Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1982-02-22
1985-05-14
Paperner, Leslie J.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
901 9, 901 22, B25J 304, F15B 1314
Patent
active
045168946
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention relates to a load pressure feedback system having at least one control valve for controlling an apparatus, in particular a manipulator comprising a receiving member or load arm with an upper arm pivotally connected to a base portion or the like, and a lower arm pivoted to the upper arm, with a load receiving end, and, as a sensor member or control member, a manually movable control arm which is of the same configuration as but smaller than the load arm, wherein the hinges or pivot mountings of the receiving member or load arm and the sensor member or control arm are connected together.
PRIOR ART
U.S. Pat. No. 3,171,549 discloses a manipulator in the form of a mechanically operating manipulating apparatus wherein gripping jaws which are arranged on a movable carrier can grip a load and move it from one place to another.
SUMMARY OF THE INVENTION
In that connection, the operation of such manipulators, as in the operation of other pieces of equipment, has been found to be difficult, and the invention seeks to improve a mechanically operating manipulating apparatus rendering the control thereof sensitive, by a load pressure feedback system of the kind set forth above.
The solution to this problem provides that the valve has a hydraulic pilot control member, wherein the load pressures at the measuring locations of the apparatus are applied to the inlet of at least one throttle aperture, wherein the level of the control pressures is determined by the cross-sectional areas of the throttle aperture or a screw-in aperture means, and wherein at least one control piston is subjected on the one hand to the load pressures and on the other hand to the control pressures.
In accordance with further features of the invention, the hydraulic load pressure control valve which preferably has control edges is provided with apertures and the ratio of the cross-sectional areas thereof determines the control pressures.
A piston in the load pressure control valve has also been found advantageous, which is subjected to the output pressures and which co-operates with a control piston which in turn is subjected to secondary pressures.
In accordance with the invention, abutment members are provided to limit the maximum displacement of that control piston, wherein the control piston and the counteracting piston thereof can also be subjected to a spring loading.
According to the invention, associated with the load pressure control valve is at least one pressure reducing valve, and the valves are arranged on a plate. In addition, according to the invention, the cross-section of the throttle aperture is to be variable.
It is also in accordance with the present invention for the actual value generators at the pivots or rotary mountings of the control arm to be connected to reference value generators of the corresponding pivots or rotary mountings of the load arm by an electro-hydraulic positional control means which includes at least one hydraulic load pressure feedback member, preferably a load pressure control valve. In this arrangement, it has been found advantageous for at least a movement of the control arm, or the sensor member of the apparatus, to be controlled by mechanical means, and for the load force feedback system to be disposed in parallel therewith.
According to the invention, comparison of the reference value voltages with the actual value voltages results in differential voltages which cause deflection of the servo valves and thus the corresponding cantilever members. As soon as the actual value voltage corresponds to the reference value voltage and thus the differential signal disappears, the arrangement has reached the predetermined position and the cantilever members remain stationary. In comparison, the deflection of the rotary movement is taken off from the control arm directly mechanically by a copying valve or a corresponding member and, in accordance with the invention, the speed is determined by the magnitude of a deflection angle, with respect to a central position to whi
REFERENCES:
patent: 3123230 (1964-03-01), Oppenheimer
patent: 3168203 (1965-02-01), Gallistel
patent: 3241687 (1966-03-01), Orloff
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patent: 3608743 (1971-09-01), Mosher et al.
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patent: 3637092 (1972-01-01), George
patent: 3698580 (1972-10-01), Carlson et al.
patent: 3712180 (1973-01-01), Pieper
patent: 3880304 (1975-04-01), Strickland, Jr.
ALB Klein GmbH & Co. KG
Paperner Leslie J.
Siemens Terrance L.
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