Patent US3878652A successfully refreshed from Google Patents.
US3878652A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Low cost programmable remote control machine tool manipulator having continuous path control
Assignee: ROBOTICS Inc
•
Filing: 1973-06-25
•
Granted: 1975-04-22
•
Expires: 1993-06-25
Abstract
Abstract A low cost, programmable, automatically operating remote control machine tool manipulator is provided having continuous path control about one, two or three axes of movement. The manipulator includes a work piece holding support, at least one working head and an electrically controlled power drive servo mechanism which may be electrohydraulic, electro pneumatic, electro mechanical or the like for physically moving the working head relative to the work piece holding support. The improvement comprises a low cost, continuous path, programmable, cam controlled input command position signal generating controller. This controller includes at least one movable continuous path position control cam for each axis of movement. The position control cams have control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the working head and the work piece holding support. The control surfaces of the position control cams have a different physical configuration from the command relative positioning path shape which they represent and hence differ from pattern follower arrangements. A cam follower is provided to read out each position control cam and operates a mechanical-electrical transducer for converting the movement of the cam follower into electrical command position signals representative of the desired relative positioning of the working head with respect to the work piece holding support.
Inventors
- 👤 Ralph S Mosher
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 22:49
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; B25J9/161; G; G05; G05B; G05B19/00; G05B19/02; G05B19/04; G05B19/06; G05B19/066
Claims Analysis
Total Claims: 40
Claim 1
Independent Claim
260 words
In a programmable automatically operable remote control machine tool manipulator having continuous path control including working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions, with respect to a work piece, position feedback servo means for sensing the actual relative positioning of working head means and deriving feedback electricl signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and circuit means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the improvement comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal producing means including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the the working head means, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning representations, and transducer meAns coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means.
Claim 2
Dependent Claim
260 words
In a programmable automatically operable remote control machine tool manipulator having continuous path control including working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions, with respect to a work piece, position feedback servo means for sensing the actual relative positioning of working head means and deriving feedback electricl signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and circuit means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the improvement comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal producing means including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the the working head means, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning representations, and transducer meAns coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means.
Claim 3
Dependent Claim
260 words
In a programmable automatically operable remote control machine tool manipulator having continuous path control including working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions, with respect to a work piece, position feedback servo means for sensing the actual relative positioning of working head means and deriving feedback electricl signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and circuit means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the improvement comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal producing means including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the the working head means, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning representations, and transducer meAns coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means.
Claim 4
Dependent Claim
260 words
In a programmable automatically operable remote control machine tool manipulator having continuous path control including working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions, with respect to a work piece, position feedback servo means for sensing the actual relative positioning of working head means and deriving feedback electricl signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and circuit means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the improvement comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal producing means including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the the working head means, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning representations, and transducer meAns coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means.
Claim 5
Dependent Claim
64 words
A programmable remote control machine tool manipulator according to claim 1, further including auxiliary function control signal producing means synchronously operable with said movable continuous path position control cam for deriving auxiliary function control signals usable at particular points in the relative positioning of the working head means for initiating and controlling various operations performed on a work piece by the working head means.
Claim 6
Dependent Claim
66 words
A programmable remote control machine tool manipulator according to claim 2, further including means for adjusting the auxiliary function control signal producing means relative to the movable continuous path position control cam to thereby allow an operator of the equipment to adjust the location of the points in the relative positioning path of the manipulator working head at which auxiliary function control signals will be produced.
Claim 7
Dependent Claim
114 words
A programmable remote control machine tool manipulator according to claim 1 wherein a plurality of movable continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator and further including selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and further connected to the transducer means for each one of the plurality of position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means.
Claim 8
Dependent Claim
181 words
A programmable remote control machine tool manipulator according to claim 3 wherein a plurality of movable continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator together with a respective associated auxiliary function control signal producing means for each position control cam provided for a given axis of movement, and further including position control selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and further connected to the transducer means for each one of the plurality of position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means, and auxiliary function control selector switch means operable in conjunction with said position control selector switch means for selectively switching a desired one of the auxiliary function control signal producing means into operative controlling relationship with the working head of the manipulator.
Claim 9
Dependent Claim
58 words
A programmable remote control machine tool manipulator according to claim 1, wherein the movable continuous path position control cam comprises a generally circular disc-shape control cam having a peripheral control surface, the generally circular disc-shape control cam being rotatable to provide continuous path position control with the cam follower means engaging and riding upon the peripheral control surface.
