US3906325A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Adaptive feeling apparatus for determining a prearranged position in which a part is to be fitted
Assignee: Olivetti SpA
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Filing: 1973-12-20
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Granted: 1975-09-16
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Expires: 1993-12-20
Abstract
Abstract An adaptive feeling apparatus for searching and determining a prearranged position on a structure comprises an element movable in accordance with a predetermined programme recorded on an information support. The movable element comprises a device for gripping a part to be transported to the prearranged position. Control means are provided for producing the advance of said movable element until the part contacts the structure and for producing a random movement of the element for searching for the prearranged position. Means are provided for modifying the movement of the element in accordance with the variable force acting between the structure and the part until the prearranged position is achieved.
Inventors
- 👤 Marion Salmon
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 08:17
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/416; G05B19/4163; G05D; G05D3/00; G05D3/12; G05D3/20
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
218 words
Adaptive feeling apparatus for determining a prearranged position on a surface of a structure, comprising: at least one element movable in accordance with a predetermined path recorded on an information support for sensing the surface of the structure, control means for controlling the movement of said element for advancing said movable element in a first stage to contact said surface to determine the plane in which said prearranged position is located, and for advancing said movable element in a second stage in said plane in a predetermined search movement to determine said prearranged position, the contact of said element with said surface producing a variable force on said element, means for detecting said force, and means responsive to said detecting means for causing said control means to shift from said first stage to said second stage upon a first modification of said force applied to said element to at least a first predetermined value, said causing means comprising comparison means for comparing said variable force with a first comparison force comprising said first predetermined value during said first stage and with a second predetermined value during said second stage, said second stage movement being terminated upon a second modification of said force applied to said element to at least said second predetermined value thereby defining said prearranged position.
Claim 2
Dependent Claim
218 words
Adaptive feeling apparatus for determining a prearranged position on a surface of a structure, comprising: at least one element movable in accordance with a predetermined path recorded on an information support for sensing the surface of the structure, control means for controlling the movement of said element for advancing said movable element in a first stage to contact said surface to determine the plane in which said prearranged position is located, and for advancing said movable element in a second stage in said plane in a predetermined search movement to determine said prearranged position, the contact of said element with said surface producing a variable force on said element, means for detecting said force, and means responsive to said detecting means for causing said control means to shift from said first stage to said second stage upon a first modification of said force applied to said element to at least a first predetermined value, said causing means comprising comparison means for comparing said variable force with a first comparison force comprising said first predetermined value during said first stage and with a second predetermined value during said second stage, said second stage movement being terminated upon a second modification of said force applied to said element to at least said second predetermined value thereby defining said prearranged position.
Claim 3
Dependent Claim
25 words
Apparatus as in claim 1, comprising at least one motor for advancing the said element, the said motor being controlled by the said control means.
Claim 4
Dependent Claim
27 words
Apparatus as in claim 1, wherein the said movable element comprises at least one device for gripping a part to be transported to the said prearranged position.
Claim 5
Dependent Claim
62 words
Apparatus as in claim 1, wherein said comparison means allows the said control means to stop the first stage when the value of the said variable force equals the value of the said first comparison force and allows the said second stage to be stopped when the value of the said variable force equals the value of the said second comparison force.
Claim 6
Dependent Claim
41 words
Apparatus as in claim 4, wherein said detecting means comprise a part yielding with respect to the movable element, the displacement of the said yielding part with respect to the said movable element representing said variable force in a predetermined relation.
Claim 7
Dependent Claim
52 words
Apparatus as in claim 5, wherein the said movable element includes an arm slidable in an axial direction, the said yielding part including resilient means and a stem resiliently flexible and slidable in the said axial direction with respect to the said arm in opposition to the action of said resilient means.
Claim 8
Dependent Claim
52 words
Apparatus as in claim 6, wherein said stem comprises a part slidable in a sleeve of the said arm and another part outside the said sleeve which is free to bend radially, the said resilient means including at least one calibrated Helicoidal spring disposed between the said stem and the said arm.
Claim 9
Dependent Claim
37 words
Apparatus as in claim 5, comprising means for measuring the said displacement and for transducing the value of the said displacement into a signal proportional to the said variable force for controlling the movement of said element.
Claim 10
Dependent Claim
59 words
Apparatus as in claim 8, wherein said comparison means are connected on the input side to the said measuring and transducing means to receive the said signal proportional to the said variable force, the said comparison means being moreover connected on the input side to the said control means to receive a signal proportional to the said comparison forces.
Claim 11
Dependent Claim
41 words
Apparatus as in claim 9, wherein the output of the said comparison means is connected to the said control means to transmit to the said control means a signal of equality between the said variable force and the said comparison forces.
Claim 12
Dependent Claim
92 words
Apparatus as in claim 4, wherein said comparison means comprise an analogue-to-digital converter circuit and a comparator circuit, the said converter circuit receiving as input the said signal proportional to the variable force, the said comparator receiving as input from the said converter circuit the said signal proportional to the variable force in numerical form and receiving from the sdaid control means the said signal proportional to the comparison forces expressed in numerical form, the said comparator circuit being connected on the output side to the said control means by intermediate means.
Claim 13
Dependent Claim
152 words
Apparatus as in claim 11, wherein said intermediate means include an AND circuit comprising a first AND gate and a second AND gate, the first AND gate being connected to a first output of the said comparator circuit, the said first output being adapted to emit a signal when the said variable force exceeds the said first comparison force, the second AND gate being connected to a second output of the said comparator circuit, the said second output being adapted to emit a signal when the said variable force becomes smaller than the said second comparison force, the said first AND gate being moreover connected to the said control means to be enabled during the advance of the said arm against the said surface and the said second AND gate being moreover connected to the said control means to be enabled during the advance of the said arm in the said plane.
Claim 14
Dependent Claim
54 words
Apparatus as in claim 5, wherein said movable element comprises at least one device for gripping a part to be transported to the said prearranged position, the said gripping device being secured to the said yielding part so that the said variable force is transmitted by the gripped part to the said yielding part.
Claim 15
Dependent Claim
37 words
Apparatus as in claim 13, comprising means for operating the said gripping device when the said gripped part reaches the said prearranged position, in such manner as to fit the said gripped part into the said structure.
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) | 1978-09-15 | 1979-03-17 | 1979-09-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-15 | 1983-03-17 | 1983-09-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-15 | 1987-03-17 | 1987-09-16 | $7700.00 | Window Closed / Lapsed |