US3550630A - Serial-to-parallel hydraulic device - Google Patents
Serial-to-parallel hydraulic device Download PDFInfo
- Publication number
- US3550630A US3550630A US3550630DA US3550630A US 3550630 A US3550630 A US 3550630A US 3550630D A US3550630D A US 3550630DA US 3550630 A US3550630 A US 3550630A
- Authority
- US
- United States
- Prior art keywords
- serial
- control
- hydraulic device
- parallel
- parallel hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/43—Programme-control systems fluidic
- G05B19/44—Programme-control systems fluidic pneumatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S700/00—Data processing: generic control systems or specific applications
- Y10S700/90—Special robot structural element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/86389—Programmer or timer
- Y10T137/86445—Plural, sequential, valve actuations
Definitions
- a hydraulically operated manipulator is con- 54 SERIAL-TO-PARALLEL HYDRAULIC DEVICE 99" as aummfitic assembly "9 E and w Claims 27 Drawing Figs oin parts.
- a tape is perforated with coded InstructIons and drmensrons to control the sequence and amount of displace- U-S-Cl. ment means of incremental motions in several modes of 9 movement of the manipulator. Such modes include grip, [5 1] Int. weep X Y, Z (arcuate gripper wrist motion) and earch 6 5 19/00 (vibratory parts matching such as inserting a pin in a hole).
- the main omponents of the manipulator are a tape reader an 303 35, 36, 214/70, 113, 132-4, electrically and hydraulically controlled hydraulic serial-to- 624-1 624-18, 624-2, 635 parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series Of [56] References Cited X, Y, Z slide members with a gripper and a wrist member all UNITED STATES PATENTS driven by a common drive cable, and a vibratory hydraulic 3,072,146 1/1963 Gizeski 137/552 search mechanism.
- FIG. 14E PISTON ADDERS AT ZERO a ags 2150 2: l. 1 I I1 PATENTED 056291970 SHEET 15 0F 21 FIG. 14E
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Sewing Machines And Sewing (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
Description
I United States Patent 1' I 3,550,630
[72] Inventor Hugo A. Panissidi 3,198,084 8/1965 Hague et a1 r. 91/37X Peekskill,N.Y. 3,156,157 11/1964 Smith I /201 X [21] Appl. No. 695,139 3,198,084 8/1965 Hague 91/37 [22] Filed 1968 Prima 'ExaminerA1an Cohan {45 I patiz'med 1970 A ttoniZvs- Hanifin and Jancin and Graham 8. Jones 11 [73] AssIgnee International Business Machines Corporation Armonk, N.Y. a corporation of New York ABSTRACT: A hydraulically operated manipulator is con- 54 SERIAL-TO-PARALLEL HYDRAULIC DEVICE 99" as aummfitic assembly "9 E and w Claims 27 Drawing Figs oin parts. A tape is perforated with coded InstructIons and drmensrons to control the sequence and amount of displace- U-S-Cl. ment means of incremental motions in several modes of 9 movement of the manipulator. Such modes include grip, [5 1] Int. weep X Y, Z (arcuate gripper wrist motion) and earch 6 5 19/00 (vibratory parts matching such as inserting a pin in a hole). of Search 91/37(CL11'- The main omponents of the manipulator are a tape reader an 303 35, 36, 214/70, 113, 132-4, electrically and hydraulically controlled hydraulic serial-to- 624-1 624-18, 624-2, 635 parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series Of [56] References Cited X, Y, Z slide members with a gripper and a wrist member all UNITED STATES PATENTS driven by a common drive cable, and a vibratory hydraulic 3,072,146 1/1963 Gizeski 137/552 search mechanism.
SERIAL DIGITAL INPUTS ,soo
ELECTRICAL CIRCUITS A01 SERIAL BY SERIAL-T0- CHARACTER INPUTS 228 PARALLEL as CONVERTER 2s CONVERTER DATA vAI vEs I SYNCHRONIZATION CONTROL THREE POsITIoN PORT SWITCHING TOWER A102 SECTION STEPPING MODE INTEGER FRACTION DRIVE MEMORY MEMORY MEMORY VALVES VALVES VALVES T6 PARALLEL BY men OUTPUTS 4 SWEEP I5 CONTROL PISTON ADDERS, 35
LOGIC I TREE 26% SEARCH CABLE AND CONTROL PULLEYS 69 GRIP 26' 392 coNTRoI.
e CONTROL SERIAL DIGITAL'INPUTS /-800 ELECTRICAL CIRCUITS 2 SERIAL BY D SERIAL-W0 CHARACTER INPUTS 22 PARALLEL )3 CONVERTER 26 CONVERTER DATA VALVES SYNCHRONIZATION I CONTROL THREE POSITION PORT SWITCHING TOWER SECTION MODE INTEGER FRACTION STEPPING DRIVE MEMORY MEMORY MEMORY vALvEs VALVES VALVES Is PARALLEL BY L229 DIGIT OUTPUTS --R- j l... SWEEP 75 CONTROL PISTON ADDERS L LOGIC SEARCH TREE -2e2- CABLE AND L.
