Patent US4459526A successfully refreshed from Google Patents.
US4459526A
Expired / Lapsed
US
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Multi apertured lens shock wave probe
Assignee: Cleveland Motion Controls Inc
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Filing: 1981-12-29
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Granted: 1984-07-10
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Expires: 2001-12-29
Abstract
Abstract There is disclosed a system for guiding, positioning, and measuring through robot control, a tool and a work zone relative to each other, by a noncontacting probe of at least one transceiver for generating shock waves, and for sensing their reflections, with one or more multiple apertured lenses for focusing and concentrating such shock waves and their reflections.
Inventors
- 👤 Elmer L. Griebeler
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 20:50
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/02; B25J19/026; B23; B23Q; B23Q35/00; B23Q35/04; B23Q35/08; B23Q35/12; B23Q35/127; Y; Y10; Y10S; Y10S367/00; Y10S367/906
Claims Analysis
Total Claims: 52
Claim 1
Independent Claim
96 words
A work sensing probe that senses the locus of work to be performed, including the loci of a continuum of such work, without physically contacting the work, comprising means for generating a sudden pressure wave from the work, means for receiving the reflection of a sudden pressure wave, means for limiting the spread of the pressure wave, means for limiting the angle of sensitivity of the receiver, means for recognizing the influence of the work on the reflected sudden pressure wave, and means for translating the recognized influence into an electric signal within the control system.
Claim 2
Dependent Claim
96 words
A work sensing probe that senses the locus of work to be performed, including the loci of a continuum of such work, without physically contacting the work, comprising means for generating a sudden pressure wave from the work, means for receiving the reflection of a sudden pressure wave, means for limiting the spread of the pressure wave, means for limiting the angle of sensitivity of the receiver, means for recognizing the influence of the work on the reflected sudden pressure wave, and means for translating the recognized influence into an electric signal within the control system.
Claim 3
Dependent Claim
25 words
The invention of claim 1, in which the said electric signal directs a manipulator to position a tool to the sensed locus of the work.
Claim 4
Dependent Claim
19 words
The invention of claim 1, in which the said electric signal provides recognition of a part of a work.
Claim 5
Dependent Claim
17 words
The invention of claim 1, in which the said electric signal indicates a dimension of a work.
Claim 6
Dependent Claim
17 words
The invention of claim 1, in which the said electric signal indicates the location of a work.
Claim 7
Dependent Claim
21 words
The invention of claim 1, in which the said means for generating a sudden pressure wave employs a piezo electric component.
Claim 8
Dependent Claim
20 words
The invention of claim 1, in which the said means for generating a sudden pressure wave employs an electric spark.
Claim 9
Dependent Claim
20 words
The invention of claim 1, in which the said means for generating a sudden pressure wave employs a magnetic transducer.
Claim 10
Dependent Claim
24 words
The invention of claim 1, in which the said means for receiving the reflection of a sudden pressure wave employs a piezo electric component.
Claim 11
Dependent Claim
23 words
The invention of claim 1, in which the said means for receiving the reflection of a sudden pressure wave employs a magnetic transducer.
Claim 12
Dependent Claim
20 words
The invention of claim 6, in which the said means for generating the sudden pressure wave employs a piezo bender.
Claim 13
Dependent Claim
23 words
The invention of claim 9, in which the said means for receiving the reflection of a sudden pressure wave employs a piezo bender.
Claim 14
Dependent Claim
14 words
The invention of claim 1, in which the said influence recognized is echo time.
Claim 15
Dependent Claim
14 words
The invention of claim 1, in which the said influence recognized is echo strength.
Claim 16
Dependent Claim
15 words
The invention of claim 1, in which the said influence recognized is echo wave shape.
Claim 17
Dependent Claim
16 words
The invention of claim 1, in which multiple echos are recognized from each transmitted pressure wave.
Claim 18
Dependent Claim
18 words
The invention of claim 1, in which the said generating and receiving means are combined as a transceiver.
Claim 19
Dependent Claim
50 words
The invention of claim 1, in which the recognition means includes step-recognizer means for noting the pressure immediately before and after the sudden pressure rise of the sudden pressure wave to provide a threshold voltage intermediately of the noted pressure values, and voltage comparator means responsive to said threshold voltage.
Claim 20
Dependent Claim
22 words
The invention of claim 1, in which the recognition means includes means for comparing the echo strength with a preselected reference standard.
Claim 21
Dependent Claim
23 words
The invention of claim 1, in which the recognition means includes means for comparing the echo wave shape with a preselected reference standard.
Claim 22
Dependent Claim
19 words
The invention of claim 20, in which the comparing means is used to recognize a part of the work.
Claim 23
Dependent Claim
35 words
The invention of claim 1, in which the said translating means includes a time-to-voltage translator that converts the time between the sudden pressure wave generation and the reception of its reflection into a voltage value.
