U.S. patent number 3,770,140 [Application Number 05/074,784] was granted by the patent office on 1973-11-06 for sensor responsive cybernetics machine.
This patent grant is currently assigned to American Associated Cybernetics, Inc.. Invention is credited to William J. Dukette.
United States Patent |
3,770,140 |
Dukette |
November 6, 1973 |
**Please see images for:
( Certificate of Correction ) ** |
SENSOR RESPONSIVE CYBERNETICS MACHINE
Abstract
A machine for locating, engaging and moving an article located
on a work surface. The machine includes a head movable in vertical,
lateral and thrust axes, sensors along each such axis and
programmer means for selectively sensitizing selected sensors to
stop said head at selected positions along each such axis. In some
embodiments the selected positions are manually predetermined while
in other embodiments the selected positions are determined by
sensors which locate the desired article.
Inventors: |
Dukette; William J. (Palisades
Park, NJ) |
Assignee: |
American Associated Cybernetics,
Inc. (New York, NY)
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Family
ID: |
26756054 |
Appl.
No.: |
05/074,784 |
Filed: |
September 23, 1970 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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65560 |
Aug 20, 1970 |
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861015 |
Sep 25, 1969 |
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Current U.S.
Class: |
414/627; 901/3;
901/16; 901/23; 901/40; 294/110.1; 901/9; 901/20; 901/26;
901/39 |
Current CPC
Class: |
B25J
13/08 (20130101); B25J 9/023 (20130101) |
Current International
Class: |
B25J
9/02 (20060101); B25J 13/08 (20060101); B25j
009/00 () |
Field of
Search: |
;214/1BB,1BT,1B,1CM
;294/110 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Computer Control of a Mechanical Arm Through Visual Input; Stanford
University; Stanford, California..
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Primary Examiner: Forlenza; Gerald M.
Assistant Examiner: Abraham; George F.
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATION
This application is a continuation-in-part of copending application
Ser. No. 65,560 filed Aug. 20, 1970, now abandoned, which was a
continuation-in-part of copending application Ser. No. 861,015,
filed Sept. 25, 1969, now abandoned.
Claims
What is claimed is:
1. An automatic article manipulator which searches for, locates,
engages and manipulates an article, comprising:
a. a frame;
b. an article engaging head movably mounted on said frame for
movement along at least one axis;
c. drive means for moving said article engaging head;
d. position sensor means providing a first signal representative of
the position of said article engaging head;
e. an article responsive sensor mounted on said head and providing
a second signal when said drive means moves said head into engaging
relation with an article;
f. control means for controlling said drive means in response to
said first signal;
g. means for stopping the movement of said article engaging head in
response to said second signal when said manipulator is searching
for an article; and
h. means for actuating said article engaging head when said head is
engagingly located with respect to an article.
2. The apparatus of claim 1 wherein said article responsive sensor
is a photocell.
3. The apparatus of claim 2 wherein the optical field of view of
said photocell is not greater than 3.degree..
4. The apparatus of claim 2 wherein said position sensor means
comprises a plurality of sensors mounted in relatively fixed spaced
positions along said one axis and means movable with said head for
actuating said sensors.
5. The apparatus of claim 4 which further includes means for
controlling the speed of said drive means.
6. The apparatus of claim 5 wherein said speed control means is
responsive to said first signal from said position sensor
means.
7. A programmable automatic article manipulator which searches for,
locates, engages and manipulates an article, comprising:
a. a frame;
b. an article engaging head movably mounted on said frame for
movement along at least one axis;
c. drive means for moving said article engaging head;
d. position sensor means providing a first signal representative of
the position of said article engaging head;
e. an article responsive sensor mounted on said head and providing
a second signal when said drive means moves said head into engaging
relation with an article;
f. a program signal generator for providing program signals;
g. first control means, programable in response to said program
signals, for controlling said drive means in programmed response to
said first signal;
h. second control means, programable in response to said program
signals, for stopping the movement of said article engaging head in
programmed response to said second signal when said manipulator is
searching for an article; and
i. means for actuating said article engaging head when said head is
engagingly located with respect to an article.
