CA2596810A1 - Chain-driven robotic arm - Google Patents

Chain-driven robotic arm Download PDF

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Publication number
CA2596810A1
CA2596810A1 CA002596810A CA2596810A CA2596810A1 CA 2596810 A1 CA2596810 A1 CA 2596810A1 CA 002596810 A CA002596810 A CA 002596810A CA 2596810 A CA2596810 A CA 2596810A CA 2596810 A1 CA2596810 A1 CA 2596810A1
Authority
CA
Canada
Prior art keywords
arm
chain
operable
sprocket
extendible
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.)
Granted
Application number
CA002596810A
Other languages
French (fr)
Other versions
CA2596810C (en
Inventor
Lawrence E. Guerra
Sean P. Mannell
Steven R. Walton
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.)
ScriptPro LLC
Original Assignee
Scriptpro Llc
Lawrence E. Guerra
Sean P. Mannell
Steven R. Walton
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 Scriptpro Llc, Lawrence E. Guerra, Sean P. Mannell, Steven R. Walton filed Critical Scriptpro Llc
Publication of CA2596810A1 publication Critical patent/CA2596810A1/en
Application granted granted Critical
Publication of CA2596810C publication Critical patent/CA2596810C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/18—Chains having special overall characteristics
    • F16G13/20—Chains having special overall characteristics stiff; Push-pull chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
    • Y10T74/1884—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.] with sprocket wheel
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element

Abstract

A robotic arm for transporting products in a product storage and dispensing system is disclosed. The robotic arm broadly includes a base operable to couple the arm to the dispensing system; a sprocket coupled with the base; an extendible arm segment coupled with the base; and a chain coupled with the sprocket and the extendible arm segment such that rotation of the sprocket causes movement of the chain and extension of the extendible arm segment. The robotic arm provides a compact and effective retrieval tool that is compatible with closely spaced and densely packed product shelves.

Claims (20)