Claim 24
Dependent Claim
36 words
The invention of claim 1, in which the said translating means includes an echo strength to voltage translator that converts the received pressure just after the sudden rise of the pressure wave into a voltage value.
Claim 25
Dependent Claim
17 words
The invention of claim 20, in which the comparing means provides a signal to the control system.
Claim 26
Dependent Claim
30 words
The invention of claim 24, in which the signal to the control system is proportional to the degree of matching of the echo wave shape with the preselected reference standard.
Claim 27
Dependent Claim
23 words
The invention of claim 20, in which the preselected reference standard is a recording in a memory of a previous echo wave shape.
Claim 28
Dependent Claim
12 words
The invention of claim 22, in which the voltage value represents distance.
Claim 29
Dependent Claim
19 words
The invention of claim 23, in which the voltage value represents the area of a part of the work.
Claim 30
Dependent Claim
19 words
The invention of claim 23, in which the voltage value represents the texture of a part of the work.
Claim 31
Dependent Claim
19 words
The invention of claim 23, in which the voltage value represents the edge of a part of the work.
Claim 32
Dependent Claim
25 words
The invention of claim 23, in which the voltage value represents the angle of a part of the work piece with respect to the probe.
Claim 33
Dependent Claim
23 words
The invention of claim 1, in which the means for limiting the spread of the pressure wave is a multi apertured acoustic lens.
Claim 34
Dependent Claim
27 words
The invention of claim 1, in which the probe is scanned over the work in a line and the electric signal thereby provides information along that line.
Claim 35
Dependent Claim
15 words
The invention of claim 33, in which the work is moved in a scanning manner.
Claim 36
Dependent Claim
18 words
The invention of claim 1, in which the probe is scanned over the work in a raster pattern.
Claim 37
Dependent Claim
15 words
The invention of claim 35, in which the work is moved in a scanning manner.
Claim 38
Dependent Claim
16 words
The invention of claim 1, in which the said sudden pressure wave is a shock wave.
Claim 39
Dependent Claim
25 words
The invention of claim 1, in which the said means for limiting the angle of sensitivity of the receiver is a multi apertured acoustic lens.
Claim 40
Dependent Claim
71 words
The invention of claim 1, including a statically inert mass for mounting the piezo-bender disc at its center, said mass having annular clearance spaces for the disc freely to move in response to impressed voltage, a radiating surface activated by the disc to generate sudden pressure waves in the ambient atmosphere, and means for damping and absorbing residual and extraneous vibrations that are not components of a generated sudden pressure wave.
Claim 41
Dependent Claim
21 words
The invention of claim 1, in which the said means for translation includes compensation for changes in the ambient air temperature.
Claim 42
Dependent Claim
21 words
The invention of claim 1, in which the said means for translation includes compensation for changes in the ambient air density.
Claim 43
Dependent Claim
21 words
The invention of claim 1, in which the said means for translation includes compensation for changes in the ambient air pressure.
Claim 44
Dependent Claim
21 words
The invention of claim 1, in which the said means for translation includes compensation for changes in the ambient air humidity.
Claim 45
Dependent Claim
47 words
The invention of claim 1, in which the probe has a reflecting surface positioned so as not to interfere with the sudden pressure wave traveling to and from the work and which provides the translation means with a fixed reference standard for automatic compensation for atmospheric variations.
Claim 46
Dependent Claim
23 words
The invention of claim 1, in which the said recognizing means includes a comparison of the received wave shape with a predetermined standard.
Claim 47
Dependent Claim
18 words
The invention of claim 45, in which the predetermined standard is a recording of a previously received reflection.
Claim 48
Independent Claim
74 words
The method of controlling a robot that includes, generating a sudden pressure wave, focusing the sudden pressure wave through a multi apertured lens toward a work target, so as to reflect an echo of the sudden pressure wave therefrom, receiving said echo, and comparing said echo with a standard to derive information of matching or differential characteristics, translating said information into an electrical signal, and applying said signal to the controls of the robot.
Claim 49
Independent Claim
74 words
The method of controlling a robot that includes, generating a sudden pressure wave, focusing the sudden pressure wave through a multi apertured lens toward a work target, so as to reflect an echo of the sudden pressure wave therefrom, receiving said echo, and comparing said echo with a standard to derive information of matching or differential characteristics, translating said information into an electrical signal, and applying said signal to the controls of the robot.
Claim 50
Dependent Claim
25 words
The invention of claim 47, in which the electrical signal is applied to a separate control system and the probe is positioned with a robot.
Claim 51
Dependent Claim
19 words
The invention of claim 39, in which the disc generates sudden pressure waves that propagate in an ambient liquid.
Claim 52
Dependent Claim
19 words
The invention of claim 39, in which the disc generates sudden pressure waves that propagate in an ambient solid.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1987-07-10 | 1988-01-09 | 1988-07-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1991-07-10 | 1992-01-09 | 1992-07-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1995-07-10 | 1996-01-09 | 1996-07-10 | $7700.00 | Window Closed / Lapsed |