Shuttle transfer with linear Transducer feedback
AssigneeTranTek Inc.
InventorJack F. Herklotz
Life of this patent
Estimating the term…
Abstract
A shuttle transfer assembly (10) is able to accurately position a workarm (12) in two axes (X, Y) to a selected coordinate position. The assembly (10) include two position controllers (74, 76) each operating along a single axis for positioning the workarm (12) to the coordinate position. A central controller (86) functions to control the sequencing of the separate position controllers (74, 76). Coarse and fine sensors (62-68) are provided to allow feedback of position to the position controllers (74, 76). The coarse sensor (62, 64) operates for general positioning as an encoder on the servo drive motor. The fine sensors (66, 68) extend from the workarm (12) to produce the final, high resolution positioning.
Claims17
A positioning transfer assembly for positioning a workarm (12), said assembly comprising:
- a workarm (12);.
- first transfer means (14) supporting said workarm for moving the workarm along a first axis (Y),
- second transfer means (16) connected to and supporting said first transfer means (14) for effectively positioning said workarm along a second axis (X);
- coarse sensor means (68, 68) connected to said first transfer means and said second transfer means and having a coarse resolution for sensing the position of said first and second transfer means (14, 16) and thus said workarm (12),
- fine sensor means (66, 68) attached to said workarm (12) having a fine resolution of resolution higher than said coarse resolution for sensing the variable position of said workarm (12) along said first axis (Y) and said second axis (X) to any one of several positions, said fine sensor means (66, 68) including at least two linear sensors (66, 68),
- control means (60) connected to said first and second transfer means (14, 16) and said fine and coarse sensor means (62-68) for controlling independently said first and second transfer means (14, 16) to a first coordinate position at a predetermined high speed based on feedback from said coarse sensor means (66, 68) and for controlling said first and second transfer means (14, 16) to a second coordinate position at predetermined low speeds based on feedback from said fine sensor means (66, 68), said control means controlling said first transfer means (14) based on one of said linear sensors (66, 68) and controlling said second transfer means (16) based on the other of said linear sensors (66, 68).
A positioning transfer assembly for positioning a workarm (12), said assembly comprising:
- a workarm (12);
- a first transfer assembly (14) for connection to the workarm (12) to move said workarm along a first axis (Y),
- a second transfer assembly (16) connected to said first transfer assembly (14) for effectively positioning said workarm along a second axis (X)
- a coarse sensor (62, 64) connected to said first transfer assembly (14) and said second transfer assembly (16) and having a coarse resolution for sensing the position of said first transfer assembly (14) and said second transfer assembly (16) and thus said workarm (12),
- at least two linear fine sensors (66, 68) attached to said workarm (12) and having a fine resolution higher than said coarse resolution for sensing the variable position of said workarm (12) along said first axis (Y) and said second axis (X) to any one of several positions,
- a controller (60) connected to said first and second transfer assemblies (14, 16) and said fine and coarse sensors (62-68) for controlling said first transfer assembly (14) to a first coordinate position at a predetermined high speed based on feedback from the coarse sensor (62, 68) and for controlling said first transfer assembly (14) to a second coordinate position at predetermined low speeds based on feedback from the fine sensors (66, 68) and for controlling said second transfer assembly (16) to a third coordinate position at a predetermined high speed based on feedback from the coarse sensor (62, 68) and for controlling said second transfer assembly (16) to a fourth coordinate position at predetermined low speeds based on feedback from the fine sensors (66, 68).
Dependencies are inferred from the claim text.