US-12617076-B2 - Compact traversing robot

Abstract

An apparatus includes a spindle platform; a traversing platform configured to move in a first direction; a lift system connected to the spindle platform and the traversing platform, the lift system configured to move the spindle platform in a second direction perpendicular to the first direction; a movable arm connected to the spindle platform, the movable arm including a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link, and a first actuator connected to the spindle platform and configured to cause a rotation of the first link, and a second actuator in the movable arm and configured to cause a rotation of the second link. The first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link.

Inventors

• Martin Hosek

Assignees

• PERSIMMON TECHNOLOGIES CORPORATION

Dates

Publication Date

20260505

Application Date

20240923

Claims (20)

1. 1 . An apparatus, comprising: a spindle platform; a traversing platform configured to move in a first direction; a lift system connected to the spindle platform and the traversing platform, the lift system being configured to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction, the lift system comprising a first pulley attached to the traversing platform, a second pulley attached to the spindle platform, and a band around the first pulley and the second pulley, wherein a driving of the band is configured to move the spindle platform between the collapsed position and the extended position, and wherein an angular orientation of the spindle platform relative to the traversing platform is maintained during the driving of the band; at least one movable arm connected to the spindle platform, the at least one movable arm comprising a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link, at least one first actuator connected to the spindle platform and being configured to cause a rotation of the first link, and at least one second actuator in the at least one movable arm and being configured to cause a rotation of the second link; and a master control located on the traversing platform, the master control coordinating a first control of the at least one first actuator, a second control of the at least one second actuator, and a third control of the lift system; wherein the at least one first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link; and wherein the at least one first actuator is configured to nest with the at least one second actuator.
2. 2 . The apparatus of claim 1 , wherein the at least one first actuator and the at least one second actuator are configured to overlap in a vertical direction.
3. 3 . The apparatus of claim 1 , further comprising at least one third actuator configured to drive the band.
4. 4 . The apparatus of claim 1 , further comprising a linear guidance system on the traversing platform, the linear guidance system being configured to constrain a motion of the traversing platform in a linear direction.
5. 5 . The apparatus of claim 4 , wherein the linear guidance system comprises at least one linear bearing on the traversing platform, the at least one linear bearing being configured to engage and slide on a rail.
6. 6 . The apparatus of claim 1 , further comprising a linear actuation system on the traversing platform, the linear actuation system being configured to move the traversing platform in a linear direction.
7. 7 . The apparatus of claim 6 , wherein the linear actuation system comprises a linear actuator and at least one position sensor.
8. 8 . The apparatus of claim 7 , wherein the linear actuator comprises a permanent magnet motor having at least one coil, the at least one coil being configured to magnetically engage a track.
9. 9 . The apparatus of claim 7 , wherein the at least one position sensor is located on the traversing platform and is configured to be controlled along the linear direction using a control.
10. 10 . The apparatus of claim 1 , wherein the lift system further comprises a counterbalancing spring.
11. 11 . A method, comprising: providing a traversing platform configured to move in a first direction; providing a spindle platform; providing a lift system connected to the spindle platform and the traversing platform, the lift system being configured to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction, the lift system comprising a first pulley attached to the traversing platform, a second pulley attached to the spindle platform, and a band around the first pulley and the second pulley, wherein a driving of the band is configured to move the spindle platform between the collapsed position and the extended position, and wherein an angular orientation of the spindle platform relative to the traversing platform is maintained during the driving of the band; and providing at least one movable arm connected to the spindle platform, the at least one movable arm comprising a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link; providing at least one first actuator connected to the spindle platform and being configured to cause a rotation of the first link, and providing at least one second actuator in the at least one movable arm and being configured to cause a rotation of the second link; and providing a master control on the traversing platform, the master control coordinating a first control of the at least one first actuator, a second control of the at least one second actuator, and a third control of the spindle platform; wherein the first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link; and wherein the at least one first actuator and the at least one second actuator are configured to overlap in a vertical direction.
12. 12 . The method of claim 11 , further comprising providing a linear guidance system on the traversing platform, the linear guidance system being configured to constrain a motion of the traversing platform in a linear direction.
13. 13 . The method of claim 11 , further comprising providing a linear actuation system on the traversing platform, the linear actuation system being configured to move the traversing platform in a linear direction.
14. 14 . The method of claim 11 , further comprising using a position sensor and a control to control a movement of the traversing platform in the first direction.
15. 15 . The method of claim 11 , further comprising using the third control to control a movement of the spindle platform in the second direction.
16. 16 . An apparatus, comprising: at least one processor; and at least one non-transitory memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform: moving a traversing platform in a first direction; operating a lift system connected to the traversing platform and to a spindle platform to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction, wherein operating the lift system comprises driving a band extending around a first pulley attached to the traversing platform and a second pulley attached to the spindle platform, wherein driving the band is configured to move the spindle platform between the collapsed position and the extended position, and wherein an angular orientation of the spindle platform relative to the traversing platform is maintained during the driving of the band; operating at least one movable arm connected to the spindle platform, the at least one movable arm comprising a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link; operating at least one first actuator means connected to the spindle platform and being configured to cause a rotation of the first link, and at least one second actuator means in the at least one movable arm and being configured to cause a rotation of the second link; and operating a master control on the traversing platform, the master control coordinating a first control of the at least one first actuator means, a second control of the at least one second actuator means, and a third control of the movement of the spindle platform in the second direction; wherein the first actuator means extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link; and wherein the first actuator means is nested with the second actuator means.
17. 17 . The apparatus of claim 16 , wherein moving the traversing platform in the first direction comprises using a linear drive system to move the traversing platform along a rail.
18. 18 . The apparatus of claim 17 , wherein using the linear drive system to move the traversing platform along the rail comprises operating a permanent magnet motor having a coil arrangement along a magnet track.
19. 19 . The apparatus of claim 16 , further comprising using the at least one processor and the at least one non-transitory memory with a position sensor on the traversing platform to sense a position of the traversing platform.
20. 20 . The apparatus of claim 16 , further comprising using the at least one processor and the at least one non-transitory memory with the lift system to level the spindle platform relative to the traversing platform.