Claim 10
Dependent Claim
67 words
A programmable remote control machine tool manipulator according to claim 6, further including a generally circular rotatable auxiliary function control disc synchronously rotatable with said generally circular rotatable disc-shape continuous path position control cam for deriving auxiliary function control signals usable at particular points in the relative positioning of the working head means and the workpiece holding means for initiating and controlling operations performed on the workpiece.
Claim 11
Dependent Claim
51 words
A programmable remote control machine tool manipulator according to claim 7, wherein the rotary auxiliary function control disc includes means for adjusting the radial location on the periphery of the rotary auxiliary functin control disc at which point auxiliary function control signals will be generated by the auxiliary function control disc.
Claim 12
Dependent Claim
117 words
A programmble remote control machine tool manipulator according to claim 8 wherein a plurality of rotary continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator and further including position control selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and further connected to the transducer means for each one of the plurality of rotary position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means.
Claim 13
Dependent Claim
101 words
A programmable remote control machine tool manipulator according to claim 8, further including a common rotatable cam drive shaft for supporting and rotating said rotatable continuous path position control cam and said rotatable auxiliary control function disc, cam drive motor means for rotating said common cam drive shaft, and auxiliary control function signal generator means coupled to and engageable by said rotary auxiliary control function disc for generating auxiliary function control signals utilized in the operation of the remote control machine tool manipulator at particular points along the relative positioning path of the working head and the work piece holding means.
Claim 14
Dependent Claim
51 words
A programmable remote control machine tool manipulator according to claim 10, wherein the rotary auxiliary function control disc includes means for adjusting the radial location on the periphery of the rotary auxiliary function control disc at which point auxiliary function control signals will be generated by the auxiliary function control disc.
Claim 15
Dependent Claim
48 words
A programmable remote control machine tool manipulator according to claim 11, wherein the manipulator is capable of movement about multiple axes and at least one movable continuous path position control cam is provided for each axis of movement together with its related cam follower means and transducer means.
Claim 16
Dependent Claim
34 words
A programmable remote control machine tool manipulator according to claim 12, wherein the cam drive motor means comprises a reversible variable speed cam drive motor controlled by a reversible variable speed drive motor controller.
Claim 17
Dependent Claim
88 words
A programmable remote control machine tool manipulator according to claim 13, wherein the working head means is moved relative to a work piece, and wherein the programmable automatic input command position signal producing means further includes means for scaling the size of the positioning path shape defined by the positioning of the working head in response to the input command position signals and the position feedback servo means further includes means for shifting the location of the positioning path shape defined by the positioning of the working head.
Claim 18
Dependent Claim
76 words
A programmable remote control machine tool manipulator according to claim 1, further including automatic-manual selector switch means and manual position control signal generating means, said automatic-manual selector switch means selectively serving to connect either said programmable automatic input command position signal producing means or alternatively said manual position control signal generating means to the input of the position feedback servo means for selectively controlling positioning of the remote control machine tool manipulator either automatically or manually.
Claim 19
Dependent Claim
182 words
A programmable remote control machine tool manipulator according to claim 15 wherein a plurality of rotary continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator together with a respective associated auxiliary function control signal producing means for each position control cam provided for a given axis of movement, and further including position control selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and further connected to the transducer means for each one of the pluraltiy of rotary position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means, and auxiliary function control selector switch means operable in conjunction with said position control selector switch means for selectively switching a desired one of the auxiliary function control signal producing means into operative controlling relationship with the working head of the manipulator.
Claim 20
Dependent Claim
61 words
A programmable remote control machine tool manipulator according to claim 3, wherein the programmable automatic input command position signal producing means further includes command positioning path shape size scaling means for selectively increasing or decreasing the size of the shape of the positioning path defined by relative positioning of the working head means in response to the input command position signal.
Claim 21
Dependent Claim
43 words
A programmable remote control machine tool manipulator according to claim 3, wherein the position feedback servo means further includes positioning path location shifting means for selectively shifting the location of the positioning path defined by the relative positioning of the working head means.
Claim 22
Dependent Claim
93 words
A programmable remote control machine tool manipulator according to claim 3, wherein the programmable automatic input command position signal producing means further includes command positioning path shape size scaling means for selectively increasing or decreasing the size of the shape of the positioning path defined by relative positioning of the working head means in response to the input command position signal, and the position feedback servo means further includes positioning path location shifting means for selectively shifting the location of the positioning path defined by the relative positioning of the working head means.
