed
seal 204 in place for at least one rotating shaft, thepositioning arm 100 may be limited in the rotational travel. Instead of rotating a full 360 degrees, thepositioning arm 100 with a sealedlubrication enclosure 200 may oscillate back and forth to reach all of the required positions for the positioning device. There may be a limiting device (e.g. mechanical, electrical, or programmed) to limit the rotation motion of thepositioning arm 100. - Referring to
FIG. 3 , an embodiment of the restricted rotation of thepositioning arm 100 is shown. As described inFIG. 2 , there may be a limit on the rotation of thepositioning arm 100 because of the fixedseal 204 of the sealedlubrication enclosure 200. For example, if apositioning arm 100 moved fromposition 304 to position 308 it may move alongpath 300 in a counter clockwise direction. If the next required motion was to go fromposition 308 toposition 310, theposition arm 100 may not continue to move in the counter clockwise direction because of the restricted motion of the sealed lubricatedenclosure 200. Thepositioning arm 100 may instead move clockwise alongpath 300past position 304 and on toposition 310 alongpath 302. It should be understood that the limit of the motion for theposition arm 100 may be a function of the amount of rotation permitted by the sealedlubrication enclosure 200 without tearing. There may be a limiting device (e.g. mechanical, electrical, or programmed) to limit the rotation motion of thepositioning arm 100. - Referring to
FIG. 4 , an embodiment of a self-adjustingtensioner 400 is shown. Over the operational life of thepositioning arm 100, thechain 110 may stretch or elongate from the tensile load on thechain 110. Since thepositioning arm 100 may be in a vacuum environment, thechain 110 may be fully enclosed in a sealedlubrication enclosure 200 and the chain may not be serviceable. In order to maintain the useful life of thechain 110, a self-adjustingtensioner 400 may be used. The self-adjustingtensioner 400 may be positioned on thechain 110 to remove any slack that may develop over time. There may be at least one self-adjustingtensioner 400 on achain 110. It should be understood that during the motion of thechain 110 around thesprockets 104 108, one side (the pull side) of thechain 110 may be in tension but the opposite site (the push side) may have less tension. The tension and less tension sides of thechain 110 may be dependent on the direction of rotation of thechain 110 around thesprockets 104 108. The self-adjustingtensioner 400 may be able to remove slack in thechain 100 while the self-adjustingtensioner 400 is on the less tension side of thechain 110. It should be understood that if a self-adjustingtensioner 400 is positioned on both sides of thechain 110, the tension of thechain 110 may be adjusted with eachchain 110 motion because one of the self-adjusting tensioners would always be on a less tension side of thechain 110 and allow for tension adjustment. - The detail of the self-adjusting
tensioner 400 shows one embodiment of a self-adjustingtensioner 400 design. One end of thechain 410 may be connected to one side of ahousing 418. The other end of thechain 402 may pass into thehousing 418 and connect to aplate 414. Theplate 414 may not be anchored to thehousing 418 and may be free moving within thehousing 418 or theplate 414 may be attached to thehousing 418 using a slide to allow freedom of motion within thehousing 418. Thechain 402 may also pass through aspring 404, thespring 404 may be positioned betweenhousing 418 and theplate 414. Thespring 404 may be of a large enough diameter to allow thechain 402 to pass inside thespring 404 diameter and connect to theplate 414. Thespring 404 may be compressed between thehousing 418 and theplate 414 when thechain 402 is extended to its max length. With thespring 404 in compression, a force in adirection 408 is applied to thechain 402 exerting a force on thechain 402 to “push” thechain 402 into thehousing 418. Thespring 404 push on thechain 414 into thehousing 418 may remove slack from thechain 110. - To maintain rigidity in the
chain 110 when thechain 110 is in tension, the self-adjustingtensioner 400 may have aratchet 412 that may engage and lock thechain 402. It would be obvious to a person knowledgeable in the art that the location, design, and number of ratchets may vary based on the selectedchain 110,spring 404, andhousing 418 design. During a move sequence of thechain 110, when the self-adjustingtensioner 400 is on the less tension side of thechain 110, the spring may push theslack chain 402 into thehousing 418. Theratchet 412 may automatically lock onto theclosest chain 402 link when thespring 404 pushes thechain 402 into the housing. Once theratchet 412 has locked onto achain 402 link the chain will be constrained for the next move that has thechain 402 in tension. It should be understood that the self-adjustingtensioner 400 may have at least oneratchet 412. With everychain 110 move the self-adjustingtensioner 400 may attempt to adjust the chain link that theratchet 412 is locked on. It should be understood that theratchet 412 may only lock onto an different chain link when thechain 110 has stretched enough to permit locking onto a different chain link. - While the invention has been described in connection with certain preferred embodiments, other embodiments would be understood by one of ordinary skill in the art and are encompassed herein.
Claims (30)
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US11/301,653 US20070144421A1 (en) | 2005-12-13 | 2005-12-13 | Chain driven positioning device methods and systems |
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US11/301,653 US20070144421A1 (en) | 2005-12-13 | 2005-12-13 | Chain driven positioning device methods and systems |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050194096A1 (en) * | 2003-08-29 | 2005-09-08 | Crossing Automation, Inc. | Method and apparatus for semiconductor processing |
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US6543748B1 (en) * | 2001-10-03 | 2003-04-08 | Vat Holding Ag | Linear motion leadthrough |
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2005
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US6193622B1 (en) * | 1907-09-19 | 2001-02-27 | Ontario Drive & Gear Limited | Automatic chain tensioner |
US2806378A (en) * | 1954-06-08 | 1957-09-17 | Fmc Corp | Apparatus for transforming rotary motion to reciprocating motion |
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US3391804A (en) * | 1966-06-14 | 1968-07-09 | Atomic Energy Commission Usa | Counterbalanced manipulator |
US3981811A (en) * | 1976-01-14 | 1976-09-21 | The United States Of America As Represented By The Secretary Of The Air Force | Silicone fluids as a corrosion inhibitor for perfluorinated polyether fluids |
US4503722A (en) * | 1980-02-19 | 1985-03-12 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Arm operating device in automatic operating machine |
US5730674A (en) * | 1996-02-16 | 1998-03-24 | Ott; Vern D. | Primary drive chain tension adjuster |
US6543748B1 (en) * | 2001-10-03 | 2003-04-08 | Vat Holding Ag | Linear motion leadthrough |
Cited By (4)
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US20050194096A1 (en) * | 2003-08-29 | 2005-09-08 | Crossing Automation, Inc. | Method and apparatus for semiconductor processing |
US20080073031A1 (en) * | 2003-08-29 | 2008-03-27 | Price J B | Method and apparatus for semiconductor processing |
US20080089774A1 (en) * | 2003-08-29 | 2008-04-17 | Price J B | A method and apparatus for semconductor processing |
US7748944B2 (en) | 2003-08-29 | 2010-07-06 | Crossing Automation, Inc. | Method and apparatus for semiconductor processing |
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