US4790718A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Manipulators
Assignee: English Electric Co Ltd
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Filing: 1986-03-27
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Granted: 1988-12-13
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Expires: 2006-03-27
Abstract
Abstract A manipulator comprises three arms 1 which can pivot at different points on a supporting structure 6 and which can be driven longitudinally to adjust their effective lengths. The longitudinal axes of the three arms intersect at a common point but their lower ends are offset from this point and are pivoted about respective axes which also intersect at the aforementioned common point. They are pivotted to an end effector mounting flange 8 which optionally comprises a fourth arm 11 which slides and pivots on the supporting structure. The fourth arm serves to ensure that the flange 8 always faces at a known orientation. It can also be used in co-operation with suitable sensors to produce signals on lines 15, 16 and 18 to a control unit which drives the arms 1 in their linear directions.
Inventors
- 👤 Mark G. Vickers
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 19:35
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275; B25J17/0266
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
119 words
A manipulator having: three arms connecting fixed points on a supporting structure to an end effector mounting, the three arms each being pivotally connecting to different fixed points on the mounting to allow rotation of the arms relative to the mounting about respective axes which intersect at a common point and which are co-planar; and three drive means each acting on a part of a corresponding arm so as to drive that part along a straight line passing through the said common point, said mounting including a fourth arm and a slidable connection operable to permit the fourth arm to pivot and to slide longitudinally relative to the supporting structure, said forth arm being connected to the end effector.
Claim 2
Dependent Claim
119 words
A manipulator having: three arms connecting fixed points on a supporting structure to an end effector mounting, the three arms each being pivotally connecting to different fixed points on the mounting to allow rotation of the arms relative to the mounting about respective axes which intersect at a common point and which are co-planar; and three drive means each acting on a part of a corresponding arm so as to drive that part along a straight line passing through the said common point, said mounting including a fourth arm and a slidable connection operable to permit the fourth arm to pivot and to slide longitudinally relative to the supporting structure, said forth arm being connected to the end effector.
Claim 3
Dependent Claim
26 words
A manipulator according to claim 1 in which each arm is connected to the mounting by a pivot which allows rotation about only one fixed axis.
Claim 4
Dependent Claim
24 words
A manipulator according to claim 1 including means for sensing movement and/or position of the fourth arm and for controlling the drives in response.
Claim 5
Dependent Claim
132 words
A manipulator comprising: three arms connecting fixed points on a supporting structure to an end effector mounting, the three arms each being pivotally connected to different fixed points on the mounting to allow rotation of the arms relative to the mounting about respective axes which intersect at a common point and which are coplanar; and three drive means each acting on a part of a corresponding arm so as to drive that part along a straight line passing through the said common point and additionally including an extra arm joining the end effector mounting to the supporting structure, and a joint between the extra arm and the supporting structure, said joint being a slidable connection operable to permit the extra arm to pivot and to slide longitudinally relative to the supporting structure.
Claim 6
Dependent Claim
132 words
A manipulator comprising: three arms connecting fixed points on a supporting structure to an end effector mounting, the three arms each being pivotally connected to different fixed points on the mounting to allow rotation of the arms relative to the mounting about respective axes which intersect at a common point and which are coplanar; and three drive means each acting on a part of a corresponding arm so as to drive that part along a straight line passing through the said common point and additionally including an extra arm joining the end effector mounting to the supporting structure, and a joint between the extra arm and the supporting structure, said joint being a slidable connection operable to permit the extra arm to pivot and to slide longitudinally relative to the supporting structure.
Claim 7
Dependent Claim
14 words
An extra arm as claimed in claim 4 wherein the extra arm is straight.
Claim 8
Dependent Claim
22 words
An extra arm as claimed in claim 4 wherein the end effector is attached directly to the end of the extra arm.
Claim 9
Dependent Claim
29 words
An extra arm as claimed in claim 4 wherein the position of the end effector is calculated from the angles of rotation and longitudinal displacement of the extra arm.
Claim 10
Dependent Claim
22 words
An extra arm as claimed in claim 5 wherein the end effector is attached directly to the end of the extra arm.
Claim 11
Dependent Claim
29 words
An extra arm as claimed in claim 5 wherein the position of the end effector is calculated from the angles of rotation and longitudinal displacement of the extra arm.
Claim 12
Dependent Claim
29 words
An extra arm as claimed in claim 6 wherein the position of the end effector is calculated from the angles of rotation and longitudinal displacement of the extra arm.
Claim 13
Dependent Claim
29 words
An extra arm as claimed in claim 8 wherein the position of the end effector is calculated from the angles of rotation and longitudinal displacement of the extra arm.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-12-13 | 1992-06-13 | 1992-12-13 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-12-13 | 1996-06-13 | 1996-12-13 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-12-13 | 2000-06-13 | 2000-12-13 | $7700.00 | Window Closed / Lapsed |