Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-12285300-B2
Publication Date
2025-04-29
Expiration Date
Abstract
Provided is an arm device. The arm device includes: a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument; a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis. The third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees.
Core Innovation
The invention relates to an arm device for rotatably supporting and moving an instrument, where the instrument is supported by a first gimbal portion and a second gimbal portion that rotate the instrument about a first rotational axis and a second rotational axis, and a distal portion that rotates the instrument about a third rotational axis. The third rotational axis extends to intersect a plane including the first rotational axis and the second rotational axis, and the inclination angle of the third rotational axis is greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees.
The arm device includes a first actuator coupled between a joint and an outer rod, together with a first gravity compensator configured to apply a force to move the distal portion upward. The distal portion is coupled to at least one arm portion including an inner rod and an outer rod arranged parallel to the inner rod, and the inner rod and the outer rod are separately pivotally coupled to the distal portion to form a first parallel link mechanism that maintains a relative attitude between the distal portion and the joint.
The arm device is devoid of a counter-weight configured to balance with a weight of the distal portion. The first actuator is configured to drive the first parallel link mechanism to thereby move a position of the distal portion, and the first gravity compensator includes a first end mounted on the distal portion at or proximate to a position where the inner rod is mounted and a second end mounted on the first actuator at or proximate to a position where the first actuator is coupled to the outer rod.
Claims Coverage
The independent claims cover four inventive features: three gimbal portions with intersecting rotational axes, a parallel link mechanism maintaining relative attitude between the distal portion and the joint, upward gravity compensation coupled with actuator-driven distal motion, and a third rotational axis inclination constraint with absence of a counter-weight.
Three gimbal portions with intersecting rotational axes
A first gimbal portion rotatably supports an instrument about a first rotational axis, a second gimbal portion rotates the instrument about a second rotational axis intersecting the first rotational axis, and a distal portion rotates the instrument about a third rotational axis intersecting a plane including the first and second rotational axes.
Parallel link mechanism maintaining relative attitude between distal portion and joint
The distal portion is coupled to at least one arm portion including an inner rod and an outer rod arranged parallel to the inner rod, and the inner rod and the outer rod are separately pivotally coupled to the distal portion to form a first parallel link mechanism that maintains a relative attitude between the distal portion and the joint.
Upward gravity compensation coupled with actuator-driven distal motion
A first actuator coupled between the joint and the outer rod drives the first parallel link mechanism to move a position of the distal portion, and a first gravity compensator applies a force to move the distal portion upward, with ends mounted on the distal portion and on the first actuator.
Third rotational axis inclination constraint and absence of counter-weight
The third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees, and the arm device is devoid of a counter-weight configured to balance with a weight of the distal portion.
The core inventive coverage combines a three-axis gimbal arrangement with a controlled third rotational axis inclination and an actuator-driven parallel-link mechanism that maintains distal/joint relative attitude while a gravity compensator applies an upward force, without a counter-weight balancing the distal portion weight.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
Interested in licensing this patent?