US3905569A - Apparatus for changing the position of a manipulator arm - Google Patents

Apparatus for changing the position of a manipulator arm Download PDF

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Publication number
US3905569A
US3905569A US487065A US48706574A US3905569A US 3905569 A US3905569 A US 3905569A US 487065 A US487065 A US 487065A US 48706574 A US48706574 A US 48706574A US 3905569 A US3905569 A US 3905569A
Authority
US
United States
Prior art keywords
bracket
shaft
manipulator arm
slide
forked
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US487065A
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English (en)
Inventor
Makoto Ohnaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHIROYAMA KOGYO KK
Original Assignee
SHIROYAMA KOGYO KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHIROYAMA KOGYO KK filed Critical SHIROYAMA KOGYO KK
Application granted granted Critical
Publication of US3905569A publication Critical patent/US3905569A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32008—Plural distinct articulation axes
    • Y10T403/32057—Angular and linear

Definitions

  • F16F 15/00; F16M 1/00 nipulator arm includes a Shaft Pivotal Within a Pivot [58] Field of Search 248/16, 289, 282, 283, means and an adjustment means mounted on the Shaft 24 27 2 5 295; 2 9 79 5 59 6O, 6], adjacent to the pivot means and including threaded 62 56; 214/1 OF adjustment elements adjustably engaging a receiving member on the pivot means to thereby adjustably r0- [56] References Cited tate the shaft on the pivot means with the application UNITED STATES PATENTS of a mmmum of 719,625 2/1903 Throm 248/296 X 2 Claims, 4 Drawing Figures PATENTED SEP-l 61975 SHEET 2 UP 3 PATENTEUSEPI BIBYS 3 905 569 FIG.4
  • This invention relates to apparatus for changing or adjusting the fitting or operating angle of a manipulator arm.
  • an object of the present invention is to overcome the disadvantages of known prior art arrangements and to provide an apparatus for adjusting the angle of a manipulator arm which enables or permits precise adjustment of the manipulator arm with only the application of a small or minimum amount of force.
  • Another object of the present invention is to provide for securing a manipulator arm in its final adjusted position and wherein such securement does not have an adverse affect on the adjustment which was made previously.
  • Apparatus for changing the operating angle of a manipulator arm includes a shaft fixed to the manipulator arm.
  • a support has pivot means in which the shaft is pivotally received and an adjustment means is fixedly mounted on the shaft and disposed adjacent to the pivot means.
  • a receiving member is fixed to the pivot means and movable elements are threadedly received on the adjustment means to engage the fixed receiving member to thereby adjustably rotate the shaft in the pivot means.
  • FIG. 1 is a plan view of an apparatus for changing a fitting angle of a manipulator arm according to one embodiment of the present invention.
  • FIG. 2 is an elevational view of the apparatus shown in FIG. 1.
  • FIG. 3 is an enlarged plan view ofa portion of the apparatus shown in FIGS. 1 and 2.
  • FIG. 4 is a sectional view taken along the line AA in FIG. 3.
  • a support arm 1 is secured to the side of a suitable working machine 2.
  • the support arm I is provided at its outer end with a bracket 4 having a vertical hole 3.
  • a receiving element 5 On the upper side of the bracket 4 there is suitably secured such as by bolts a receiving element 5.
  • the bracket 4 has a side portion in which there is a slot 6 extending from the side of the bracket to the vertical hole 3 and opening into the latter.
  • One side of the slot 6 has an ear 7 having a threaded hole 8.
  • a bolt 9 passing through the hole 8 is threadedly engagable in an opposite hole 10 in the bracket 4 wuch that tightening of the bolt 9 will tend to close the slot 6.
  • tightening and loosening of the bolt 9 will affect the diameter of the hole 3 in the bracket as will hereinafter be further described.
  • a manipulator arm 12 is provided which is movable mounted on a slide 11.
  • a vertically disposed shaft 14 extends into an appropriate portion of the slide 11 and a key 13 is provided between the shaft 14 and the slide 11 so as to preclude relative rotational movement therebetween.
  • the upper portion'of the shaft 14 is received in the vertical hole 3 in the bearing bracket 4.
  • the shaft 14 has an upper end portion 14a of smaller diameter and this upper end portion 14a extends beyond the upper side of the bearing bracket 4.
  • a forked member 15 is disposed on the upper side of the bearing bracket 4 and has an opening in which the upper end portion 14a of the shaft 14 is received as can most clearly be seen in FIG. 4.
  • a key 16 prevents relative rotation between the shaft 14 and the forked member 15.
  • a bolt is threadedly received in the shaft end portion 14a and a washer type element is provided between the bolt head and the forked member 15.
  • the forked member 15 has two spaced parallel leg portions 17 as can best be seen in FIG. 3.
  • Bolts 18 are threadedly received in openings in the end portions of the legs 17 and the ends of these bolts 18 are disposed and positioned where they are adapted to engage opposite sides of the previously mentioned receiving member 5.
  • a threaded shaft 19 which may be rotated by an attached handle 24) is operable to raise and lower the slide 11 as the latter slides longitudinally but non-rotatingly on the shaft 14.
  • FIG. 1 shows in broken lines three different positions of the arm of the manipulator 12.
  • the slide 11 is immovably fixed relative to the support I by tightening the bolt 9 which causes the bearing bracket 4 to securely grip the shaft 14 inasmuch as tightening of the bolt 9 causes the slot 6 to close and secure the shaft 14 in the opening 3.
  • Apparatus for changing the operating angle of a manipulator arm comprising a slide on which said manipulator arm is mounted, a shaft fixed to said slide, a support having a bracket with an opening in which said shaft is received, a slot in said bracket extending to said opening, a threaded element in said bracket operable to apply and release a force to said slot whereby said shaft is accordingly tightly gripped or loosely disposed 4 in said opening, a forked member, means fixedly mounting said fork member on said shaft adjacent to said bracket, said forked member having two spaced legs, a receiving member fixed to said bracket, said receiving member projecting from said bracket in an axial direction to a position betweenthe spaced legs of said forked member, movable elements threadedly engaged in each of said spaced legs and operable to en gage said fixed receiving member to thereby adjustably rotate said shaft in said bracket when said threaded element has released said force to said slot and said shaft is loosely held in said opening in said bracket.
  • said forked member has a lateral projection which extends beyond the outer edge of said bracket, said bracket being axially located on said shaft between said forked member and said slide, a threaded screw member rotatingly supported in said lateral projection of said forked member, said threaded screw element extending parallel to said shaft and being disposed beyond said outer edge of said bracket, and means interconnecting sa-id screw member and said slide for said manipulator arm such that rotation of said screw member raises and lowers said slide and said manipulator arm relative to said forked member and relative to said bracket.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)
  • Manipulator (AREA)
US487065A 1974-04-08 1974-07-10 Apparatus for changing the position of a manipulator arm Expired - Lifetime US3905569A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1974039956U JPS5436458Y2 (enrdf_load_stackoverflow) 1974-04-08 1974-04-08

