Drive, particularly for an industrial manipulator

Motors: expansible chamber type – With correlated control of motive fluid and locking means – By electrical control means

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Details

91 43, 192146, F15B 1526

Patent

active

043399843

ABSTRACT:
The drive comprises an air-operated driving unit imparting either a linear or a rotary motion to the working member of a manipulator and, at the same time, driving the rotor of an electromagnetic brake in accordance with displacement of the working member. For linear movement of the working member, the driving unit comprises an air-operated piston-cylinder actuator and, for rotary movement of the working member, comprises a vane-type air motor. An electronic control system controls the operation of the driving unit and of the electromagnetic brake, and thus the motion of the working member. The control system provides both a selective and a continuous control of the positioning operation by continuously comparing the actual and desired positions of the working member and, when the working member reaches a point in advance of its desired final position, the movement of the working member is continuously decelerated by actuating the electromagnetic brake in a controlled manner so that the deceleration follows a predetermined course. When the speed of the working member has been decelerated to a minor fraction of its initial speed, in the immediate vicinity of the desired final position, the brake is applied fully and instantaneously. Preferably, the brake is a multiple-disc brake. The control system comprises a displacement pick-up as the measuring means for the actual displacement and a proportional controller as the controlling means. The air-operated piston-cylinder is operatively connected to the brake by means of a rack and pinion gear arrangement, and the vane motor is connected directly to the rotor of the brake and to the working member through a wobble gearing.

REFERENCES:
patent: 2766651 (1956-10-01), Forward
patent: 3176590 (1965-04-01), Uhtenwoldt
patent: 3361034 (1968-01-01), Rothrock
patent: 3425373 (1969-02-01), Miller
patent: 3587798 (1971-06-01), Schuman
patent: 3613505 (1971-10-01), Bubula
patent: 3633718 (1972-01-01), Wanner
patent: 3668973 (1972-06-01), Kado
patent: 3979999 (1976-09-01), Emenaker

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