WO2016149686A1 - Articulation de bras conique - Google Patents

Articulation de bras conique Download PDF

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Publication number
WO2016149686A1
WO2016149686A1 PCT/US2016/023310 US2016023310W WO2016149686A1 WO 2016149686 A1 WO2016149686 A1 WO 2016149686A1 US 2016023310 W US2016023310 W US 2016023310W WO 2016149686 A1 WO2016149686 A1 WO 2016149686A1
Authority
WO
WIPO (PCT)
Prior art keywords
interior member
extension
exterior shell
joint
face
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.)
Ceased
Application number
PCT/US2016/023310
Other languages
English (en)
Inventor
Corrigan NOLAN
Jesse Austin ROSALIA
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.)
Serenete Corp
Original Assignee
Serenete Corp
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 Serenete Corp filed Critical Serenete Corp
Publication of WO2016149686A1 publication Critical patent/WO2016149686A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J44/00—Multi-purpose machines for preparing food with several driving units

Definitions

  • FIG. 1 illustrates an example mechanical arm assembly according to one or more embodiments.
  • FIG. 2A and FIG. 2B illustrate example cross-sectional views along lines A-A and B-B respectively.
  • FIG. 3A and FIG. 3B illustrate an alternative implementation of an arm assembly described with an example of FIG. 1.
  • FIG. 4A and FIG. 4B illustrate examples in which gears are used to facilitate coupling between the base extension and the base coupling, as well as between the base extension and the arm extension.
  • FIG. 5 illustrates a food preparation device, according to one or more embodiments.
  • Examples include a mechanical arm assembly having a base extension, at least one motor, an arm extension, and a joint.
  • the base extension includes a first interior member and a second exterior shell.
  • the motor is coupled to move the first interior member so that the first interior member has three degrees of freedom.
  • the arm extension extends from the base extension, and includes a second interior member and a second exterior shell.
  • the joint may couple the first interior member to the second interior member, the joint including a first end to receive the first interior member and a second end to receive the second interior member.
  • the base extension, the arm extension, and the joint may combine to position a face of the first exterior shell against a face of the second exterior shell.
  • the motor operates to rotate the first interior member while the first interior member is received by the joint, causing (i) the second interior member to rotate, and (ii) the face of the second exterior shell to rotate about the face of the first exterior shell.
  • FIG. 1 illustrates an example mechanical arm assembly according to one or more embodiments.
  • An arm assembly 100 includes a base 102, a base coupling 104, a base extension 110 that is connected to the base 102 via the base coupling 104, and an arm extension 120, which is coupled to the base extension 110 via a joint 116.
  • the base extension 110 may have three degrees of freedom.
  • the base extension 110 may pivot about the X and Y axis and further rotate about an azimuth while vertical or tilted.
  • the coupling 104 is a motorized gimbal that can pivot and rotate the base extension 110.
  • the base coupling 104 may operate under control of a controller 118, which may calculate the movement of the base extension 110 on a desired end movement of either the arm extension 120 or of an extension piece 130. As described in greater detail, the active motor-driven movement of the base extension 110 results in indirect or passive movement of the arm extension 120.
  • the arm extension 120 is coupled to have one degree of freedom about the joint 116.
  • the joint 116 may correspond to a U-joint.
  • three-dimensional movement of the base extension 110 results in ancillary (e.g., by way of conservation of momentum) movement of the arm extension 120.
  • the base extension 110 and 120 include a respective first and second exterior shell 114, 124.
  • the exterior shell 114 of the base extension 110 may be fixed relative to the base or base coupling, to that rotation of the base extension 110 does not directly (or even ind irectly) result in movement of the first exterior shell 114.
  • the second external shell 124 can be tied to the arm extension 120 so as to rotate when the arm extension 120 is rotated .
  • the base extension 110 and arm extension 120 combine to form a conical connection or joint, through the
  • the first exterior shell 114 includes a first exterior face 202 (see FIG. 2A) and the second exterior shell 124 includes a second exterior face 204 (see FIG. 2B) .
  • the first and second exterior faces 202, 204 of the respective exterior shells 114, 124 abut and move against one another as the base extension 110 is moved by the coupling 104.
  • the abutting and movement of the first and second exterior faces 202 and 204 forms a conical joint with the joint 116.
  • the base coupling 104 may be electrically coupled to a controller 118, which can implement movement of the base extension 110 in order to create a desired motion of the arm extension 120 and/or extension piece 130.