8. The apparatus of claim 7 wherein said article responsive sensor
is a photocell.
9. The apparatus of claim 8 wherein the optical field of view of
said photocell is not greater than 3.degree..
10. The apparatus of claim 8 wherein said position sensor means
comprises a plurality of sensors mounted in relatively fixed spaced
positions along said one axis and means movable with said head for
actuating said sensors.
11. The apparatus of claim 10 which further includes means for
controlling the speed of said drive means.
12. The apparatus of claim 11 wherein said speed control means is
responsive to said first signal from said position sensor
means.
13. An automatic article manipulator which searches for, locates,
engages and manipulates an article, comprising:
a. a frame;
b. an article engaging head movably mounted on said frame;
c. longitudinal drive means for moving said article engaging head
along a longitudinal axis;
d. transverse drive means for moving said article engaging head
along a transverse axis which is orthogonal to said longitudinal
axis;
e. longitudinal position sensor means for providing a first signal
representative of the longitudinal position of said article
engaging head;
f. transverse position sensor means for providing a second signal
representative of the transverse position of said article engaging
head;
g. an article responsive sensor mounted on said head and providing
a third signal in response to the presence of an article to be
engaged when said article is transversely aligned with said
head;
h. a first longitudinal control means for controlling said
longitudinal drive means in response to said first signal;
i. second longitudinal control means for stopping the movement of
said article engaging head in response to said third signal when
said manipulator is searching for an article;
j. transverse control means for controlling said transverse drive
means in response to said second signal; and
k. means for actuating said article engaging head when said head is
engagingly located with respect to an article.
14. The apparatus of claim 13 wherein said article engaging head
comprises a pair of jaws movably mounted on said head for engaging
an article.
15. The apparatus of claim 14 wherein said means for actuating said
article engaging head comprises:
a. a detector mounted on said head for providing an output signal
when an article is located between said jaws; and
b. means for closing said jaws in response to said output
signal.
16. The apparatus of claim 14 which further includes:
a. vertical drive means for moving said article engaging head along
a vertical axis;
b. vertical position sensor means for providing a fourth signal
representative of the veritcal position of said article engaging
head; and
c. vertical control means for controlling said vertical drive means
in response to said fourth signal.
17. The apparatus of claim 16 wherein said vertical position sensor
means is mounted on said article engaging head.
18. The apparatus of claim 16 wherein said vertical position sensor
means comprises a plurality of sensors mounted in relatively fixed
spaced positions along said vertical axis and means movable with
said head for actuating said vertical position sensors.
19. A programable automatic article manipulator which searches for,
locates, engages and manipulates an article, comprising:
a. a frame;
b. an article engaging head movably mounted on said frame;
c. longitudinal drive means for moving said article engaging head
along a longitudinal axis;
d. transverse drive means for moving said article engaging head
along a transverse axis which is orthogonal to said longitudinal
axis;
e. longitudinal position sensor means for providing a first signal
representative of the longitudinal position of said article
engaging head;
f. transverse position sensor means for providing a second signal
representative of the transverse position of said article engaging
head;
g. an article response sensor mounted on said head and providing a
third signal in response to the presence of an article to be
engaged when said article is transversely aligned with said
head;
h. a program signal generator for providing program signals;
i. first longitudinal control means, programable in response to
said program signals, for controlling said longitudinal drive means
in programmed response to said first signal;
j. second longitudinal control means, programable in response to
said program signals, for stopping the movement of said article
engaging head in programmed response to said second signal when
said manipulator is searching for an article;
k. transverse control means for controlling said transverse drive
means in response to said second signal; and
l. means for actuating said article engaging head when said head is
engagingly located with respect to an article.
20. The apparatus of claim 19 wherein said article engaging head
comprises a pair of jaws movably mounted on said head for engaging
an article.