Claim 23
Dependent Claim
75 words
A programmable remote control machine tool manipulator according to claim 19, and further including selector switch means and manual position control signal generating means, said selector switch means selectively serving to connect either said programmable automatic input command position signal producing means or alternatively said manual position control signal generating means to the input of the position feedback servo means for selectively controlling positioning of the remote control machine tool manipulator either automatically or manually.
Claim 24
Dependent Claim
74 words
A programmable remote control machine tool manipulator according to claim 8, further including selector switch means and manual position control signal generating means, said selector switch means selectively serving to connect either said programmable automatic input command position signal producing means or alternatively said manual position control signal generating means to the input of the position feedback servo means for selectively controlling positioning of the remote control machine tool manipulator either automatically or manually.
Claim 25
Dependent Claim
194 words
An improved programmable continuous path cam controlled automatically operable input command position signal generator including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the working head means of an automatic remote control machine tool manipulator, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning reepresentations, transducer means coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means and auxiliary function control signal producing means synchronously operable with said movable continuous path position control cam for deriving auxiliary function control signals usable at particular points in the relative positioning of the working head means of an automatic remote control machine tool manipulator for initiating and controlling various operations performed on a work piece by the working head.
Claim 26
Dependent Claim
194 words
An improved programmable continuous path cam controlled automatically operable input command position signal generator including at least one movable continuous path position control cam having control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the working head means of an automatic remote control machine tool manipulator, the control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, cam follower means coupled to the position control cam for reading out the command relative positioning reepresentations, transducer means coupled to and controlled by the cam follower means for converting the movement of the cam follower means into electrical command position signals representative of the desired relative positioning of the working head means and auxiliary function control signal producing means synchronously operable with said movable continuous path position control cam for deriving auxiliary function control signals usable at particular points in the relative positioning of the working head means of an automatic remote control machine tool manipulator for initiating and controlling various operations performed on a work piece by the working head.
Claim 27
Dependent Claim
70 words
A programmable continuous path cam controlled input command position signal generator according to claim 22, further including means for adjusting the auxiliary function control signal producing means relative to the movable cocntinuous path position control cam to thereby allow an operator of the equipment to adjust the location of the points at which auxiliary function control signals will be produced relative to the positioning path of the working head means.
Claim 28
Dependent Claim
71 words
A programmable continuous path cam controlled input command position signal generator for an automatically operable remote control machine tool manipulator according to claim 23, wherein the command position signal generator is for use with a manipulator that is capable of movement about multiple axes and at least one movable continuous path position control cam is provided for each axis of movement together with its related cam follower means, and transducer means.
Claim 29
Dependent Claim
114 words
A programmable remote control machine tool manipulator according to claim 22 wherein a plurality of movable continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator and further including selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and further connected to the transducer means for each one of the plurality of position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means.
Claim 30
Dependent Claim
62 words
A programmable continuous path cam controlled input command position signal generator according to claim 22, wherein the movable continuous path position control cam comprises a generally circular disc-shape control cam having a peripheral control surface, the generally circular disc-shape control cam being rotatable to provide continuous path position control with the cam follower means engaging and riding upon the peripheral control surface.
Claim 31
Dependent Claim
94 words
A programmable continuous path cam controlled input command position signal generator according to claim 25, wherein the auxiliary function control signal producing means comprises a generally circular rotatable auxiliary function control disc synchronously rotatable with said generally circular rotatable disc-shape continuous path position control cam and auxiliary function control signal generator means controlled by said rotatable auxiliary function control disc for deriving auxiliary function control signals usable at particular points in the relative positioning of the working head means of a remote control manipulator for initiating and controlling operations performed on a work piece.
Claim 32
Dependent Claim
59 words
A programmable continuous path cam controlled input command position signal generator according to claim 27 wherein the rotary auxiliary function control disc includes means for adjusting the radial location of the points on the periphery of the rotary auxiliary function control disc at which auxiliary function control signals will be generated by the auxiliary function control signal generator means.
Claim 33
Dependent Claim
75 words
A programmable continuous path cam controlled input command signal generator according to claim 28 further including a common rotatable cam drive shaft for supporting and synchronously rotating said rotatable continuous path position control cam and said rotatable auxiliary control function disc and cam drive motor means for rotating said common cam drive shaft, said cam drive motor means comprising a reversable variable speed cam drive motor controlled by a reversible variable speed drive motor controller.
