Micromanipulator utilizing a constant velocity universal joint

Claim 2

A constant velocity universal joint apparatus comprising: a main spherical bearing having a hole therein, and connected to a control member, so that the control member is for receiving rotational and lateral displacement from an external source; a spherical pivot bearing having mounting means connected thereto for providing an adjustable pivot reference point for the constant velocity universal joint apparatus; adjustable means disposed within said hole and capturing the spherical pivot bearing for permitting pivoting and rotational displacement of the main spherical bearing thereon, and permitting adjustment of the mechanical advantage of the constant velocity universal joint, and; coupling means for movably accommodating the main spherical bearing therein for playlessly coupling lateral and rotational displacement of the main spherical bearing to an external member.

Claim 3

The constant velocity universal joint apparatus of claim 1 wherein: the hole in the main spherical bearing is diametrically disposed therein; the adjustable means include a tubular bushing adjustably fitting within said hole, the tubular bushing having the spherical pivot bearing swivelably fitting therein, and retained therein by a retaining flange on one end of the tubular bushing and also by a shaft of the control member, the shaft being press fitted into the other end of the tubular bushing.

Claim 4

The constant velocity universal joint apparatus of claim 1 wherein: the coupling means include a grooved tubular bushing having at least one groove disposed along an inner wall thereof parallel to a cylindrical axis thereof; the main spherical bearing fits movably within the grooved tubular bushing and has at least one appendage thereon which fits accurately within said groove for imparting rotational displacement of the main spherical bearing to the grooved tubular bushing, whereby lateral and rotational displacement of the main spherical bearing are accurately imparted to the grooved tubular bushing, and; the grooved tubular bearing has means thereon for coupling lateral and rotational displacement thereof to an external member.

Claim 5

A micromanipulator comprising: a base plate member having mounted thereon a movable housing member and a slide plate assembly including a first slide plate member, the movable housing member having attached thereto a transfer member operatively connected to the slide plate assembly for allowing lateral displacement of the first slide plate member and the movable housing member while simultaneously preventing rotational displacement thereof; an assembly including a rotatable transfer shaft having means thereon for attaching a work station and apparatus, the assembly being mounted on the first slide plate member, whereby the work station may undergo both lateral and rotational displacement; a constant velocity universal joint apparatus comprising: a main spherical bearing having a hole therein, and connected to a control member, wherein the control member is for receiVing rotational and lateral displacement from an external source; a spherical pivot bearing having mounting means connected thereto for providing an adjustable pivot reference point for the constant velocity universal joint apparatus; adjustable means disposed within said hole and capturing the spherical pivot bearing for permitting pivoting and rotational displacement of the main spherical bearing thereon, and permitting adjustment of the mechanical advantage of the constant velocity universal joint, and; coupling means for movably accommodating the main spherical bearing therein for playlessly coupling lateral and rotational displacement of the main spherical bearing to the movable housing member, and; driving means for playlessly coupling rotational displacement of the coupling means to the rotatable transfer shaft.

Claim 6

A micromanipulator comprising: a base plate member having mounted thereon a movable housing member and a slide plate assembly including a first slide plate member, the movable housing member having attached thereto a transfer member operatively connected to the slide plate assembly for allowing lateral displacement of the first slide plate member and the movable housing member while simultaneously preventing rotational displacement thereof; an assembly including a rotatable transfer shaft having means thereon for attaching a work station and apparatus, the assembly being mounted on the first slide plate member, whereby the work station may undergo both lateral and rotational displacement; a constant velocity universal joint apparatus comprising: a main spherical bearing having a hole therein, and connected to a control member, wherein the control member is for receiVing rotational and lateral displacement from an external source; a spherical pivot bearing having mounting means connected thereto for providing an adjustable pivot reference point for the constant velocity universal joint apparatus; adjustable means disposed within said hole and capturing the spherical pivot bearing for permitting pivoting and rotational displacement of the main spherical bearing thereon, and permitting adjustment of the mechanical advantage of the constant velocity universal joint, and; coupling means for movably accommodating the main spherical bearing therein for playlessly coupling lateral and rotational displacement of the main spherical bearing to the movable housing member, and; driving means for playlessly coupling rotational displacement of the coupling means to the rotatable transfer shaft.

Claim 7

The micromanipulator of claim 4 further including centralizing means for initializing the position of the rotatable transfer shaft.

Claim 8

The micromanipulator of claim 5 wherein the centralizing means comprise two scissors-like blade members each having a V-groove on an inside edge thereof, an actuating device coupled to the two scissors-like blade members, at least one pivot pin for mounting the scissors-like blade members, an outboard bearing operatively connected to the rotatable transfer shaft, whereby when the actuating device closes the two scissors-like blade members to a fixed position, the V-grooves constrain the rotatable transfer shaft to a fixed lateral position and the inside edges constrain the outboard bearing to a fixed position, thereby constraining the rotatable transfer shaft to a fixed initial angular position.

Claim 9

The micromanipulator of claim 4 wherein the driving means include at least two sprockets and at least one chain, one sprocket attached to the coupling means of the constant velocity universal joint apparatus and one sprocket attached to the rotatable transfer shaft, the chain playlessly coupling the sprockets.

Claim 10

The micromanipulator of claim 7 wherein said transfer member has adjustable means connecting the transfer member to the movable housing member for allowing adjustment of the tension of the chain.

Claim 11

The micromanipulator of claim 4 wherein the mounting means of the spherical pivot bearing are mounted on an adjustable support member, wherein the adjustable support member may be adjusted to provide a desired position of the control member corresponding to a certain position of the rotatable transfer shaft.