21. The apparatus of claim 20 wherein said means for actuating said
article engaging head comrpises:
a. a detector mounted on said head for providing an output signal
when an article is located between said jaws; and
b. means for closing said jaws in response to said output
signal.
22. An automatic article manipulator which searches for, locates,
engages and manipulates an article, comprising:
a. a frame;
b. an article engaging head movably mounted on said frame;
c. longitudinal drive means for moving said article engaging head
along a longitudinal axis;
d. transverse drive means for moving said article engaging head
along a transverse axis which is orthogonal to said longitudinal
axis;
e. longitudinal position sensor means for providing a signal
representative of the longitudinal position of said article
engaging head;
f. transverse position sensor means for providing a second signal
representative of the transverse position of said article engaging
head;
g. a first article responsive sensor mounted on said head and
providing a third signal in response to the presence of an article
to be engaged when said article is transversely aligned with said
head;
h. a second article response sensor mounted on said head and
providing a fourth signal in response to the presence of an article
to be engaged when said article is longitudinally aligned with said
head;
i. first longitudinal control means for controlling said
longitudinal drive means in response to said first signal;
j. second longitudinal control means for stopping the longitudinal
movement of said article engaging head in response to said third
signal when said manipulator is searching for an article;
k. first transverse control means for controlling said transverse
drive means in response to said second signal;
l. second transverse control means for stopping the transverse
movement of said article engaging head in response to said fourth
signal when said manipulator is searching for an article;
m. means for actuating said article engaging head when said head is
engagingly located with respect to an article.
23. The apparatus of claim 22 which further includes:
a. vertical drive means for moving said article engaging head along
a vertical axis;
b. vertical position sensor means for providing a fifth signal
representative of the vertical position of said article engaging
head; and
c. vertical control means for controlling said vertical drive means
in response to said fifth signal.
24. The apparatus of claim 23 wherein said article engaging head
comprises a pair of jaws movably mounted on said head for engaging
an article.
25. The apparatus of claim 24 wherein said means for actuating said
article engaging head comprises:
a. a detector mounted on said head for providing an output signal
when an article is located between said jaws; and
b. means for closing said jaws in response to said output
signal.
26. A programable article manipulator which comprises:
a. a frame;
b. an article engaging head movably mounted on said frame for
movement along at least one axis;
c. drive means for moving said article engaging head;
d. sensor means for providing a position signal representative of
the position of said article engaging head;
e. a program signal generator for providing program signals;
f. relay logic control means, programable in response to said
program signals and logically responsive to said position signals,
for controlling said drive means;
g. a light source mounted on said article engaging head;
h. a photocell providing a reflection output signal in response to
light from said light source which is reflected from an article to
be engaged; and
i. means for stopping said drive means in response to said
reflection output signal.
Description
BACKGROUND OF THE INVENTION
This invention relates to a machine for handling objects and, more
particularly, to a machine for locating and engaging an object
within the operational range of the machine and for moving the
engaged object through a preset movement cycle and for delivering
the engaged object to a pre-determined location.
Many manufacturing operations, previously carried out manually,
have been automated. Such automation has included machines,
specifically built for a particular operation, such as, milling,
drilling, turning, etc., into which the object, or part, upon which
work is to be performed, must be delivered to the machine at a
precise location. Such machines have been designed to perform
specific operations, have required specially trained, and in many
instances computer trained, operators and, perform only a specific
operation. Such machines, when the specific operation is not being
performed, stand idle. Because of the cost of such machines,
equipment, such as a computer, to run such machines, the need for
specially trained operators, the specific use of such machine, and
other reasons, the use of such machines have been limited. Many
operations, especially where production is small, have not been
automated.
The instant invention overcomes many of the problems heretofore
encountered in automated machines by providing a machine readily
adaptable to a broad range of different and unrelated operations
and to the service and command of other machines associated
therewith as will be apparent from the following summary and
description of the invention.
