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US 4,901,625 AGranted
Apparatus and method for positioning equipment
AssigneeIncrecyl, Inc.
InventorsJohn E. Bussan, Christopher F. Bussan, Bruce H. Blair
Life of this patent
Estimating the term…
Abstract
A system for positioning equipment quickly and accurately over a plurality of desired positions by employing a "long move" mode of operation and a "short move" mode of operation to adapt the operation of the positioning system to variable and changing conditions. The system generally includes a microprocessor as the controlling means, a controlled valving means, a pressure source coupled to the valving means, an encoder sensing means and a positioning means defined by a pneumatic cylinder.
Claims45
A method of positioning a pneumatically-driven load accurately to a plurality of desired positions in the presence of unpredictable variables, comprising:
- dividing a path of travel of the load into a multiplicity of short intervals;
- characterizing the path of travel of the load into a plurality of path portions, each path portion including several of the short intervals;
- providing a data-storage means with data corresponding to movement of the load over the plurality of path portions and multiplicity of short intervals, said data including a set of long move data including an offset distance value for movement of the load over each of the plurality of path portions and a set of short move data including a time interval for movement of the load over one and a plurality of said short intervals from each of the plurality of path portions;
- determining a current position and a desired position of the load and the path of load movement therebetween;
- determining from said sets of long move data and short move data one or more intervals of application of pneumatic force to said load to effect the desired position, said one or more intervals of pneumatic force application being effected by determining for the path of load movement, the offset distance value and if the path of movement exceeds the offset distance value, applying pneumatic force to the load and sensing load position as the load moves until the sensor indicates the load is at a first position equal to the desired position adjusted by the offset distance value, and if the path of load movement is less than the offset distance value, determining from the set of short move data the time interval corresponding to the path of movement and applying pneumatic force to the load for the determined time interval.
2 more elements
A method for positioning a driving means to a plurality of desired positions along a path, said driving means being mechanically coupled to a load, comprising the steps of:
- sensing the position of the driving means;
- determining a desired position of the driving means;
- comparing the position of the driving means to the desired position of the driving means and determining a first distance between the position of the driving means and the desired position of the driving means;
- comparing said first distance to a first set of long move data provided by a data-storage means, said first set of long move data having a plurality of predetermined, incremental moves and a plurality of predetermined offset distance values, each of the plurality of moves having a single offset distance value corresponding thereto, said offset distance value representing a point along the path of the move of the driving means at which motive force for the driving means is discontinued to effect the desired position;
- comparing said first distance to said predetermined offset distance value for the move from the current position of the driving means to the desired position of the driving means and if the first distance exceeds the predetermined offset distance value;
- adjusting the desired position by said offset distance value whereby an initial offset position is determined to effect the desired position;
- generating an initial long move output to move said driving means;
- sensing the position of the driving means as the load is moved initially toward the desired position and continuing said long move output until the driving means reaches a position representing said initial offset position;
- if said first distance is less than the offset distance value corresponding to said move, comparing said first distance to a second set of short move data provided by the data-storage means, said second set of short move data having a plurality of predetermined units of distance and a plurality of predetermined intervals of time associated with each of the plurality of path portions, each of said plurality of predetermined units of distance corresponding to a single interval of time;
- generating an initial short move output to said driving means for said time interval corresponding to said move to effect such desired position.
7 more elements
An apparatus for positioning a load in a plurality of desired positions, comprising:
- a load positioning means;
- means to provide motive force to the load positioning means;
- means to input data or a desired position of the load;
- a digital data processing and storage means;
- sensor means for sensing the position of the load and providing said digital data processing and storage means with the current position of the load,
- said positioning means being operable to position the load with a long move mode of operation and a short move mode of operation, said long move mode of operation providing motive force to move the positioning means from the current position toward a desired position while sensing the position of the load during such movement and discontinuing the motive force at one of a plurality of predetermined offset distances for load movement from the current position to one of a plurality of desired positions, said short move made of operation providing motive force to move the positioning means from the current position toward a desired position for one of a plurality of predetermined short time intervals corresponding to one of a plurality of desired positions.
3 more elements
An apparatus for positioning a driving means mechanically coupled to a load by a plurality of moves to a plurality of desired positions, comprising:
- driving means;
- electronic data processing means;
- means for inputting a desired position;
- data-storage means coupled to said electronic data processing means;
- means for sensing the position of the driving means and providing an output signal indicating said position to the electronic data processing means;
- valving means for actuating said driving means;
- and
- a pressure gas source coupled to said valving means,
- said electronic data processing means receiving data representing the desired position of the driving means and the position of the driving means,
- determining a first distance between the position of the driving means and the desired position of the driving means,
- comparing said first distance to a first set of long move data provided by said data-storage means, said first set of long move data having a plurality of predetermined moves and a corresponding plurality of predetermined offset distance values, each of the plurality of moves having a single offset distance value corresponding thereto, said offset distance value representing a point along the path of travel of the driving means at which the driving means is disabled to effect the desired position,
- retrieving the offset distance value corresponding to said move and making a decision,
- and if said first distance is at least equal to the offset distance value corresponding to said move, offsetting the desired position by said offset distance value to determine an initial offset position,
- generating an initial long move output and directing said initial long move output to said valving means which actuates the driving means and while said sensing means is thereafter providing an output signal indicating the position of the driving means until said sensing means indicates the initial offset position,
- and if said first distance is less than the predetermined offset distance value corresponding to said move, comparing said first distance to a second set of short move data provided by the data-storage means, said second set of short move data having a plurality of predetermined units of distance and a plurality of predetermined time intervals associated with each of the plurality of path portions,
- generating an initial short move output for said interval of time corresponding to said move and directing said initial short move output to said valving means which actuates the driving means for said time interval.
13 more elements
Dependencies are inferred from the claim text.