  • the extension piece 130 is
  • the controller 118 may be instructed to cause the extension piece 130 to have a motion that is selected for a purpose or structure of the extension piece 130.
  • the base extension 110 and/or the arm extension 120 includes a set of sensors and/or encoder system to detect and measures angles of the arm assembly 100 (or of additional joints if used).
  • the encoders may be contactless (e.g .
  • the encoders may be mounted close to the moving part of the arm assembly 100, or mounted on the drive shaft, gearing, pulleys, or other drive system supplying energy to the joint.
  • the encoders may be built into the drive motor, or attached to the drive system of the joint via secondary gear, pulley, drive shaft, or other drive system.
  • One or more components of the arm assembly 100 may also be used as part of a sensing system that observes changes to the joint, such as a camera, vision system, infrared camera, or other range or motion tracking system.
  • the arm assembly 100 may employ a visual artifact (e.g. an AR tag) to assist in determining position and orientation of the base extension 110 and/or the arm extension 120.
  • the arm assembly 100 may employ a set of markers designed to make detection by the observer system easier or more reliable; or may be colored or styled in a way that makes detection easier or more reliable (e.g. stripes, patterns, bright colors, colors at certain points in the spectrum, etc.).
  • FIG. 2A and FIG. 2B illustrate example cross-sectional views along lines A-A and B-B respectively.
  • a cross-section 205 of the base extension 110 is shown with the base extension 110 provided within the first external shell 114.
  • the first external shell 114 includes the first exterior face 202, which abuts against the second exterior face 204 in order to cause the arm extension 120 to have a motion that is indirectly related to the three-dimensional movement of the base extension 110.
  • the base extension 110 is not directly coupled to the first external shell 114. As a result, the base extension 110 may rotate without causing the first external shell 114 to rotate.
  • FIG. 2B a cross-section 215 of the arm extension 120 is shown with the arm extension 120 provided within the second external shell 124.
  • the second external shell 124 includes the second exterior face 204, which abuts the first exterior face 202.
  • the arm extension 120 and the second external shell 124 may be directly connected.
  • the arm extension 120 may be received by the joint 116, and the joint 116 may rotate as a result of receiving the base extension 110.
  • the joint 116 rotates
  • the arm extension 120 also rotates by way of the indirect coupling via the joint 116.
  • the rotation of the arm extension 120 causes the second external shell 124 to rotate as well.
  • the joint 116 may revolve about an axis that is tilted with respect to the vertical axis depicted in FIG. 1.
  • a tilt angle may be defined by the angle of the base extension 110 relative to the vertical axis.
  • FIG. 3A and FIG. 3B illustrate an alternative implementation of an arm assembly described with an example of FIG. 1.
  • the base extension 310 extends to the arm extension 320 at a first angle.
  • the arm extension 320 is provided at a 90 degree angle with respect to the base extension 310.
  • extension piece 130 is allowed to have a wider range of motion with fewer degrees of freedom on the arm or joint.
  • arm assembly may allow for very motions with fewer inputs than other conventional approaches (e.g., prismatic joints).
  • FIG. 4A and FIG. 4B illustrate examples in which gears 410, 412 are used to facilitate coupling between the base extension 110 and the base coupling, as well as between the base extension and the arm extension.
  • a co-conic arm design may be capable of simple mixing motions. Simple mixing motions may involve moving a spatula around a pot in a circle, sinusoid, zig zag, or other periodic repeating pattern. [0022] Examples as described may enable numerous complex motions, which may be electronically controllable via one or more motors. Such motions may also be influenced by the arm geometry; or by the spatula or paddle or other manipulator attached to the end .
  • the arm assembly 100 may support various kinds of motions and movements, including graceful degradation from complex manipulation to simple mixing motions; this degradation may occur for many reasons, including motor malfunction, design malfunction, design choices, manipulator selection, etc.
  • the arm design may allow for upgrades or changes in hardware, software, services, attachments, or other
  • FIG. 5 illustrates a food preparation device, according to one or more embodiments.
  • a food preparation device 310 may include an arm assembly 300, which may be constructed in accordance with any of the examples described above, including with arm assembly 100 of FIG. 1.
  • the arm assembly 300 can be operated through controller 118 (FIG. 1) to make any one of numerous possible motions and gestures related to mixing/distributing food items in a cooking environment.
  • the end piece 130 may also be selected for alternative purposes (e.g., spatula or stirrer), which can affect the mixing motion used by the arm assembly 300.

