Patent ID: 9643324
Date: 2017-05-09
CPC Classifications: B23Q,B25J

Claim:
1. A robot mechanism comprising: at least one end effector link with plurality of degrees of freedom able to move a target object along a first translation axis, a second translation axis, a third translation axis and rotate said target object about a tilt axis; at least one of said plurality of degrees of freedom chosen from the said second translation axis, said third translation axis and said tilt axis is controlled by a motor attached to a frame; said motor driving a pulley belt assembly stack comprising of a drive belt looping around a drive pulley, an idler near pulley, an intermediate near pulley, an end pulley, an intermediate far pulley and an idler far pulley; wherein said drive pulley, said idler near pulley, said idler far pulley are rotatable mounted to a said frame; and said intermediate near pulley, said intermediate far pulley and said end pulley are rotatable mounted on a base member that is translating along said first translation axis; wherein for any position of said base member while translating along said first axis, said drive belt closed loop around length stays same due to the change in the distance between said idler near pulley and intermediate near pulley being compensated by a corresponding opposite change in the distance between the said intermediate far pulley and said idler far pulley; wherein at least one of the plurality of degrees of freedom chosen from said third translation axis and said tilt axis is controlled by said drive belt further driving a ball screw nut driver pulley placed between a secondary idler near pulley and a secondary idler far pulley; wherein said ball screw nut driver pulley, said secondary idler near pulley and said secondary idler far pulley are rotatable mounted on a robot head assembly base; wherein said robot head assembly base moves together with said base member along said first translating axis and moves along said second translation axis independently with respect to said base member; wherein the said drive belt loop around length stays same for any position of said robot head assembly base position while translating along said first translating axis and said second translating axis due to change in the distance between said secondary idler near pulley and said intermediate near pulley being compensated by a corresponding opposite change in the distance between the said intermediate far pulley and said secondary idler far pulley; the third axis drive pulley is disposed on a shaft that is rotatably disposed on a third axis drive motor that is disposed on the frame.