SUMMARY OF THE INVENTION
The apparatus of my invention includes an article engaging head
mounted on a frame and drive means for moving said head, e.g., one
or more electrical motors. The drive means are controllable by a
relay logic control system which is programable in response to
signals received from a programmer and is also responsive to
signals received from sensors which detect the position of the
article engaging head. Because the relay logic control system is
programable, the programmer may be disconnected from the relay
logic control system after the program signals have been impressed
thereon. Similarly, once the relay logic control system has been
programmed, the relay logic control system will direct a movement
of the article engaging head without intervention by the
programmer. Alternatively, the information programmed into the
relay logic control system by the programmer may be altered, to
change a movement of the head, without the need to reprogram. After
a movement is completed, the relay logic control system may be
cleared of program signals prior to activating the programmer to
its next step whereupon program signals are again impressed upon
the programable relay logic control system.
Broadly stated my invention comprises an apparatus for locating and
engaging an article, moving the engaged article to at least one
pre-set point and, after the article is at the last pre-set point,
releasing the engaged article. The apparatus comprises a head,
means for moving the head along an axis vertical to an article
located on a supporting surface and means for moving the head
longitudinally of the supporting surface. Sensor means are provided
on the head responsive to movement of the head along the vertical
axis toward the supporting surface for stopping the vertical axis
moving means. Sensor means are also provided on the horizontal axis
for stopping the horizontal axis moving means and for stopping the
head on the horizontal axis when the head reaches either a pre-set
point or a point determined by head-mounted sensors which are
capable of locating the desired article. Means on the head engage
the article on the supporting surface when the engaging means on
the head is brought into contact with the article.
In contrast to most prior devices of this sort, the instant machine
does not require that the object, or part, be delivered to the
machine at any precise location. In the machine of the instant
invention, the machine seeks out and locates the object or part
and, having located the object, engages the object and moves the
object through a series of programmed operations, such as drilling,
boring, inspecting, etc. As various operations are performed, the
machine may be programmed to inspect the object, either during
movement from one operation to another, after each operation, or
series of operations, and, if desired, classify, count and record
such count of the inspected object.
The machine may be programmed so that, during its operating cycle,
operations on the object may be transferred to and taken over by an
associated machine, for example, a drill, and, after the work to be
performed by the associated machine has been completed, to take
over and complete further operations. The machine may also be used
to index the object, or part, upon which work is to be performed,
to other machines without the use of jigs or fixtures.
When the machine of the instant invention is not in use in one
location, it may be easily moved to another location to perform
different operations and programmed for such different operations.
Programming of the machine is relatively simple and can be readily
performed.
The machine of the instant invention operates in three axes,
lateral, vertical, and horizontal, the latter axis, for purpose of
identification is hereinafter referred to as "thrust." As will be
later described, each axis of the machine may be adjustable and
sensitized so that, when at a preselected location, a pre-set
operation will be performed. In addition to the plurality of
increments on each axis and the programming unit, the machine of
the instant invention also includes sensing units associated with
each axis which enable the machine, when such sensing units are in
operation, to seek out, locate and engage the object upon which
work is to be performed and to energize the programming unit.
