초록

A general purpose linkage apparatus is adaptable for moving or guiding objects along a linear or curvilinear path. The apparatus includes linkages with revolving joints. In self-powered adaptations, a rotating motor may extend and retract the apparatus.

대표청구항 ▼

1. A device comprising: a linkage arrangement that is movable between a retracted orientation and an extended orientation, the linkage arrangement including a first linkage unit and a second linkage unit, each of the linkage units including a first link pivotally connected to a second link by a link

1. A device comprising: a linkage arrangement that is movable between a retracted orientation and an extended orientation, the linkage arrangement including a first linkage unit and a second linkage unit, each of the linkage units including a first link pivotally connected to a second link by a linkage joint, the linkage arrangement also including an interconnect member that interconnects the first linkage unit to the second linkage unit, the interconnect member being pivotally connected to the first link of the first linkage unit and also being pivotally connected to the first link of the second linkage unit; the first and the second links of at least one of the first and the second linkage units being movable about its respective one of the linkage joints between folded and unfolded orientations, the first and the second links of the at least one of the first and the second linkage units being positioned in the unfolded orientation when the linkage arrangement is in the extended orientation and also being positioned in the unfolded orientation when the linkage arrangement is in the retracted orientation, and the first and the second links of the at least one of the first and the second linkage units moving from the unfolded orientation to the folded orientation and then from the folded orientation back to the unfolded orientation as the linkage arrangement is moved from the retracted orientation to the extended orientation. 2. The device of claim 1, wherein the interconnect member moves along a substantially linear path as the linkage arrangement is moved from the retracted orientation to the extended orientation. 3. The device of claim 1, wherein the at least one of the first and the second linkage units includes a positive stop for preventing the first and the second links from pivoting beyond the unfolded orientation. 4. The device of claim 1, wherein the at least one of the first and the second linkage units includes a spring for biasing the first and the second links toward the unfolded orientation. 5. The device of claim 1, further including a drive mechanism for moving the linkage arrangement from the retracted orientation to the extended orientation. 6. The device of claim 5, wherein the drive mechanism includes a motor. 7. The device of claim 1, further comprising a tension member arrangement adapted to extend the linkage arrangement toward the extended orientation and also adapted to retract the linkage arrangement toward the retracted orientation. 8. The device of claim 7, wherein the tension member arrangement includes a single tension member. 9. The device of claim 1, further comprising a second interconnect member that also interconnects the first linkage unit to the second linkage unit, the second interconnect member being pivotally connected to the second link of the first linkage unit and also being pivotally connected to the second link of the second linkage unit, wherein the interconnect member is a first interconnect member. 10. The device of claim 9, wherein the first interconnect member includes at least one external attachment point and the second interconnect member includes a base. 11. The device of claim 9, further comprising a third interconnect member, a third linkage unit, and a fourth linkage unit, wherein the second interconnect member is pivotally connected to the first link of the third linkage unit and also is pivotally connected to the first link of the fourth linkage unit, and wherein the third interconnect member is pivotally connected to the second link of the third linkage unit and also is pivotally connected to the second link of the fourth linkage unit. 12. The device of claim 1, wherein at least one of the first and the second linkage units includes a first four-bar linkage and a second four-bar linkage, the first four-bar linkage including the first link and the second four-bar linkage including the second link. 13. The device of claim 1, wherein the unfolded orientation of the first and the second links of the first and the second linkage units is a fully unfolded orientation when the linkage arrangement is at the extended orientation. 14. The device of claim 1, wherein the unfolded orientation of the first and the second links of the first and the second linkage units is a fully unfolded orientation when the linkage arrangement is at the retracted orientation. 15. The device of claim 14, wherein the unfolded orientation of the first and the second links of the first and the second linkage units is also the fully unfolded orientation when the linkage arrangement is at the extended orientation. 16. The device of claim 1, wherein at least one of the first and the second linkage units includes a four-bar linkage and the four-bar linkage includes at least one of the first link and the second link. 17. The device of claim 1, wherein at least one pivoting axis of the first linkage unit is non-parallel to at least one pivoting axis of the second linkage unit. 18. The device of claim 17, wherein the first and the second links of both of the first and the second linkage units are movable about their respective ones of the linkage joints between folded and unfolded orientations, the first and the second links of the first and the second linkage units each being positioned in the unfolded orientation when the linkage arrangement is in the extended orientation and also being positioned in the unfolded orientation when the linkage arrangement is in the retracted orientation, and the first and the second links of the first and the second linkage units each moving from the unfolded orientation to the folded orientation and then from the folded orientation back to the unfolded orientation as the linkage arrangement is moved from the retracted orientation to the extended orientation. 19. The device of claim 1, wherein the linkage arrangement is biased toward the retracted orientation when adjacent the retracted orientation and wherein the linkage arrangement is biased toward the extended orientation when adjacent the extended orientation. 20. The device of claim 1, wherein at least one of the linkage units includes a deformable portion. 