Description

CROSS REFERENCE TO RELATED APPLICATION This application is a continuation of U.S. patent application Ser. No. 17/189,381, filed Mar. 2, 2021, which claims priority under 35 USC 119(e) to U.S. Provisional Application No. 62/983,846, filed Mar. 2, 2020, the content of which is hereby incorporated by reference in its entirety. BACKGROUND Technical Field The example and non-limiting embodiments described herein relate generally to a vertically compact traversing robot that can be utilized in material-handling vacuum-environment systems and other applications. Brief Description of the Prior Developments A material-handling robot includes a robot arm coupled to a drive unit, the robot being translatable along a track or rail system. The robot arm may include an upper link, a lower link on the upper link, and an end-effector on the lower link, the end-effector being configured to accommodate a payload in a material-handling operation. The drive unit includes a spindle assembly coupled to the robot arm, a Z-axis mechanism for moving the spindle assembly up and down in a Z direction (vertically), and one or more coaxially stacked motors. The robot arm is locatable and operable in a vacuum environment, and the drive unit is locatable in an atmospheric environment. A bellows may be used to contain the vacuum environment in the space where the robot arm operates. The spindle assembly, the Z-axis mechanism for the vertical movement of the spindle assembly, and/or the coaxially stacking of the motors generally requires a substantial depth and volume of the vacuum chamber where the robot operates. SUMMARY In accordance with one aspect, apparatus comprises a spindle platform; a traversing platform configured to move in a first direction; a lift system connected to the spindle platform and the traversing platform, the lift system being configured to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction; at least one movable arm connected to the spindle platform, the at least one movable arm comprising a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link, and at least one first actuator connected to the spindle platform and being configured to cause a rotation of the first link, and at least one second actuator in the at least one movable arm and being configured to cause a rotation of the second link. The first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link. In accordance with another aspect, a method comprises providing a traversing platform configured to move in a first direction; providing a spindle platform; providing a lift system connected to the spindle platform and the traversing platform, the lift system being configured to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction; and providing at least one movable arm connected to the spindle platform, the at least one movable arm comprising link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link; providing at least one first actuator connected to the spindle platform and being configured to cause a rotation of the first link, and providing at least one second actuator in the at least one movable arm and being configured to cause a rotation of the second link. The first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link. In accordance with another aspect, an apparatus comprises at least one processor; and at least one non-transitory memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform: moving a traversing platform in a first direction; operating a lift system connected to the traversing platform and to a spindle platform to move the spindle platform in a second direction between a collapsed position and an extended position, the second direction being perpendicular to the first direction; operating at least one movable arm connected to the spindle platform, the at least one movable arm comprising a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link; and operating at least one first actuator means connected to the spindle platform and being configured to cause a rotation of the first link, and at least one second actuator means in the at least one movable arm and being configured to cause a rotation of the second link. The first actuator means extends from the spindle platform into the first link to occupy a co