Claim 34
Dependent Claim
60 words
A programmable continuous path cam controlled input command signal generator according to claim 29 wherein the command signal generator is for use with a manipulator that is capable of movement about multiple axes and at least one movable continuous path position control cam is provided for each axis of movement together with its related cam follower means and transducer means.
Claim 35
Dependent Claim
180 words
A programmable remote control machine tool manipulator according to claim 30 wherein a plurality of rotary continuous path position control cams together with associated cam follower means and transducer means are provided for at least one axis of movement of the manipulator together with a respective associated auxiliary function control signal producing means for each position control cam provided for a given axis of movement, and further including position control selector switch means operatively coupled to the circuit means for combining the input command position signal with the actual relative position feedback signal and to the transducer means for each one of the plurality of rotary position control cams for a given axis of movement for selectively switching the output from a desired one of the position control cams into controlling circuit relationship with the circuit combining means, and auxiliary function control selector switch means operable in conjunction with said position control selector switch means for selectively switching a desired one of the auxiliary function control signal producing means into operative controlling relationship with the working head of the manipulator.
Claim 36
Independent Claim
314 words
A method of operation for programmable automatically operable remote control machine tool manipulators having continuous path control and which include working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions with respect to a workpiece, position feedback servo means for sensing the actual relative positioning of the working head means and deriving feedback electrical signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and servo amplifier means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the programmable automatic input command position signal producing means comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal generator including at least one rotatable continuous path position control cam having peripheral control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the working head means with the peripheral control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, the method comprising rotating the continuous path position control cam at a predetermined speed related to the desired speed of movement for the machine tool manipulator, reading out the control surface configurations formed on the surface of the position control cam with sensing means designed to convert the control surface configurations into corresponding electrical position control signals that comprise an electrical analogue of the relative positioning path of the working head of the manipulator, and supplying the electrical position control signals thus derived to the servo amplifier means as the input command position signal.
Claim 37
Independent Claim
314 words
A method of operation for programmable automatically operable remote control machine tool manipulators having continuous path control and which include working head means, electrically controlled power drive means for relatively physically moving the working head means into desired relative work positions with respect to a workpiece, position feedback servo means for sensing the actual relative positioning of the working head means and deriving feedback electrical signals representative thereof, programmable automatic input command position signal producing means for automatically supplying an electrical input command position signal representative of the desired relative positioning of the working head means, and servo amplifier means for combining the input command position signal with the actual relative position feedback signal and deriving electrical output error control signals for controlling operation of said electrically controlled power drive means, the programmable automatic input command position signal producing means comprising an improved low cost, continuous path programmable cam controlled automatically operable input command position signal generator including at least one rotatable continuous path position control cam having peripheral control surfaces formed thereon which comprise a scaled down analogue representation of the transfer function that defines the desired command relative positioning of the working head means with the peripheral control surfaces of said position control cam having a different physical configuration from the command relative positioning path which they represent, the method comprising rotating the continuous path position control cam at a predetermined speed related to the desired speed of movement for the machine tool manipulator, reading out the control surface configurations formed on the surface of the position control cam with sensing means designed to convert the control surface configurations into corresponding electrical position control signals that comprise an electrical analogue of the relative positioning path of the working head of the manipulator, and supplying the electrical position control signals thus derived to the servo amplifier means as the input command position signal.
Claim 38
Dependent Claim
59 words
The method according to claim 32, further including generating auxiliary function control signals synchronously with the rotation of said rotatable continuous path position control cam, the auxiliary function control signals being usable at particular points in the relative positioning of the working head means for initiating and controlling various operations performed on the work piece by the working head.
Claim 39
Dependent Claim
54 words
The method according to claim 33 further including adjusting the auxiliary function control signal generation relative to the rotation of the rotatable continuous path position control cam to thereby adjust the location of the points in the relative positioning path of the manipulator working head means at which auxiliary function control signals are produced.
Claim 40
Dependent Claim
106 words
The method according to claim 34 further comprising providing a plurality of different continuous path position control cams for at least one axis of movement of the machine tool manipulator and further providing associated auxiliary function control signal generators for each such different position control cam; selectively connecting a desired one of the plurality of different position control cams for one axis of movement into path controlling relationship with respect to the machine tool manipulator, and further selectively connecting the respective associated auxiliary function control signal generator for the selected position control cam into controlling relationship with regard to the generation of auxiliary function control signals.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-04-21 | 1978-10-21 | 1979-04-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-04-21 | 1982-10-21 | 1983-04-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-04-21 | 1986-10-21 | 1987-04-22 | $7700.00 | Window Closed / Lapsed |