US 12,485,530 B2
Five-bar folding mechanism and method with quick release functionality
Maciej Bartosz Lacki, Montreal (CA); Felix Desourdy, Montreal (CA); and Antoine Weill-Duflos, Montreal (CA)
Assigned to Haply Robotics Inc., Montreal (CA)
Appl. No. 19/106,813
Filed by Haply Robotics Inc., Montreal (CA)
PCT Filed Jul. 28, 2023, PCT No. PCT/CA2023/051017
§ 371(c)(1), (2) Date Feb. 26, 2025,
PCT Pub. No. WO2024/020694, PCT Pub. Date Feb. 1, 2024.
Claims priority of provisional application 63/392,945, filed on Jul. 28, 2022.
Prior Publication US 2025/0229415 A1, Jul. 17, 2025
Int. Cl. B25J 9/10 (2006.01); F16H 21/10 (2006.01)
CPC B25J 9/106 (2013.01) [F16H 21/10 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A five-bar folding mechanism for use with a five-bar linkage comprising a first arm and a second arm rotatively coupled to a same joint, the first arm and second arm defining an angle therebetween, the mechanism comprising:
an energy storage element comprising a spring affixed to the first arm and spaced from the second arm upon when the angle is larger than a designated angle, and to contact the second arm and to store mechanical energy when said first arm and said second arm brought further into co-alignment and the angle is smaller than the designated angle
wherein the energy storage element is further configured to release the stored mechanical energy upon the five-bar linkage being unfolded.