21. A device comprising: a linkage arrangement that is movable between a first configuration and a second configuration, the linkage arrangement including a first linkage unit and a second linkage unit, the first linkage unit including a first link pivotally connected to a second link by a first linkage joint, the second linkage unit including a third link pivotally connected to a fourth link by a second linkage joint, pivoting axes of the first and the second linkage joints being non-parallel to each other, the linkage arrangement further including a first interconnect member that interconnects the first linkage unit to the second linkage unit, the first interconnect member being pivotally connected to the first link of the first linkage unit and also being pivotally connected to the third link of the second linkage unit, and the linkage arrangement further including a second interconnect member that interconnects the first linkage unit to the second linkage unit, the second interconnect member being pivotally connected to the second link of the first linkage unit and also being pivotally connected to the fourth link of the second linkage unit;a tension member arrangement routed between the first interconnect member and the second interconnect member; anda drive adapted to move the tension member arrangement in a first direction and a second direction, tension in a first segment of the tension member arrangement urging the linkage arrangement toward the first configuration when the linkage arrangement is between the first configuration and the second configuration and the tension member arrangement is moved in the first direction, and tension in a second segment of the tension member arrangement urging the linkage arrangement toward the second configuration when the linkage arrangement is between the first configuration and the second configuration and the tension member arrangement is moved in the second direction. 22. The device of claim 21, wherein the second interconnect member is mounted on a base of the linkage arrangement, wherein the base rotatably mounts at least one pulley about which the tension member arrangement is routed, and wherein the tension member arrangement is operably connected to the first interconnect member. 23. The device of claim 22, wherein the drive includes a motor mounted to the base, the first direction of the tension member arrangement corresponds to a first rotational direction of the motor, and the second direction of the tension member arrangement corresponds to a second rotational direction of the motor. 24. The device of claim 23, wherein the tension member arrangement includes a single tension member. 25. The device of claim 21, wherein at least one of the linkage units includes a deformable portion. 26. The device of claim 21, wherein the first segment and the second segment are each part of a same tension member that maintains a substantially constant route length as the tension member arrangement moves. 27. A device comprising: a base including a first linkage mount and a second linkage mount;a linkage arrangement including first and second linkage units, the first linkage unit including a first link with a first joint rotatably mounted to the first linkage mount of the base and the second linkage unit including a second link with a first joint rotatably mounted to the second linkage mount of the base, the first link including a second joint portion rotatably mounted to a first joint portion of a third link and the second link including a second joint portion rotatably mounted to a first joint portion of a fourth link, and pivoting axes of the joints of the first link being non-parallel with pivoting axes of the joints of the second link;a moveable member guided along a substantially linear path relative to the base by the linkage arrangement, the moveable member including a third linkage mount and a fourth linkage mount, a second joint of the third link rotatably mounted to the third linkage mount of the moveable member and a second joint of the fourth link rotatably mounted to the fourth linkage mount of the moveable member; anda tension member arrangement routed between the base and the moveable member, the tension member arrangement including a first variable length portion extending substantially parallel to the substantially linear path. 28. The device of claim 27, further comprising a drive adapted to move the tension member arrangement in a first direction and a second direction, the tension member arrangement moving the moveable member toward a first position and away from a second position of the moveable member when the moveable member is between the first position and the second position and the tension member is moved in the first direction, and the tension member arrangement moving the moveable member toward the second position and away from the first position of the moveable member when the moveable member is between the first position and the second position and the tension member is moved in the second direction. 29. The device of claim 27, wherein the first linkage unit further includes a fifth link with a first joint rotatably mounted to the first linkage mount of the base and the second linkage unit further includes a sixth link with a first joint rotatably mounted to the second linkage mount of the base, the fifth link including a second joint portion rotatably mounted to a first joint portion of a seventh link and the sixth link including a second joint portion rotatably mounted to a first joint portion of an eighth link, and a second joint of the seventh link rotatably mounted to the third linkage mount of the moveable member and a second joint of the eighth link rotatably mounted to the fourth linkage mount of the moveable member. 30. The device of claim 29, wherein the first linkage unit further includes a ninth link that forms a first four-bar linkage with the first and the fifth links and forms a second four-bar linkage with the third and the seventh links and wherein the second linkage unit further includes a tenth link that forms a third four-bar linkage with the second and the sixth links and forms a fourth four-bar linkage with the fourth and the eighth links. 31. The device of claim 27, wherein at least one of the linkage units includes a deformable portion. 32. The device of claim 27, wherein the linkage arrangement is a first linkage arrangement of a linkage chain of the linkage arrangements, wherein the devise further comprising a second linkage arrangement of the linkage chain of the linkage arrangements, and wherein the first and the second linkage arrangements are interconnected in the linkage chain of the linkage arrangements. 33. The device of claim 27, wherein the first linkage mount and the second linkage mount are fixed to the base. 34. The device of claim 27, wherein the tension member arrangement further includes a second variable length portion that also extends substantially parallel to the substantially linear path, wherein the moveable member moves toward a first position and away from a second position of the moveable member when the first variable length portion is shortened, and wherein the moveable member moves toward the second position and away from the first position of the moveable member when the second variable length portion is shortened. 35. The device of claim 34, wherein the first variable length portion and the second variable length portion are each part of a same tension member that maintains a substantially constant route length as the moveable member moves.