Boots – shoes – and leggings
Patent
1985-10-17
1988-06-28
Smith, Jerry
Boots, shoes, and leggings
364513, 318571, 901 20, G05B 19407, G05D 1300, B25J 916
Patent
active
047543922
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
Background of the Invention
This invention relates to a uniform velocity control method in which the rotational velocity of rotational motion is made constant in a system having a rectilinear-to-rotational motion converting mechanism for converting rectilinear motion into rotational motion.
Summary of the Invention
A rectilinear-to-rotational motion converting mechanism exists for converting rectilinear motion into rotational motion. The converting mechanism moves a first movable element rectilinearly and moves a second movable element rotatively in dependence upon the rectilinear movement of the first movable member. In a rectilinear-to-rotational motion converting mechanism of this type, the second movable element cannot be rotated at a uniform velocity even if the first movable element is moved rectilinearly at a uniform velocity.
Accordingly, an object of the present invention is to provide a uniform velocity control method, whereby the velocity of rotational motion can be rendered uniform through simple means in a rectilinear-to-rotational motion converting mechanism.
Another object of the present invention is to provide a uniform velocity control method in which the rotational velocity of a rotating shaft is made constant by monitoring the position of a movable element along a linear shaft and controlling velocity along the linear shaft in dependence upon the position along the linear shaft.
The present invention provides a uniform velocity control method in which the velocity of rotational motion is rendered uniform in a rectilinear-to-rotational motion converting mechanism. The method includes monitoring the position of a movable element along a linear shaft, and controlling the traveling velocity of the movable element along the linear shaft in dependence upon the position, to render the rotational velocity of a rotating shaft constant.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a side view of an articulated robot having a rectilinear-to-rotational motion; converting mechanism for converting rectilinear motion into rotational motion;
FIG. 2 is a diagram for describing the operation of FIG. 1;
FIG. 3 is a block diagram of a system for practicing the method of the present invention; and
FIG. 4 is a flowchart for the processing performed in accordance with the method of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
FIG. 1 is an external view of an articulated robot having a rectilinear-to-rotational motion converting mechanism to which the present invention can be applied. FIG. 2 is a diagram illustrating the operation of FIG. 1. A base 1 has an arm 1a provided with a rectilinear drive section 2 rotatable about a fulcrum P. The base 1 is provided with an articulated shaft 3 rotatable about a fulcrum Q. The rectilinear drive section 2 is equipped with a ball screw 2a, a motor 2b for rotating the ball screw 2a, and a movable element 2c having a nut portion threadedly engaged with the ball screw 2a. The movable element 2c and the shaft 3 are interconnected by a link 4 having a fixed length r. The link 4 is rotatable about the fulcrum Q. Rotation of the link 4 causes the articulated shaft 3 to rotate via a mechanism (not shown). Connected to the distal end of the articulated shaft 3 is an articulated shaft 5 having a distal end provided with a wrist mechanism 6. When the motor 2b is rotated to rotate the ball screw 2a, the movable element 2c moves along the ball screw 2a in a direction conforming to that in which the ball screw rotates, thereby rotating the link 4 about the fulcrum Q. Moreover, the entirety of the linear drive section 2 rotates about the fulcrum P. As a result, the movable element 2c travels on an arc of radius r about the fulcrum Q. More specifically, when the ball screw 2a is rotated to move the movable element 2c successively from the solid-line position to the one-dot chain line position and then to the dashed-line position in FIG. 2, the movable element 2c travels on an arc 7 of radius r about the fulcrum Q, and the link 4 rotates
REFERENCES:
patent: 3909600 (1975-09-01), Hohn
patent: 4086522 (1978-04-01), Engelberger et al.
patent: 4420812 (1983-12-01), Ito et al.
Industrial Robots; SME; Dearborn, Mich.; 1983; pp. 7, 8, and 241-244.
Industrial Robots Directory; 1982; pp. 37, 133 and 134.
Ishikawa Haruyuki
Nakashima Seiichiro
Sakakibara Shinsuke
Toyoda Kenichi
Fanuc Ltd
MacDonald Allen
Smith Jerry
LandOfFree
Uniform velocity control method does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Uniform velocity control method, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Uniform velocity control method will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1919337