US 12,275,143 B2
Segmented robot
Matthew Bilsky, Oreland, PA (US)
Assigned to FLX Solutions, Inc., Bethlehem, PA (US)
Appl. No. 18/011,547
Filed by FLX Solutions Inc., Bethlehem, PA (US)
PCT Filed Jun. 24, 2021, PCT No. PCT/US2021/038804
§ 371(c)(1), (2) Date Dec. 20, 2022,
PCT Pub. No. WO2021/262924, PCT Pub. Date Dec. 30, 2021.
Claims priority of provisional application 63/043,483, filed on Jun. 24, 2020.
Prior Publication US 2023/0258251 A1, Aug. 17, 2023
Int. Cl. B25J 9/10 (2006.01); B25J 9/12 (2006.01); F16H 37/12 (2006.01)
CPC B25J 9/106 (2013.01) [B25J 9/102 (2013.01); B25J 9/126 (2013.01); F16H 37/122 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An actuator assembly in a robot, the robot having a first link operationally attached to a second link, the assembly configured to rotate the first link relative to the second link, the assembly comprising:
a motor configured to:
lift an end face of the first link out of engagement with the second link;
rotate the first link relative to the second link; and
lower the end face of the first link into engagement with the second link;
and
a pin rotation mechanism comprising:
a rotatable input coupled to the motor;
an input cam having a top end portion engaged with the rotatable input; and
a cycloid assembly operatively coupled to the input cam,
wherein the end face of the first link is operatively coupled to the cycloid assembly such that rotation of the cycloid assembly lifts the end face of the first link out of engagement from the second link;
wherein the rotatable input comprises a shaft having a spherical output, and wherein the pin rotation mechanism further comprises:
the input cam operationally attached to the spherical output, the input cam having a slotted key, the slotted key having an interior surface configured to engage a key input and an exterior surface configured to engage a pair of spaced outcrops on the end face of the first link, wherein the key input restricts movement of the key in a first direction and wherein the spaced outcrops restrict movement of the key in a second direction, orthogonal to the first direction.