BRIEF DESCRIPTION OF THE DRAWINGS
The instant invention will be more fully understood from the
following description of the preferred embodiment and drawings in
which:
FIG. 1 is a front elevational view of the machine of the instant
invention;
FIG. 2 is a side elevational view of the machine of FIG. 1;
FIG. 2A is a block diagram representation of the control system of
my invention;
FIG. 3 is a schematic diagram of the circuitry of the motor
controls of the apparatus of FIGS. 1 and 2;
FIG. 4 is a schematic diagram of the circuitry of the sensor
controls of the apparatus of FIGS. 1 and 2 and the position
controls and speed control actuators controlled thereby;
FIG. 5 is a schematic diagram of the And Gate controls, programmer
motor control and feed back circuitry of the controls of the
apparatus and the control circuitry of FIGS. 3, 4 and 6;
FIG. 6 is a schematic diagram of the speed control circuitry
controlled from the speed control actuators of FIG. 4;
FIG. 7 is a schematic diagram of the sensor control circuitry and
motor at the vertical axis of the apparatus of FIGS. 1 and 2;
FIG. 8 is a perspective view, taken from the bottom of a modified
head for the apparatus of FIGS. 1 and 2, with the movement of the
head along the vertical, horizontal and thrust axis controlled in
response to sensors located on such head;
FIG. 9 is a diagram of head movement, in an illustrative pattern,
of the apparatus of FIGS. 1 and 2, as controlled by the circuitry
of FIGS. 3 to 7; and
FIG. 10 is a schematic diagram of the circuitry of a photometric
sensor control for lateral movement of the apparatus of FIGS. 1, 2
and 8.
DESCRIPTION OF CERTAIN PREFERRED EMBODIMENTS
Referring to FIGS. 1 and 2, the illustrated embodiment of the
machine of the instant invention includes a frame, generally
designated 2, having a lower base 4, for resting on the floor, and
an upper base 6. Base 4 may be provided with retractable wheels, or
other means, for moving the machine from place to place but, when
in place, preferably, lower base 4 rests on the floor. Supports 8,
10, 12, 14 extend upwardly from upper base 6. Guide rods 16, 18 are
fixed, at their opposite ends, to supports 8, 12 and 10, 14,
respectively. Carriage frame 20, 22, to which lateral carriage 24
is fixedly attached, such as by welding, is mounted on guide rods
16, 18 for movement thereon, between limit switches 26, 28, mounted
on supports 8, 12, for purposes hereinafter described.
Carriage drive motor 30 is fixed to motor support 32, in turn,
fixed, as by for example, welding, to lower base 4. Motor 30 is
connected, through clutch-brake 34, shafts 36, 38 and gears 40, 42
to the end of lead screw 44, mounted, for rotation in bearing
blocks 46, 48, fixed to upper base 6. Lead screw 55 is threaded
through members 50, 52, fixed, as by for example, welding, to
carriage frame 20, 22, respectively, so that, as motor 30 and the
clutch of clutch-brake 34 are engaged to turn lead screw 44,
carriage frame 20, 22 and lateral carriage 24 are moved laterally
of fixed frame 2. For purposes later described, lateral sensors 54
are mounted on upper base 6 and sensor actuator arm 56 is mounted
on carriage 24 for movement with the carriage to transverse sensors
54.
Thrust carriage base 60 is mounted on top of lateral carriage 24
and mounted for sliding movement thereon. Flanges 62, and 64, on
thrust base 60, engaging the under side of the upper flange on
lateral carriage 24. As best shown in FIG. 1, I beams 66, 68 are
fixed, as by for example, welding, to carriage base 60 and channel
member 70, having upward extending flanges 72, 74, is fixed, as by
for example, welding, to the upper ends of beams 66, 68 and extends
outwardly beyond the end thereof, FIG. 2, for purposes later
described.
Thrust motor 80 is fixed to the top of lateral carriage 24 and,
through clutch-brake 82, is connected to lead screw 84 rotatably
mounted in bearing blocks 86, 88 also fixed to the top of lateral
carriage 24. Plate 90 is fixed, as by for example, welding, to
thrust carriage base 60, beams 66, 68 and channel member 70.
Threaded members 92, 94, threaded on lead screw 84, are fixed to
the opposite faces of plate 90 and, in addition to being threaded
through members 92, 94, lead screw 84 extends through plate 90.
Limit switch 96 is fixed to bearing block 88 and limit switch 98 is
fixed to bearing block 86 for purposes later described herein.
Thrust sensor 100 are mounted in fixed position on lateral carriage
24 and thrust sensor actuator 102 is mounted on thrust carriage
base 60 for movement with such carriage base to traverse sensors
100 for purposes later described. The fixed positions of the
sensors 100 on the carriage 24 and of the sensors 54 on upper base
6 should be adjustable. For this purpose the sensors may be held in
their respective positions by releasable springs, screws or other
suitable means.
