US5378968A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Manipulator
Assignee: Hitachi Ltd
•
Filing: 1993-10-25
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Granted: 1995-01-03
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Expires: 2013-10-25
Abstract
Abstract A manipulator whose economic efficiency and reliability are raised by reducing the size and weight of the system through the backup by a common specification drive circuit and actuator when a fault occurs is provided. Thus, the actuator of the end effector is made so as to have the common structure as the actuators of the multiple joints, so that they are driven by a common specification drive unit. Two systems which can be switched are provided in the actuator of the end effector and additionally, a spare drive unit is provided.
Inventors
- 👤 Naoya Ezawa
- 👤 Naoki Noguchi
- 👤 Shinichi Takarada
- 👤 Masahiro Matsuzawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 06:15
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39468; G05B2219/40; G05B2219/40304
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
155 words
A manipulator, comprising: a plurality of joints each having a joint actuator; said joint actuators having at least one of the same structure and mechanism as one another; an end effector having an end effector actuator coupled to an end of the manipulator, wherein said end effector actuator has one of the same structure and mechanism as said one of said structure and mechanism of said joint actuator; drive units for driving the joint actuators and the end effector actuator; a controller for controlling said drive units; and a spare drive unit that is interchangeable with the drive units for driving the joint actuators and the end effector actuator, and a redundancy selector for selecting and allocating the drive units to the actuators of said plurality of joints and the actuator of said end effector from among said drive units for driving the joint actuators and said end effector actuator, and said spare drive unit.
Claim 2
Dependent Claim
155 words
A manipulator, comprising: a plurality of joints each having a joint actuator; said joint actuators having at least one of the same structure and mechanism as one another; an end effector having an end effector actuator coupled to an end of the manipulator, wherein said end effector actuator has one of the same structure and mechanism as said one of said structure and mechanism of said joint actuator; drive units for driving the joint actuators and the end effector actuator; a controller for controlling said drive units; and a spare drive unit that is interchangeable with the drive units for driving the joint actuators and the end effector actuator, and a redundancy selector for selecting and allocating the drive units to the actuators of said plurality of joints and the actuator of said end effector from among said drive units for driving the joint actuators and said end effector actuator, and said spare drive unit.
Claim 3
Dependent Claim
40 words
A manipulator according to claim 1, wherein at least one of the drive units for driving the joint actuators of said plurality of joints is interchangeable with the drive units for driving the end effector actuator of said end effector.
Claim 4
Dependent Claim
21 words
A manipulator according to claim 1, wherein said end effector actuator includes at least two actuator systems and a switch unit.
Claim 5
Dependent Claim
27 words
A manipulator according to claim 1, further including current limiters for changing a current limit value of the drive unit for the joint and end effector actuators.
Claim 6
Dependent Claim
158 words
A manipulator, comprising: a first joint having a first actuator; a second joint having a second actuator that is interchangeable with the first actuator, and drive means for driving the first or second actuator, selectively; an end effector incorporating a third actuator having one of at least the same structure and mechanism as the first actuator, and selective means for driving said first or third actuator, selectively; and a spare drive means interchangeable with the respective drive means for driving the first, second and third actuator, and a redundancy selector controller for selecting and allocating any of the respective drive means to the joint and end effector actuators from among the drive means of said joint and end effector actuators, and said spare drive means; wherein the respective drive means for driving the first and second actuators of said first and second joints are interchangeable with the drive means for driving the third actuator of said end effector.
Claim 7
Dependent Claim
158 words
A manipulator, comprising: a first joint having a first actuator; a second joint having a second actuator that is interchangeable with the first actuator, and drive means for driving the first or second actuator, selectively; an end effector incorporating a third actuator having one of at least the same structure and mechanism as the first actuator, and selective means for driving said first or third actuator, selectively; and a spare drive means interchangeable with the respective drive means for driving the first, second and third actuator, and a redundancy selector controller for selecting and allocating any of the respective drive means to the joint and end effector actuators from among the drive means of said joint and end effector actuators, and said spare drive means; wherein the respective drive means for driving the first and second actuators of said first and second joints are interchangeable with the drive means for driving the third actuator of said end effector.
Claim 8
Dependent Claim
24 words
A manipulator according to claim 5, wherein the third actuator of said end effector has the same structure as the first and second actuators.
Claim 9
Dependent Claim
20 words
A manipulator according to claim 5, wherein said end third actuator includes at least two systems and a switch unit.
Claim 10
Dependent Claim
33 words
A manipulator according to claim 5, further comprising: a capturing device at one end of the end effector, wherein one of said joints is coupled to said end effector through said capturing device.
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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) | 1998-01-02 | 1998-07-04 | 1999-01-03 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-01-02 | 2002-07-04 | 2003-01-03 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-01-02 | 2006-07-04 | 2007-01-03 | $7700.00 | Window Closed / Lapsed |