Landscapes

  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un ensemble bras mécanique comprenant une extension de base, au moins un moteur, une extension de bras et une articulation. Un moteur fonctionne pour entraîner en rotation un premier élément intérieur de l'extension de base tandis que le premier élément intérieur est reçu par le joint, ce qui provoque (i) la rotation d'un second élément intérieur de l'extension de bras et (ii) la rotation d'une face de la seconde enveloppe extérieure autour d'une face de la première enveloppe extérieure.
PCT/US2016/023310 2015-03-18 2016-03-18 Articulation de bras conique Ceased WO2016149686A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562135108P 2015-03-18 2015-03-18
US62/135,108 2015-03-18

Publications (1)

Publication Number Publication Date
WO2016149686A1 true WO2016149686A1 (fr) 2016-09-22

Family

ID=56920051

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2016/023310 Ceased WO2016149686A1 (fr) 2015-03-18 2016-03-18 Articulation de bras conique

Country Status (1)

Country Link
WO (1) WO2016149686A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201700031842A1 (it) * 2017-03-23 2018-09-23 Automationsrobotic Gmbh Procedimento ed apparato per il taglio di linee di infragilimento
US10736464B2 (en) 2014-02-03 2020-08-11 Serenete Corporation System and method for operating a food preparation device
US10765257B2 (en) 2014-02-03 2020-09-08 Serenete Corporation Modularized food preparation device and tray structure for use thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0441397A1 (fr) * 1990-02-09 1991-08-14 Hitachi, Ltd. Assemblage d'un bras de robot modulaire au moyen d'un second bras de robot
WO1992017313A2 (fr) * 1991-04-05 1992-10-15 Geodetic Machines Limited Manipulateur mecanique
US5386762A (en) * 1992-09-14 1995-02-07 Gokey; Phillip E. Robotic chef
EP0427358B1 (fr) * 1989-11-08 1996-03-27 George S. Allen Bras mécanique pour système interactif de chirurgie dirigé par des images
CN102501242A (zh) * 2011-09-28 2012-06-20 华南理工大学 一种三自由度柔性机械臂控制装置与方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0427358B1 (fr) * 1989-11-08 1996-03-27 George S. Allen Bras mécanique pour système interactif de chirurgie dirigé par des images
EP0441397A1 (fr) * 1990-02-09 1991-08-14 Hitachi, Ltd. Assemblage d'un bras de robot modulaire au moyen d'un second bras de robot
WO1992017313A2 (fr) * 1991-04-05 1992-10-15 Geodetic Machines Limited Manipulateur mecanique
US5386762A (en) * 1992-09-14 1995-02-07 Gokey; Phillip E. Robotic chef
CN102501242A (zh) * 2011-09-28 2012-06-20 华南理工大学 一种三自由度柔性机械臂控制装置与方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10736464B2 (en) 2014-02-03 2020-08-11 Serenete Corporation System and method for operating a food preparation device
US10765257B2 (en) 2014-02-03 2020-09-08 Serenete Corporation Modularized food preparation device and tray structure for use thereof
IT201700031842A1 (it) * 2017-03-23 2018-09-23 Automationsrobotic Gmbh Procedimento ed apparato per il taglio di linee di infragilimento
EP3378615A1 (fr) * 2017-03-23 2018-09-26 AutomationsRobotic GmbH Procédé et appareil pour inciser des lignes d'affaiblissement

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