CONTROL. PULLEYS 69 GRIP 261 392 415 408/ CONTROL L e CONTROL 9 GEAR z CONTROL 2 ARM Y CONTROL Y ARM ,381' 38 1 x CONTROL x ARM INvENTOR HUGO A. PANISSID! ATTORNEY PATEN TEn-ntcze 19m sum 02 or 21 FIG. 2
PATENTED m2 9 19m sum as or .21
MAxmuu DISPLACEMENT CONVERSION CHART FOR 9 MODE (9 Yr+ Z MODES TOTAL PATENTEU 050291916 sum as or 21 PATENTEnuiczsl sm 3,550,630
saw us or 21 \(J STEP CONTROL VALVE CONTROL 63 PATENTFU UEC29 19m SHEET 10 0F 21 FIG. 12 PISTON ADDERS AT ZERO a ags 2150 2: l. 1 I I1 PATENTED 056291970 SHEET 15 0F 21 FIG. 14E
PATENTED HECZQ rem SHEET 180F21 to as 1 a) co N FIG. 14 H P e 2 T U. 52 U.
g s? E3 0' 5 I m u. i 2
LI. u E
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US69513968A | 1968-01-02 | 1968-01-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
US3550630A true US3550630A (en) | 1970-12-29 |
Family
ID=24791743
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US3550630D Expired - Lifetime US3550630A (en) | 1968-01-02 | 1968-01-02 | Serial-to-parallel hydraulic device |
Country Status (2)
Country | Link |
---|---|
US (1) | US3550630A (en) |
GB (1) | GB1246279A (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3835750A (en) * | 1973-05-14 | 1974-09-17 | Unimation Inc | Record-playback manipulator system utilizing hydraulic microbit actuators |
US3882893A (en) * | 1973-04-09 | 1975-05-13 | Leesona Corp | Fluid operable binary control system with diagnostic indicators |
US3984006A (en) * | 1974-02-01 | 1976-10-05 | Hitachi, Ltd. | Automatic assembly control system |
US4001556A (en) * | 1975-04-07 | 1977-01-04 | International Business Machines Corporation | Computer controlled pneumatic retractable search sensor |
US4153076A (en) * | 1977-12-08 | 1979-05-08 | Waters Associates, Inc. | Pneumatic valve apparatus |
US4696501A (en) * | 1986-01-30 | 1987-09-29 | Honeywell Inc. | Robot gripper |
US5125789A (en) * | 1990-01-02 | 1992-06-30 | Peerless Automation | Molded parts removal and transfer robot |
US20060095159A1 (en) * | 2004-10-29 | 2006-05-04 | Neil Desmond | Self structuring and computing system |
US20080298949A1 (en) * | 2005-02-21 | 2008-12-04 | Csi Industries B.V. | Palletizing Unit and Method for Installing a Palletizing Unit |
CN112239065A (en) * | 2020-11-26 | 2021-01-19 | 苏州诚尚精密模具有限公司 | Automatic mould processing turning device based on manipulator |
CN114439447A (en) * | 2021-11-12 | 2022-05-06 | 烟台杰瑞石油服务集团股份有限公司 | Connecting device of manifold sledge, fracturing system and operation method of fracturing system |
-
1968
- 1968-01-02 US US3550630D patent/US3550630A/en not_active Expired - Lifetime
- 1968-12-20 GB GB6055568A patent/GB1246279A/en not_active Expired
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3882893A (en) * | 1973-04-09 | 1975-05-13 | Leesona Corp | Fluid operable binary control system with diagnostic indicators |
US3835750A (en) * | 1973-05-14 | 1974-09-17 | Unimation Inc | Record-playback manipulator system utilizing hydraulic microbit actuators |
US3984006A (en) * | 1974-02-01 | 1976-10-05 | Hitachi, Ltd. | Automatic assembly control system |
US4001556A (en) * | 1975-04-07 | 1977-01-04 | International Business Machines Corporation | Computer controlled pneumatic retractable search sensor |
US4153076A (en) * | 1977-12-08 | 1979-05-08 | Waters Associates, Inc. | Pneumatic valve apparatus |
WO1979000359A1 (en) * | 1977-12-08 | 1979-06-28 | Waters Associates Inc | Pneumatic valve apparatus |
US4696501A (en) * | 1986-01-30 | 1987-09-29 | Honeywell Inc. | Robot gripper |
US5125789A (en) * | 1990-01-02 | 1992-06-30 | Peerless Automation | Molded parts removal and transfer robot |
US20060095159A1 (en) * | 2004-10-29 | 2006-05-04 | Neil Desmond | Self structuring and computing system |
US7567854B2 (en) * | 2004-10-29 | 2009-07-28 | Neil Desmond | Self structuring and computing system |
US20080298949A1 (en) * | 2005-02-21 | 2008-12-04 | Csi Industries B.V. | Palletizing Unit and Method for Installing a Palletizing Unit |
CN112239065A (en) * | 2020-11-26 | 2021-01-19 | 苏州诚尚精密模具有限公司 | Automatic mould processing turning device based on manipulator |
CN114439447A (en) * | 2021-11-12 | 2022-05-06 | 烟台杰瑞石油服务集团股份有限公司 | Connecting device of manifold sledge, fracturing system and operation method of fracturing system |
CN114439447B (en) * | 2021-11-12 | 2022-11-18 | 烟台杰瑞石油服务集团股份有限公司 | Connecting device of manifold sledge, fracturing system and operation method of fracturing system |
Also Published As
Publication number | Publication date |
---|---|
GB1246279A (en) | 1971-09-15 |
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