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US 4,231,701 AGranted
Manipulator
AssigneeDavy-Loewy Limited
InventorsAnthony E. Middleton, Brian McQuillin
Life of this patent
Estimating the term…
Abstract
A manipulator comprises a carriage on which is mounted a peel having jaws for gripping a workpiece. The peel can move relative to the carriage longitudinally vertically and in tilt. Detectors give signals representing parameters on which the position of the peel depend and a circuit derives from those signals an indication of the position of the jaws, taking into account the angular attitude of the peel. The position indication can be used to control the peel jaws to a required position relative to the carriage.
Claims10
A manipulator comprising
- (a) a carriage movable along a prescribed path;
- (b) a peel mounted on said carriage for gripping and supporting a workpiece;
- (c) means for moving said peel relative to said carriage in the direction of movement of said carriage;
- (d) means for adjusting the vertical position of said peel relative to said carriage;
- (e) means for adjusting an angular attitude of said peel relative to the direction of movement of said carriage;
- and
- (f) a positional indicating and control system for said peel, including:
- (g) a plurality of generator means, each generating signals representing one parameter of the disposition of said peel relative to said carriage;
- (h) computing means for determining from said parameter signals a positional signal representing the actual position of a point on said peel or on said workpiece relative to the carriage, taking into account an angular disposition of said peel;
- (i) means for producing a locational signal representing the location of said carriage along said prescribed path;
- (j) means for adding said locational signal to said positional signal to produce an output signal representing the position of said point relative to a stationary reference such as the ground;
- and
- (k) means for controlling the movement of said peel relative to said carriage and to the position of said carriage along the prescribed path in response to said output signal.
10 more elements
A manipulator comprising
- (a) a carriage movable along a prescribed path;
- (b) a peel mounted on said carriage for gripping and supporting a workpiece;
- (c) means for moving said peel relative to said carriage in the direction of movement of said carriage;
- (d) means for adjusting the vertical position of said peel relative to said carriage;
- (e) means for adjusting the angular attitude of said peel relative to the direction of movement of said carriage;
- and
- (f) a positional indicating and control system for said peel including:
- (g) means for generating a signal representing the position relative to said carriage of that end of said peel opposite that adapted to grip said workpiece,
- (h) means for generating a tilt angle signal representing the angle of said peel relative to the horizontal;
- (i) a computing circuit to which the signals are applied and which is arranged to derive therefrom a positional signal representing the position relative to said carriage of the gripping end of said peel or of said workpiece;
- (j) means for producing a locational signal representing the location of said carriage along said prescribed path;
- (k) means for adding said locational signal to said positional signal to produce an output signal representing the position of the gripping end of said peel or of said workpiece relative to a stationary reference such as the ground;
- and
- (l) means for controlling the movement of said peel relative to said carriage and to the position of said carriage along the prescribed path in response to said output signal.
11 more elements
Dependencies are inferred from the claim text.