Space Age & Computing (1950–1970)Robotics & Industrial Automation

Lemelson Adjustable Manipulator

US 3,260,375

Overhead Carriage, Rotating Column, Articulated Wrist, and Sequential Limit-Switch Control

Inventor(s)Jerome H. Lemelson

Grant DateJuly 12, 1966

Filing DateJanuary 14, 1963

LocationMetuchen, New Jersey

Jerome H. Lemelson's grant describes an article manipulator with a track-guided carriage, a vertically movable column, rotary and pivoting arm joints, article-seizing means, and positionally adjustable switch actuators. Its specification presents limit-switch control as an alternative to a programming device for selected cyclic motions; its numbered claims define particular rotary, joint, article-manipulation, conveying, and seizing combinations.

USPTO PDF

Engineering Analysis & Physical Principles

How It Works: Step-by-Step Mechanical & Physical Breakdown

The specification contrasts specialized article-handling equipment with a mechanism whose motion limits may be changed by repositioning actuators for limit switches. Its claimed subject is not a general-purpose robot: it is a family of mechanical combinations in which guided travel, rotation or pivoting, article-seizing means, switch actuators, and power controls meet at selected positions. The patent gives no payload, speed, repeatability, force, or production-rate figures, so the exhibit confines itself to topology and switch-event relationships.

The Core Breakthrough Mechanism

A guide carries a carriage to a chosen position. Relative motion then brings an adjustable actuator into a limit switch's scanning path. In the described arrangements, a switch event can stop a presently moving member and can be connected to a later control event; Claims 13–16 express the same idea for linear travel, azimuth rotation, article seizing, and a repetitive conveying cycle. The displayed sequence is a normalized reading of those disclosed motion relationships, not a reconstructed production program or a quantitative control model.

Interactive Real-Time Physical Simulation

Drag to rotate · Scroll to zoom · Shared controls update the displayed modelDrag to rotate · Pinch to zoom · Shared controls update the displayed model

INITIALIZING THREE.JS WEBGL SIMULATION...

Host-Model Telemetry/Computed Readout

Overhead Adjustable Manipulator Topology

Carriage Coordinate X

Normalized

0.15normalized travel[1]

Tool Display Pose

Normalized

0.80, 1.16, 0.57normalized x / y / z[1]

Jaw Closure Command

Normalized

0.45normalized closure[1]

Selected Limit Coordinates

Normalized

-0.75 / 0.75 · 0.15 / 0.85azimuth / elevation[1]

Active Relay Phase

Source

BASE AZIMUTH ROTATIONstate[1]

Active Drive Motor

Source

AZIMUTHactuator[1]

Limit Switches Tripped

Source

0 TRIPPEDswitches[1]

Gripper State

Normalized

GRIPPINGend effector[1]

Active Claim Scope

Source

Claim 8 representedlegal boundary[1]

Kinematic Refusal

Source Refusal

REFUSEDboundary active[1]

Carriage position x+0.15 normalized travel

Column elevation z0.65 normalized stroke

Column azimuth θ+0.25 normalized angle

Wrist pivot φ-0.2 normalized angle

Jaw closure0.45 closure fraction

Sequential phase2 relay state

Stop 1 azimuth limit-0.75 limit position

Stop 2 azimuth limit+0.75 limit position

Stop 1 vertical limit0.15 normalized limit position

Stop 2 vertical limit0.85 normalized limit position

Detailed Component Architecture

1Overhead Carriage & Gantry Track

A carriage runs along the illustrated overhead track and carries the manipulator assembly.

In the specification, reversible gear motor $M_x$ drives toothed wheel $26$ against toothed track $26'$ . Brushes or sliding elements collect power from overhead wires $28$ . The grant supplies the arrangement but no track length, gear ratio, motor rating, or travel speed.

2Telescoping Vertical Mast & Elevation Hoist

A vertically movable tubular column changes the elevation of the lower assembly.

The text describes reversible motor $M_z$ , sprockets $30$ and $32$ , and chain or belt $31$ raising and lowering column $23' within column$ 23$. It separately describes adjustable actuation means and limit switches; the viewer therefore shows normalized stroke and stop settings rather than an inferred lead-screw geometry or SI travel.

3Rotary Azimuth Turntable Joint

A column and the assembly below it rotate relative to the carriage about the illustrated vertical axis.

The disclosed spur gear $43$ and motor gear $44$ rotate column $23'a. A circular formation and selectable switch actuators are the important legal features of Claims 1–8; the exhibit uses a normalized azimuth coordinate because the grant does not provide a complete angular range, inertia, or stopping accuracy.

4Articulated Wrist Pitch Joint

A yoke, shaft, and gear plate form a pivoting joint for a further arm assembly.

The specification describes yoke $53$ , shaft $60$ , a gear plate, a reversible motor, and selectable limit-switch actuators. It mentions a gear sector of approximately $240^\circ$ in its drawing discussion. The visual represents only the pivot topology and selected stops; it does not infer link length, torque, or a modern wrist-axis count.

5Parallel Jaw Workpiece Gripper

The illustrated head uses openable and closable jaws; the specification also names other retaining or working means.

