GB1331499A – Apparatus and method of searching for locating and engaging an article
– Google Patents
GB1331499A – Apparatus and method of searching for locating and engaging an article
– Google Patents
Apparatus and method of searching for locating and engaging an article
Info
Publication number
GB1331499A
GB1331499A
GB4543470A
GB4543470A
GB1331499A
GB 1331499 A
GB1331499 A
GB 1331499A
GB 4543470 A
GB4543470 A
GB 4543470A
GB 4543470 A
GB4543470 A
GB 4543470A
GB 1331499 A
GB1331499 A
GB 1331499A
Authority
GB
United Kingdom
Prior art keywords
article
head
sensors
signal
movement
Prior art date
1969-09-25
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB4543470A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
American Associated Cybernetics Inc
Original Assignee
American Associated Cybernetics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
1969-09-25
Filing date
1970-09-24
Publication date
1973-09-26
1970-09-24
Application filed by American Associated Cybernetics Inc
filed
Critical
American Associated Cybernetics Inc
1973-09-26
Publication of GB1331499A
publication
Critical
patent/GB1331499A/en
Status
Expired
legal-status
Critical
Current
Links
Espacenet
Global Dossier
Discuss
Classifications
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J9/00—Programme-controlled manipulators
B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
B25J9/023—Cartesian coordinate type
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J13/00—Controls for manipulators
B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J13/081—Touching devices, e.g. pressure-sensitive
Abstract
1331499 Workpiece transferring AMERICAN ASSOCIATED CYBERNETICS Inc 24 Sept 1970 [25 Sept 1969 20 Aug 1970] 45434/70 Heading B3B [Also in Divisions B8 and G4] Apparatus capable of searching for, locating and engaging an article, e.g. a workpiece during a drilling operation, comprises a frame, an article engaging head 126 movablly mounted on said frame for movement along at least first and second orthogonal axes, drive means for moving said article engaging head along the first and second axes, position sensor means providing a first signal representative of the position of the article engaging head along the first axis, an article responsive sensor mounted on the head and providing another signal when the article responsive means detects an article when said head is driven by the drive means along the second axis, control means for controlling the drive means in response to said first and said other signal, and actuating means for actuating said article engaging head to engage the article. The position sensor means operative along, e.g. a horizontal axis, comprises a row of sensors 100 that can be selectively energized to be actuated by an actuator 102 movable with the horizontal movement of the head. The head 126 may include a photometric scanning sensor 932 for responding to an article within its range and stopping the movement of the head. The sensor 932 comprises a spotlight meter having an optical field of 3 degrees, or more, and which is responsive to light reflected from the article. The apparatus is programme controlled. In the embodiment described the apparatus comprises a machine having a base, which may be portable on wheels, on which a laterally movable carriage 24 is driven by a motor 30 and lead screw 44. Sensor means 56 control the speed and position of the carriage 24. On the carriage 24 is mounted a slide 60 movable by means of a motor 80 and lead screw 84 drive. Sensors 100 and actuator 102 control the speed and position of the slide 60. At the end of a channel member 72, 74 carried by the slide 60 is a vertical rack member 110 carrying the head 126. A motor 122 drives a pinion 116 to raise and lower the head 126. Switches 144, 146 and sensors 150, 148 control the vertical movement of the head 126. Automatic control.-A programme is set up by a series of detents on a drum rotatable to actuate a series of control switches. The function of the programme includes selectively energizing the position sensors, e.g. sensors 100, to fix a stop position, and a position prior to the stop position where deceleration of the moving part starts, and to select resistances in the drive motor circuits to select a feed speed. The sensors may be capacitance or inductance responsive, or be photo-cells. The movement of the head 126 in the three mutually perpendicular axes may take place simultaneously or consecutively. The head 126 may comprise a pressure cylinder operated gripping device on which are mounted sensors for controlling movement along the three axes, and the article responsive sensor 932. The photometric scanning device 932 is selfadjusting to ambient light conditions. After a signal is produced, and acted upon, by a reflection from an article, a control circuit (Fig. 10, not shown) operates to cancel the signal so that only the initial movement into the optical field produces a signal. This signal is passed to a trigger circuit which passes out a symmetrical square wave output to operate solenoid switches of the control circuit. The duration of the square wave output is proportional to the amount of light reflected so articles can be distinguished by their reflective characteristics or by their colour by counting the number of square waves.
GB4543470A
1969-09-25
1970-09-24
Apparatus and method of searching for locating and engaging an article
Expired
GB1331499A
(en)
Applications Claiming Priority (2)
Application Number
Priority Date
Filing Date
Title
US86101569A
1969-09-25
1969-09-25
US6556070A
1970-08-20
1970-08-20
Publications (1)
Publication Number
Publication Date
GB1331499A
true
GB1331499A
(en)
1973-09-26
Family
ID=26745732
Family Applications (1)
Application Number
Title
Priority Date
Filing Date
GB4543470A
Expired
GB1331499A
(en)
1969-09-25
1970-09-24
Apparatus and method of searching for locating and engaging an article
Country Status (3)
Country
Link
DE
(1)
DE2047169A1
(en)
FR
(1)
FR2063008B1
(en)
GB
(1)
GB1331499A
(en)
Cited By (1)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
CN102825386A
(en)
*
2012-08-10
2012-12-19
昆山市和博电子科技有限公司
Shifting transmission mechanism
Families Citing this family (3)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
EP0000877B1
(en)
*
1977-08-31
1983-05-18
Grisebach, Hans-Theodor
Manipulator for positionning workpieces or other loads
AT379340B
(en)
*
1979-10-31
1985-12-27
Sticht Walter
EQUIPMENT FOR PRODUCTION OR HANDLING WORKPIECES
CN105150192B
(en)
*
2015-09-09
2017-08-25
临海市锦铮机械有限公司
The grabbing device that Intelligent Measurement container is filled with
Family Cites Families (4)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
US272347A
(en)
*
1883-02-13
Heineich stollweeck
US1401429A
(en)
*
1919-05-24
1921-12-27
Carey Philip Mfg Co
Apparatus for handling rolls of roofing, barrels, boxes, and similar articles
US2988237A
(en)
*
1954-12-10
1961-06-13
Jr George C Devol
Programmed article transfer
US2969827A
(en)
*
1956-09-24
1961-01-31
Clevite Corp
Automatic wiring machine
1970
1970-09-24
GB
GB4543470A
patent/GB1331499A/en
not_active
Expired
1970-09-24
FR
FR7034690A
patent/FR2063008B1/fr
not_active
Expired
1970-09-24
DE
DE19702047169
patent/DE2047169A1/en
active
Pending
Cited By (1)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
CN102825386A
(en)
*
2012-08-10
2012-12-19
昆山市和博电子科技有限公司
Shifting transmission mechanism
Also Published As
Publication number
Publication date
FR2063008A1
(en)
1971-07-02
DE2047169A1
(en)
1971-04-01
FR2063008B1
(en)
1973-11-23
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Legal Events
Date
Code
Title
Description
1974-02-06
PS
Patent sealed
1978-05-04
PLNP
Patent lapsed through nonpayment of renewal fees