Vertical adjustable member 110, having a rack 112 thereon, is
mounted, at the outer end of channel member 70, in bearing block
114. Pinion 116, on shaft 118 connected through clutch-brake 120 to
motor 122, mounted on channel member 70, engages the teeth of rack
112 to move vertical adjustable member 110 upwardly, and
downwardly, as will be more fully described later herein. Plate 124
is fixed to the upper end of vertical adjustment member 110 and
head, generally designated 126, is fixed to the opposite end of
member 110.
In the illustrated embodiment, head 126 includes upper plate 128,
fixed to the end of member 110, and lower plate 130 attached by
resilient members 132, 134, 136, 138 to plate 128. Suction cup 140
is mounted in plate 130 and connected, by conduit 142, to a vacuum
source, not shown.
Limit switches 144, 146 are fastened to the opposite sides of
bearing block 114 and sensors 148, 150 are mounted on channel
member 70 and plate 128, respectively. Sensor actuator 152 is
adjustably mounted on vertical adjustment member 110, for purposes
hereinafter described.
As will be described in more complete detail, the machine of the
instant invention may be adapted for a wide variety of operations
to locate, pick up and move an object from one point within the
operating zone of the machine, position and hold such object at
various locations within the zone, and deliver and release such
object at a point in such zone. By lengthening the axes of such
machine, the machine operating zone might be enlarged. Conversely,
by shortening the axes, such zone may be restricted. In any event,
the object is located and picked up by head 126 which, in the
embodiment of FIG. 1, is provided with a suction cup for engaging
and holding the object. In the illustrated embodiment, the machine
is intended for use with a bench or table, such as shown in FIG. 9,
and the height of vertical adjustment member 110 is designed
accordingly. Obviously, by lengthening vertical adjustment member
110, the machine may be adapted to locate and pick up objects at
floor level or even below floor level.
The machine of the instant invention locates, picks up, moves and
relases the object automatically and is controlled, selectively, by
lateral sensors 54, thrust sensors 100 and vertical sensors 148,
150 in a manner which will be described. Once the object is located
and picked up, the object is moved from location to location
mechanically but under the control of selected sensors. For reasons
better understood from the following description of the sensor
control circuitry, precise, or precision, mechanical drives for
moving the object from place to place in the three axes are not
required. Clearances, slippages, and the like, normally encountered
in mechanical drives, do not affect the precise movement of the
object with the apparatus of the instant invention. This is of
substantial importance to the precise movement and precise location
of the object by the apparatus of the instant invention because
errors in the mechanical drive are eliminated and not accumulated,
and the need for precise and expensive drive gear is avoided.
Motors 30, 80 and 122 are reversible motors which, while the
apparatus is in use, are driven constantly in the forward or
reverse direction and at a speed controlled through the control
circuitry hereinafter described. In the illustrated embodiment,
motors 30, 80, 122 are each powered from a 220 V. A/C power supply
and the control circuits are powered from a 110 V. A/C power
supply. Clutch-brakes 34, 82, 120 are, except when energized as
hereinafter described, in the brake position and, when energized,
are put into the clutch position. When deenergized, clutch-brakes
34, 82, 120 return to the brake position.