The text identifies jaws $87a$ and $87b$ , linkage $84$ , and a possible servo arrangement. It also permits forks, platforms, magnetic, suction, and other power-operated devices. Claim 16 concerns a signal that stops relative arm rotation and starts the retaining or seizing means; no gripping force or workpiece mass is stated.

6Sequential Limit-Switch Relay Controller

Limit switches and adjustable actuators select positional events in a described cycle.

The specification describes bi-stable limit switches, adjustable actuation means, motor-control circuits, and optional diode elements. Claims 8, 13–16 make selected switch-actuated stop/start relationships legally important. This is not a claim that every movement is software-free or that the depicted circuit guarantees collision avoidance.

Engineering Principles & Equations

Governing Equations & Engineering Principles

Authored explanation paired with its stated mathematical relation

Normalized Kinematic Topology & Display Pose

Source-Bounded Manipulator TopologyClaim 1

Mathematical Governing Law

\htmlClass{eq-term eq-term-tool_pos eq-term-emerald}{\htmlData{var=tool_pos}{\textcolor{#059669}{\mathbf{p}_{\text{tool}}}}} = \htmlClass{eq-term eq-term-carriage_pos eq-term-sapphire}{\htmlData{var=carriage_pos}{\textcolor{#2563eb}{\mathbf{p}_{\text{carriage}}}}} + \textcolor{#d97706}{\mathbf{R}_z(\theta)} \left[ \htmlClass{eq-term eq-term-col_disp eq-term-cyan}{\htmlData{var=col_disp}{\textcolor{#0891b2}{\mathbf{d}_{\text{column}}}}} + \textcolor{#dc2626}{\mathbf{R}_y(\alpha)} \htmlClass{eq-term eq-term-arm_vec eq-term-amethyst}{\htmlData{var=arm_vec}{\textcolor{#7c3aed}{\mathbf{l}_{\text{arm}}}}} \right]

Terms:

Plain English DecoderHover or tap any highlighted phrase

The normalized equals the plus the column azimuth rotation of the sum of and the pitch-rotated .

\mathbf{p}_{\text{tool}}

Tool-End Display Coordinates

Normalized procedural display coordinate of the illustrated end member

normalized display coordinate[1]

A procedural display point showing how the selected controls change the illustrated pose; it is not a measured factory coordinate.

Physical Principle & Engineering Insight

This normalized expression makes the pictured guide, vertical member, rotary relation, and pivot relation legible together. It is not a dimensional kinematic calibration or a statement of degrees of freedom beyond the claimed combinations.

Historical Context: Claim 1 links a guided carriage, rotational coupling, power means, and selected limit-switch/actuator relationships in one combination.

Limit-Switch Actuation & Relay Handoff Condition

Electromechanical Automation & Relay LogicClaim 15

Mathematical Governing Law

\textcolor{#059669}{\text{Trip}(\theta)} = \mathbb{I}\left( |\htmlClass{eq-term eq-term-joint_angle eq-term-sapphire}{\htmlData{var=joint_angle}{\textcolor{#2563eb}{\theta}}} - \htmlClass{eq-term eq-term-stop_angle eq-term-amber}{\htmlData{var=stop_angle}{\textcolor{#d97706}{\theta_{\text{stop}}}}}| < \htmlClass{eq-term eq-term-switch_eps eq-term-cyan}{\htmlData{var=switch_eps}{\textcolor{#0891b2}{\epsilon}}} \right) \implies \htmlClass{eq-term eq-term-motor_stop eq-term-crimson}{\htmlData{var=motor_stop}{\textcolor{#dc2626}{S_{\text{motor}}}}} = \text{STOP} \wedge \htmlClass{eq-term eq-term-next_start eq-term-amethyst}{\htmlData{var=next_start}{\textcolor{#7c3aed}{F_{\text{next}}}}} = \text{PULSE}

Terms:

Plain English DecoderHover or tap any highlighted phrase

When normalized joint contacts the within the exhibit's normalized event band , the exhibit treats the limit switch as actuated and shows the active control as and the next selected control as .

\theta

Normalized Joint Coordinate

Normalized coordinate selected in the source-bounded display

normalized angle[1]

A display coordinate for a rotary or other relatively moving member; the source does not furnish a calibrated angular scale.

Physical Principle & Engineering Insight

The Boolean expression is a display abstraction of selected switch-actuator events described in the specification and Claims 8 and 15. It does not model contact dynamics, relay wiring, safety interlocks, or collision avoidance.

Historical Context: Claim 15 recites selected-position switching that causes one servo means to stop and another to start in a repetitive conveying cycle.

Sequential Relay Interlocking & Asynchronous HandoffAuthored Principle 1

Stated relation

\text{Trip}(\theta_i) = \mathbb{I}\left(|\theta_i - \theta_{\text{stop},i}| < \epsilon\right) \implies S_i = \text{STOP} \;\wedge\; F_{i+1} = \text{PULSE}

This is a pedagogical Boolean abstraction of the disclosed switch-and-actuator relationship, not a measured contact law. It marks the selected normalized coordinate at which the viewer treats a limit switch as actuated. The grant gives no switch travel, tolerance, debounce, timing, motor-load, or reliability data.

