Manipulator for movement of articles in a controlled environment chamber

A movable manipulator assembly for manipulating an article in a controlled environment chamber, including a support for attaching the manipulator assembly in a gas tight manner to an entry port of a controlled environment chamber and externally with respect to the chamber, a ball joint including a central passage, sealingly seated in the support, for permitting three axis movement of the manipulator assembly while maintaining a gas seal, a manipulator arm extending from the ball joint externally with respect to the chamber, the arm including a central passage aligned with the central passage of the ball joint, the arm further including a closable entry port through which the central passage of the manipulator arm can be accessed, and a gimbaled bearing assembly connected to the manipulator arm for three axis movement of the arm.

BACKGROUND

The present disclosure relates in general to manipulators for the movement of articles in controlled environment chambers such as vacuum chambers and pressure chambers.

DETAILED DESCRIPTION

According to one aspect of the present disclosure there is provided a manipulator assembly for inserting an article such as an instrument into a controlled environment chamber, moving the article in the chamber and withdrawing the article from the chamber.

According to another aspect of the present disclosure, there is provided a movable manipulator assembly for manipulating an article in a controlled environment chamber, including a support for attaching the manipulator assembly in a gas tight manner to an entry port of a controlled environment chamber and externally with respect to the chamber, a ball joint including a central passage, sealingly seated in the support, for permitting three axis movement of the manipulator assembly while maintaining a gas seal, a manipulator arm extending from the ball joint externally with respect to the chamber, the arm including a central passage aligned with the central passage of the ball joint, the arm further including a closable entry port through which the central passage of the manipulator arm can be accessed, and a gimbaled bearing assembly connected to the manipulator arm for three axis movement of the arm. The movable manipulator assembly may further include a gimbaled bearing assembly comprising a first gimbal and a second gimbal, the first gimbal pivotally mounted within the inner diameter of the second gimbal, the second gimbal pivotally mounted within the inner diameter of an outer ring such that the second gimbal is pivotable about a second pivot axis, the first pivot axis is orthogonal to the second pivot axis, the outer ring is fixed to the manipulator arm. The movable manipulator assembly may further include a drive assembly attached to the first and second gimbals for pivoting the first and second gimbals to move the manipulator arm. The movable manipulator assembly may further include a gate valve in the central passage of the manipulator arm for opening and closing the central passage of the manipulator arm. In the movable manipulator assembly, the manipulator arm may further include a bellows section permitting the manipulator arm to be extended and retracted while remaining gas tight. The movable manipulator assembly may further include a rail attached to the manipulator arm, a carriage attached to the upstream end of the bellows and running along the rail such that movement of the carriage extends or retracts the bellows.

Referring to the drawings, a manipulator assembly according to an embodiment of the present invention is attachable to an entry port2in wall3of a controlled environment chamber (exemplary chamber shown in stippled lines). The manipulator assembly includes a support housing indicated generally by4, a gate valve assembly indicated generally by6, a gimbaled bearing assembly indicated generally by8, a gimbal drive assembly indicated generally by10, a bellows assembly indicated generally by12, and a bellows drive assembly indicated generally by14.

The support housing4includes a flanged connection16such as a Conflate vacuum flange for coupling the manipulator assembly to the entry port2to seal the port2in a gas-tight manner relative to the outside of the chamber. The support housing4further includes a cup18in which a ball joint20is seated. The ball joint20is supported and ringed by two bearings22and24which permit the ball joint20to rotate within the cup18. Two o-rings26and28are provided in the wall30of the cup18for providing a gas-tight seal between the chamber and the section of the manipulator assembly upstream of a gate valve32in the gate valve assembly6. A duct34is provided in the wall30of the cup18. A valve assembly36is attached to the duct34and is connectable to a vacuum pump (not shown). A central passage38passes through the ball joint20. At the leading end40, the central passage has a first diameter. The passage38then flares, by way of a bevel42to a second wider diameter section44and passes through the ball joint20to a second side46of the ball joint20upstream of the leading end40. A sleeve48is connected to the ball joint20at the second side46in a gas-tight manner. A rubber boot50covers encloses the sleeve48and the exposed section52of the ball joint20which projects from the cup18, so that the ball joint20remains sealed against the exterior atmosphere as the ball joint20is rotated within the cup18.