1. ~A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
a base operable to couple the arm to the dispensing system;
a sprocket coupled with the base;
an extendible arm segment coupled with the base; and a chain coupled with the sprocket and a distal end of the extendible arm segment such that rotation of the sprocket causes movement of the chain and extension of the extendible arm segment.
2. ~The robotic arm of claim 1, wherein rotation of the sprocket in a first direction causes movement of the chain and extension of the extendible arm segment and movement of the sprocket in a second direction causes reverse movement of the chain and retraction of the extendible arm segment.
3. ~The robotic arm of claim 1, wherein in the base includes an arcuate channel operable to house at least a portion of the chain when the extendible arm segment is retracted.
4. ~The robotic arm of claim 1, wherein the extendible arm segment includes a plurality of telescoping segments operable to outwardly telescope upon extension of the extendible arm segment.
5. ~The robotic arm of claim 1, wherein the extendible arm segment includes a slidable arm mount operable to couple the extendible arm segment to the base.
6. ~The robotic arm of claim 5, wherein the base additionally includes a slot operable to at least partially house the slidable arm mount and the engagement mechanism when the extendible arm segment is retracted.
7. ~The robotic arm of claim 1, further including a sensor coupled with the base and operable to detect the position of the arm.
8. ~The robotic arm of claim 1, further including a motor coupled with the base and operable to rotate the sprocket.
9. ~The robotic arm of claim 1, wherein the chain includes a plurality of stops to restrict bending of the chain.
10. ~A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
a base including an arcuate channel, the base being operable to couple the arm to the dispensing system;
a sprocket coupled with the base;
a motor coupled with the sprocket and operable to rotate the sprocket in a first direction and a second direction;
an extendible arm segment coupled with the base, the extendible arm segment including-a plurality of telescoping segments operable to inwardly and outwardly telescope, and an engagement mechanism coupled to the telescoping segments and operable to engage a product; and a chain coupled with the sprocket and the engagement mechanism such that-rotation of the sprocket in the first direction causes movement of the chain and outward telescoping of the telescoping segments to extend the extendible arm segment, and rotation of the sprocket in the second direction causes reverse movement of the chain and inward telescoping of the telescoping segments to retract the extendible arm segment, the chain being at least partially housed in the arcuate channel when the extendible arm segment is retracted.
11. ~The robotic arm of claim 10, wherein the chain includes a plurality of stops to restrict bending of the chain.
12. ~The robotic arm of claim 10, wherein the extendible arm segment includes a slidable arm mount operable to couple the extendible arm segment to the base.
13. ~The robotic arm of claim 12, wherein the base additionally includes a slot operable to at least partially house the slidable arm mount and the engagement mechanism when the extendible arm segment is retracted.
14. ~The robotic arm of claim 12, wherein rotation of the sprocket in the first direction causes movement of the chain, sliding of the slidable arm mount, and extension of the extendible arm segment.
15. ~The robotic arm of claim 10, further including a sensor operable to detect the position of the arm.
16. ~A robotic arm for transporting products in a product storage and dispensing system, the arm comprising:
a base including an arcuate channel and a slot, the base being operable to couple the arm to the dispensing system;
a sprocket coupled with the base;
a motor coupled with the sprocket and operable to rotate the sprocket in a first direction and a second direction;
an extendible arm segment including-a plurality of telescoping segments operable to inwardly and outwardly telescope, the plurality of telescoping segments having a first end and a second end, an engagement mechanism coupled to the telescoping segments at the first end and operable to engage a product, the engagement mechanism housed at least partially in the slot when the extendible arm segment is retracted, and a slidable arm mount coupled to the telescoping segments at the second end and operable to couple the extendible arm segment to the base, the slidable arm mount positioned at least partially in the slot for sliding therein; and a chain including a plurality of stops to restrict bending of the chain, the chain being coupled with the sprocket and the engagement mechanism such that-rotation of the sprocket in the first direction causes movement of the chain, forward sliding of the slidable arm mount, and outward telescoping of the telescoping segments to extend the extendible arm segment, and rotation of the sprocket in the second direction causes reverse movement of the chain, rearward sliding of the slidable arm mount, and inward telescoping of the telescoping segments to retract the engagement mechanism, the chain being at least partially housed in the arcuate channel when the extendible arm segment is retracted.
17. ~The robotic arm of claim 16, further including a sensor operable to detect the position of the arm.
18. ~The robotic arm of claim 16, wherein the slot includes a stop for restricting movement of the slidable arm mount and the telescoping segments enable extension of the extendible arm segment after the stop restricts movement of the slidable arm mount.
19. ~The robotic arm of claim 16, wherein the engagement mechanism includes a plurality of tines for engaging the product and a mount for coupling with the chain.
20. ~The robotic arm of claim 16, wherein the slidable arm mount is operable to restrict bending of the chain.
CA2596810A 2005-05-31 2006-02-01 Chain-driven robotic arm Expired - Fee Related CA2596810C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/141,602 2005-05-31
US11/141,602 US7258521B2 (en) 2005-05-31 2005-05-31 Chain-driven robotic arm
PCT/US2006/004120 WO2006130189A2 (en) 2005-05-31 2006-02-01 Chain-driven robotic arm

Publications (2)

Publication Number Publication Date
CA2596810A1 true CA2596810A1 (en) 2006-12-07
CA2596810C CA2596810C (en) 2012-07-31

Family

ID=37482103

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2596810A Expired - Fee Related CA2596810C (en) 2005-05-31 2006-02-01 Chain-driven robotic arm

Country Status (6)

Country Link
US (1) US7258521B2 (en)
EP (1) EP1885630A4 (en)
JP (1) JP2008542050A (en)
AU (1) AU2006253008A1 (en)
CA (1) CA2596810C (en)
WO (1) WO2006130189A2 (en)

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Also Published As

Publication number Publication date
WO2006130189A2 (en) 2006-12-07
EP1885630A4 (en) 2010-07-21
WO2006130189A3 (en) 2007-06-21
EP1885630A2 (en) 2008-02-13
AU2006253008A1 (en) 2006-12-07
CA2596810C (en) 2012-07-31
US20060280587A1 (en) 2006-12-14
US7258521B2 (en) 2007-08-21
JP2008542050A (en) 2008-11-27

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