Forward Kinematic Chain TransformationAuthored Principle 2

Stated relation

\mathbf{p}_{\text{tool}} = \mathbf{p}_{\text{carriage}} + \mathbf{R}_z(\theta) \left[ \mathbf{d}_{\text{column}} + \mathbf{R}_y(\phi) \mathbf{l}_{\text{arm}} \right]

This is a normalized kinematic notation for the illustrated guide, vertical member, rotary column, pivoting joint, and end member. It explains which displayed pose changes with each control. None of its vector lengths is presented as a dimension from the patent, and the telemetry labels these outputs as normalized display coordinates.

Interactive Schematic Sheet (1)

Source Fig. 1 shows track 21, carriage 22, the illustrated column members, arm assembly, and jaw means 87.

1.00x

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Why It Still Matters

The document is a compact case study in a still-recognizable engineering distinction: geometry can be supplied by guides and joints, while the order of a fixed cycle can be supplied by physical position events. Its readable value today is not a claimed line of descent to every gantry robot or PLC, but the way Claims 1–16 separate carriage travel, joint motion, adjustable stops, switch actuation, and article handling into concrete legal combinations.

Legal Claims Decoder (17 Numbered Claims)

Compare dense legalistic claims directly with decoded plain-English functional specifications.

Claim #1Independent Master Claim

1/17

Verbatim Historical Legal Text

“A rotatable assembly for use in article manipulators and the like comprising in combination with a first assembly including manipulator elements, a second assembly including a carriage, guide means for guiding said carriage along a predetermined path, first power means for driving said carriage along said predetermined path, rotational coupling means between said second assembly and said first assembly, second power means for rotating said first assembly on said second assembly about a predetermined rotational axis, means for controlling said power means and starting and stopping movement of said carriage along said predetermined path, and rotation of said first assembly between selectively predetermined positions, said control means including first limit switch means and cooperating actuator means, one of which is mounted on said carriage and movable therewith and the other of which is mounted along said predetermined path of carriage travel, such that said first limit switch means is activated upon a selectively predetermined extent of movement of said carriage along said predetermined path, said first limit switch means operatively connected to said first and second power means for stopping the movement of said carriage and permitting the rotational movement of said arm assembly upon the actuation thereof, second limit switch means mounted on one of said assemblies, a plurality of cooperating actuation means mounted on the other assembly in positions to activate said second limit switch means upon rotation of said rotatable assembly to selectively predetermined positions relative to each other when said first assembly rotates on said second assembly whereby said first assembly is stopped at selectively predetermined rotational angles relative to said second assembly as defined by said actuator means when activating said second limit switch means.”

Plain English Engineering Translation

Claim 1 covers a rotatable assembly with a track-guided carriage, power for carriage travel, a rotational coupling, power for relative rotation, and two switch/actuator relationships. A first switch stops carriage movement and permits rotation; a second switch stops the rotating assembly at positions selected by its cooperating actuators.

Key Protected Innovations:

Overhead carriage and track drive combinationRotational coupling between carriage and manipulator armCoordinated limit switches stopping carriage and permitting arm rotation

Historical Legal Impact:

The first independent claim links guided carriage movement, rotation, and two distinct position-switch relationships in one legal combination.

The Historical Bottleneck

The specification says earlier article-manipulation apparatus tended to be specialized and inflexible, and describes programmable alternatives as relatively complex and costly because they involved variable controls, feedback, motor speed and braking controls, and a programming means or positional computer.

Why Prior Art Failed

•The grant characterizes earlier article-manipulation apparatus as specialized, inflexible equipment developed for a particular tool or article function.
•It describes other programmable apparatus as involving variable controls, feedback control elements, motor-speed and braking controls, and a programming means or positional computer.
•It identifies cyclic variation through adjustable limit-switch actuators as an object; it does not document comparative uptime, cost, adoption, or labor savings.

The Breakthrough Insight

“The patent pairs a mechanical manipulator with adjustable actuator positions and limit-switch control. In the independent claims, the resulting idea appears at several scales: a carriage/rotary assembly, a pivoting joint, article-seizing apparatus, a conveying mechanism, and a stop-signal/start-signal relationship at a selected arm position.”

After the Grant

No patent-war or deployment claim is entered for US 3,260,375 here because the reviewed primary record establishes the grant's content, not a specific later lawsuit, license, or production installation. The legal instrument and its source-bounded model remain the basis for this entry.

Civilizational Impact

The grant makes a useful historical teaching document because its drawings and claims put motion geometry and event sequencing side by side: guides and joints establish reachable poses, while selected switch-actuator contacts establish boundaries in a cycle. This record deliberately makes no unsupported assertion that this particular grant created a later industry, controller family, or commercial deployment.

Historical Fact

The same specification that depicts jaws expressly lists forks, a platform, magnetic and suction retaining means, and other power-operated devices as possible replacements for the illustrated jaw assembly.