US 12,296,473 B2
Transport apparatus with pulley with a non-circular profile
Martin Hosek, Salem, MA (US); Leonard T. Lilliston, Roxbury, MA (US); and Jacob Lipcon, Arlington, MA (US)
Assigned to Persimmon Technologies Corporation, Wakefield, MA (US)
Filed by Persimmon Technologies Corporation, Wakefield, MA (US)
Filed on Jun. 20, 2023, as Appl. No. 18/211,810.
Application 18/211,810 is a continuation of application No. 15/067,684, filed on Mar. 11, 2016, granted, now 11,691,268.
Claims priority of provisional application 62/275,884, filed on Jan. 7, 2016.
Claims priority of provisional application 62/264,436, filed on Dec. 8, 2015.
Claims priority of provisional application 62/137,458, filed on Mar. 24, 2015.
Claims priority of provisional application 62/135,490, filed on Mar. 19, 2015.
Claims priority of provisional application 62/132,066, filed on Mar. 12, 2015.
Prior Publication US 2023/0347505 A1, Nov. 2, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/04 (2006.01); B25J 9/10 (2006.01); H01L 21/677 (2006.01)
CPC B25J 9/042 (2013.01) [B25J 9/043 (2013.01); B25J 9/104 (2013.01); H01L 21/67742 (2013.01); Y10S 901/15 (2013.01); Y10S 901/21 (2013.01); Y10S 901/27 (2013.01); Y10S 901/28 (2013.01); Y10S 901/29 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A transport apparatus, comprising:
a drive unit having a first drive axis rotatable about a first axis of rotation and a second drive axis rotatable about a second axis of rotation, the second drive axis being coaxial with and partially within the first drive axis and axially rotatable within the first drive axis;
a robot arm comprising:
an upper arm connected to the drive unit at the first drive axis,
a forearm coupled to the upper arm, the forearm being coupled to the upper arm at a first rotary joint and rotatable about the first rotary joint, the first rotary joint being actuatable by a first band arrangement coupled to the second drive axis, and
an end effector coupled to the forearm, the end effector being coupled to the forearm at a second rotary joint and rotatable about the second rotary joint, the second rotary joint being actuatable by a second band arrangement which comprises at least one pulley with a non-circular profile and is coupled to the first rotary joint, wherein the second band arrangement is configured to provide a variable transmission ratio,
where the variable transmission ratio is selected so that the orientation of the end-effector is configured to change in a predefined manner as a function of position of the forearm relative to the upper arm, and where the variable transmission ratio is selected in a manner that allow a reference point on the end effector to follow a predetermined path with a predetermined and changed orientation of the end effector when the upper arm and the forearm are actuated accordingly.