US3712180A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Bilateral servo controlled manipulator
Assignee: General Electric Canada Co
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Filing: 1970-11-27
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Granted: 1973-01-23
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Expires: 1990-11-27
Abstract
Abstract A slave servo loop including an electrical amplifier, a flow control servo valve and a slave actuator connected between the control valve and a slave member is responsive when energized to a difference in the orientations of the slave member with respect to a master member for maintaining the slave member in alignment with the master member. A master servo loop is also provided including the aforementioned electrical amplifier, the aforementioned flow control servo valve, and a master actuator connected between the output of the control valve and the master member in a polarity to oppose, when energized, movement of the master member which produces movement of the slave member. On start-up of the manipulator, a lock valve connected in the lines between the control valve and the slave actuator hydraulically locks the slave actuator and hence the slave member. Any desynchronization of the slave member with the master member is eliminated by energization of the master servo loop which brings the master member into correspondence with the slave member. When the master member is substantially in alignment with the slave member, the slave lock valve is energized and allows the slave member to follow the movements of the master member.
Inventors
- 👤 D Pieper
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 20:10
CPC Classifications
F; F15; F15B; F15B21/00; F15B21/08; F15B21/087; B; B25; B25J; B25J3/00; B25J3/04
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
311 words
A bilateral servo system comprising a master member having an axis aligned coaxial with a predetermined axis, a transducer coupled to said master member to produce an output in accordance with the change in orientation of the axis of said master member in relation to said predetermined axis, a slave member having another axis aligned coaxial with another predetermined axis corresponding to said one predetermined axis, another transducer mechanically coupled to said slave member to produce an output in accordance with the change in orientation of the axis of said slave member in relation to said other predetermined axis, a slave servo loop including an electrical amplifier, a servo flow control valve and a slave actuator connected between said valve and said slave member responsive, when energized, to a difference in outputs of said transducers for maintaining said slave member axis in alignment with said master member axis, a master servo loop including said electrical amplifier, said servo flow control valve and a master actuator connected between the output of said valve and said master member in a polarity to oppose, when energized, movement of said master member which causes movement of said slave member, a slave lock valve connected in the lines from the control valve to the slave actuator for lacking fluid in the slave actuator when the lock valve is de-energized and allowing fluid to flow in the slave actuator when the lock valve is energized, a first energizing means for energizing said control valve to cause said master member to move into alignment with said slave member, a second energizing means for energizing said slave lock valve after said master member is substantially in alignment with said slave member, whereby when said slave and master members are out of alignment on start-up, large movements of said slave member and master member to attain alignment thereof are avoided.
Claim 2
Dependent Claim
311 words
A bilateral servo system comprising a master member having an axis aligned coaxial with a predetermined axis, a transducer coupled to said master member to produce an output in accordance with the change in orientation of the axis of said master member in relation to said predetermined axis, a slave member having another axis aligned coaxial with another predetermined axis corresponding to said one predetermined axis, another transducer mechanically coupled to said slave member to produce an output in accordance with the change in orientation of the axis of said slave member in relation to said other predetermined axis, a slave servo loop including an electrical amplifier, a servo flow control valve and a slave actuator connected between said valve and said slave member responsive, when energized, to a difference in outputs of said transducers for maintaining said slave member axis in alignment with said master member axis, a master servo loop including said electrical amplifier, said servo flow control valve and a master actuator connected between the output of said valve and said master member in a polarity to oppose, when energized, movement of said master member which causes movement of said slave member, a slave lock valve connected in the lines from the control valve to the slave actuator for lacking fluid in the slave actuator when the lock valve is de-energized and allowing fluid to flow in the slave actuator when the lock valve is energized, a first energizing means for energizing said control valve to cause said master member to move into alignment with said slave member, a second energizing means for energizing said slave lock valve after said master member is substantially in alignment with said slave member, whereby when said slave and master members are out of alignment on start-up, large movements of said slave member and master member to attain alignment thereof are avoided.
Claim 3
Dependent Claim
74 words
The combination of claim 1 in which is included a master lock valve connected in the lines from the control valve to the master actuator for locking fluid in the master actuator when the lock valve is de-energized and allowing fluid to flow in the master actuator when the lock valve is energized, and in which said first energizing means includes means for energizing said master lock valve as well as said control valve.
Claim 4
Dependent Claim
48 words
The combination of claim 1 in which means are provided to maintain the gain of the master loop substantially below normal gain while said slave lock valve is de-energized and to return the gain of the master loop to normal gain when said slave lock valve is energized.
Claim 5
Dependent Claim
63 words
The combination of claim 3 in which said gain controlling means includes an orifice and a switching valve connected across the output ports of said control valve, said switching valve being open when energized and closed when de-energized, said switching valve being energized when said control valve and said master lock valve are energized and de-energized when said slave lock valve is energized.
Claim 6
Dependent Claim
60 words
The combination of claim 3 in which slave and master loops include a common current amplifier and in which said gain controlling means includes circuit means for substantially reducing the gain of the amplifier when said control valve and said master lock valve are energized and for returning the gain to normal gain when said slave lock valve is energized.
References Cited (Backward Citations)
US3263824A
Cited
US3411410A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-01-23 | 1976-07-24 | 1977-01-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-01-23 | 1980-07-24 | 1981-01-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-01-23 | 1984-07-24 | 1985-01-23 | $7700.00 | Window Closed / Lapsed |