The gate valve assembly6is connected to the sleeve48at its upstream end54in a gas-tight manner. The gate valve assembly includes a central passage which is aligned with the central passage of the sleeve. The gate valve assembly includes6ports56and58which are connected to manual valves60and62, respectively. When valve60is open, air outside the chamber can flow into the upstream section indicated generally by64of the manipulator assembly upstream of the gate valve32. When valve62is open and port58is attached to a vacuum pump (not shown), the downstream section indicated generally by66of the manipulator assembly can be evacuated along with the chamber.

A sleeve68is connected in a gas-tight manner to the sleeve48with a KF style Conflat fitting. A mounting bracket70is attached to the sleeve68. The mounting bracket70is attached to a first gimbal72of the gimbaled bearing assembly8. The gimbal bearing assembly8further includes a second gimbal74. The first gimbal72is pivotally mounted within the inner diameter of the second gimbal74by pins such that the first gimbal is pivotable about a first pivot axis defined by the pins. The second gimbal74is pivotally mounted within the inner diameter of an outer ring76by pins such that the second gimbal74is pivotable about a second pivot axis defined by the pins. The first pivot axis is orthogonal to the second pivot axis. The outer ring76is not pivotable.

The outer ring76is attached to a carriage78which is movable on a slide80. The carriage78rides in longitudinal grooves82and84in the slide80for back and forth movement along the longitudinal axis of the slide80. A servo motor drive assembly indicated generally by86drives a ball screw assembly (not shown) to drive the carriage78. The slide80is attached to a carriage88. The carriage88rides in longitudinal grooves90and92in the slide94for back and forth movement along the longitudinal axis of the slide94. The longitudinal axis of the slide94is orthogonal to the longitudinal axis of the slide80. A servo motor drive assembly indicated generally by96drives a ball screw assembly (not shown) to drive the carriage88.

The sleeve68is connected to the bellows assembly12. The bellows assembly12includes a collapsible bellows98whose downstream end is connected to the upstream end of the sleeve68. A flange100is attached to the outside of the sleeve68. Two rails102and104are attached to the flange100and extend along the longitudinal axis of the bellows98. A sleeve106is connected to the upstream end of the bellows98. An L-shaped bracket108is attached to the outside of the sleeve106. The L-shaped bracket108rides along the rails102and104.

The bellows drive assembly14includes a servo motor drive assembly indicated generally at109which is attached to the bracket70. Rails110and112are attached to the bracket70. The servo motor drive assembly109drives the screw114of the ball screw nut assembly116. The carriages118and120of the ball screw nut assembly116ride the rails110and112. The ball screw nut assembly116and carriages118and120are attached to the L-shaped bracket108such that when the L-shaped bracket108is driven on the rails102and104, the bellows98is expanded or retracted.

A KF-style feed-through T-assembly indicated generally by122is connected to the upstream end of the sleeve106with KF-type fittings. In the illustrated embodiment, a Langmuir probe124is shown inserted in the manipulator assembly. The Langmuir probe124has a leading end126with instrumentation and a trailing end128. The trailing end is connected with a KF-type fitting to the T-assembly122. It will be understood by those of ordinary skill in the art that other articles such as fibre optic instruments, mass spectrometers, cameras and the like may be inserted into the manipulator assembly for insertion into the chamber. An article inserted into the chamber can be moved about in the chamber in an area defined by cone125.

In operation, the manipulator assembly and in turn an article in the manipulator assembly can be tilted and rotated by activating one or both of the servo drive assemblies86and96to drive the carriages78and88, respectively. Movement of the carriages78and88along the orthogonal axis of the slides80and94acts on the gimbals72and74tilt the manipulator assembly.

Actuation of the bellows drive assembly14causes the bellows98to be retracted or expanded and moves the Langmuir probe124or other article or instrument into and out of the chamber.

It will be understood by those of ordinary skill in the art that the manipulator assembly is not limited to the use of manual valves. Non-manual valves such as pneumatic or electronic valves or other suitable valves can be used in place of the manual valves referred to herein. It will be further understood that the manipulator assembly is not limited to the use of servo motors. Driving of the various components can be achieved manually, with stepper motors, pneumatic actuation and by way of other suitable drives. It will be further understood that the various valves and motors can be connected to a controlled by one or more controllers including electronic controllers (not shown) including a processor and memory. The one or more controllers can be programmed to control the various operations of the manipulator assembly.