Programmable air pressure counterbalance system for a manipulato

Details Programmable air pressure counterbalance system for a manipulato Programmable air pressure counterbalance system for a manipulato

1979-03-19

1980-10-21

Sheridan, Robert G.

Material or article handling

Elevator or hoist and loading or unloading means therefor

Return, buffer, or counterweight feature

414719, 414730, 414753, B66C 142

Patent

active

042291364

ABSTRACT:
An air pressure counterbalance system is provided for an X Y Z orthogonal manipulator wherein the effect of gravity on a manipulator arm joint is counterbalanced both while hydraulic pressure is supplied to the hydraulic motors and also when the motive power is suspended. The air pressure counterbalance force is produced by a piston operating in an air cylinder in the direction of the gravity axis as the manipulator hand is raised or lowered. A selected constant air pressure is supplied to the counterbalance cylinder through an air pressure regulating system. In a preferred embodiment, a program-controlled counterbalance system is provided wherein the weights of various tools to be grasped by the manipulator fingers during a program are stored in CPU memory. The manipulator program selects the appropriate counterbalancing force to compensate for the predetermined tool weight and adjusts an air pressure regulator accordingly.

REFERENCES:
patent: 3756563 (1973-09-01), Stone

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