Publications (1)

Publication Number Publication Date
US3905569A true US3905569A (en) 1975-09-16

Family

ID=12567395

Family Applications (1)

Application Number Title Priority Date Filing Date
US487065A Expired - Lifetime US3905569A (en) 1974-04-08 1974-07-10 Apparatus for changing the position of a manipulator arm

Country Status (2)

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US (1) US3905569A (enrdf_load_stackoverflow)
JP (1) JPS5436458Y2 (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416095A1 (fr) * 1978-01-31 1979-08-31 Fujitsu Fanuc Ltd Systeme d'usinage automatise
EP0325283A1 (en) * 1988-01-22 1989-07-26 Km Cloth Cutting Machine Co. Ltd. Cloth cutting apparatus

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US719625A (en) * 1902-05-31 1903-02-03 Cutler & Son A Shelf attachment for desks.
US1111177A (en) * 1912-05-27 1914-09-22 Oscar H Pieper Dental engine-bracket.
US1223085A (en) * 1914-10-21 1917-04-17 George Manierre Box-car-loading machine.
US2433734A (en) * 1943-04-05 1947-12-30 Bucko John Means for supporting torches in oxyacetylene cutting machines
US2543967A (en) * 1943-12-17 1951-03-06 Heyer Don Variable-speed drive
US2550818A (en) * 1949-10-25 1951-05-01 Herbert M Johnson Photoelectric meter-scanning apparatus
US2737709A (en) * 1952-12-08 1956-03-13 William H Lovelace Apparatus for handling work
US2901195A (en) * 1955-08-03 1959-08-25 Continental Can Co Motor mounting means
US3672620A (en) * 1970-11-17 1972-06-27 Anton Fink Height gauge

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US719625A (en) * 1902-05-31 1903-02-03 Cutler & Son A Shelf attachment for desks.
US1111177A (en) * 1912-05-27 1914-09-22 Oscar H Pieper Dental engine-bracket.
US1223085A (en) * 1914-10-21 1917-04-17 George Manierre Box-car-loading machine.
US2433734A (en) * 1943-04-05 1947-12-30 Bucko John Means for supporting torches in oxyacetylene cutting machines
US2543967A (en) * 1943-12-17 1951-03-06 Heyer Don Variable-speed drive
US2550818A (en) * 1949-10-25 1951-05-01 Herbert M Johnson Photoelectric meter-scanning apparatus
US2737709A (en) * 1952-12-08 1956-03-13 William H Lovelace Apparatus for handling work
US2901195A (en) * 1955-08-03 1959-08-25 Continental Can Co Motor mounting means
US3672620A (en) * 1970-11-17 1972-06-27 Anton Fink Height gauge

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416095A1 (fr) * 1978-01-31 1979-08-31 Fujitsu Fanuc Ltd Systeme d'usinage automatise
EP0325283A1 (en) * 1988-01-22 1989-07-26 Km Cloth Cutting Machine Co. Ltd. Cloth cutting apparatus

Also Published As

Publication number Publication date
JPS50128861U (enrdf_load_stackoverflow) 1975-10-22
JPS5436458Y2 (enrdf_load_stackoverflow) 1979-11-02

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