Having described the gross, mechanical features of an apparatus
which may be used to practice my invention, the control strategy
which reflects my invention will now be described. Referring to
FIG. 2A, the control strategy of my invention is represented in
block diagram form. Thus, to commence a particular movement the
programmer provides a plurality of program signals. The actual
number of signals which the programmer provides would vary greatly
depending upon the particular form of my invention and the movement
which is desired. For example, as heretofore pointed out with
respect to the apparatus shown in FIGS. 1 and 2, the article
engaging head may move along any one of three axis'. Moreover, it
may be desired to vary the speed of the article engaging head 140
as it moves along one or more axis'. Thus, depending upon the
movement desired and the capabilities of the particular machine,
the number of program signals from the programmer may vary. To
facilitate a general understanding of my invention, the block
diagram representation of FIG. 2A generally presupposes that
movement along only a single axis is required and such movement
will proceed at a constant speed. Thus, in its most basic form, the
programmer provides two signals, P.sub.D and S, to the programable
relay logic control system. The signal P.sub.D is a signal
representative of the desired position of the head 140, i.e.,
P.sub.D represents the position to which one desires to move the
article engaging head 140. The signal S is a signal commanding the
associated drive means or motor to commence movement. For example,
assuming that the desired movement of the article engaging head is
simply a movement along the vertical axis to a new vertical
position, the signal S would command the vertical motor to move and
the signal P.sub.D would establish the desired vertical position at
which movement should cease. It may be noted that, in FIG. 2A,
there is a third signal, D, shown as emanating from the programmer.
The signal D, if employed, would direct the drive means or motor to
run in a desired direction. Thus, if the history of the movement of
the article engaging head 140 indicated that its current position
was below the desired position, P.sub.D, the signal D would direct
the motor to run in a direction such that the article engaging head
would move upwards. Obviously, providing directional information
such as the signal D is desirable since the time to move from the
present position to the desired position will be minimized.
However, if travel time is not critical, the drive means can be
allowed to proceed in the direction of its last movement. If, by
chance, this movement is incorrect, limit switches of the type
hereinafter disclosed may be employed to stop the movement of the
article engaging head 140 when it reaches an extreme position, and
subsequently, automatically reverse the direction of the motor.
Mechanisms for achieving such automatic direction reversal are well
known to those skilled in the art. Although the provision of a
direction signal is not necessary for the operation of my
invention, such a signal is shown in FIG. 2A in order to indicate
at least one optional control command that might be employed.
Having established the nature of the program signals, S, D and
P.sub.D, supplied by the programmer, it will be observed that these
signals are provided to, what is generally referred to as, a
programmerable relay logic control (PRLC). In general, the PRLC
embodies the control which reflects my invention and is
particularly characterized by the fact that it is programable
wherein the word programable will be understood to mean a system
comprised of relays wherein the relays will respond to program
signals impressed thereon and in response to such program signals
will assume a particular logic state and will retain such a logic
state when the aforesaid program signals have discontinued.
Additionally, it is to be understood that the word relay, as used
herein, does not include stepping relays of the telephone type but
does include electro-mechanical relays, such as solanoid-actuated
latching relays and solid state equivalents thereof. As will
hereinafter be pointed out in more detail, significant operational
benefits are realizable through the use of programable relay logic
as hereinbefore defined.
Returning to a consideration of FIG. 2A, within the PRLC, the
desired position signal, P.sub.D, is supplied to or impressed upon
a Position Logic element. In response thereto, the Position Logic
element assumes a particular logic state. Thereupon, the signal
P.sub.D may be discontinued. Similarly, the signal S and the signal
D is impressed upon the Drive Start-Stop element and the Motor
Control element, respectively. As was the case with the Position
Logic element, the Drive Start-Stop element and the Motor Control
element logically respond to the signal S and D, respectively,
whereupon the signals may be discontinued. Thus, it will be
appreciated that, at this point in time, the PRLC has been
programmed and the program signal inputs from the programmer may be
disconnected as indicated by the broken lines a, b and c.
Considering the response of the PRLC to the signals which have be
impressed thereon, in response to the start signal S, the motor
control element is directed to actuate the drive means and the
drive means are actuated by the motor control element in such a
manner as to cause the drive means to move in a direction commanded
by the signal D. Thereafter, movement caused by the drive means
continues while position feedback information is detected by
position sensors having an output responsive to the position of the
article engaging head 140 and, in this particular example, in
response to the vertical position of the article engaging head 140.
The position sensors provide an output signal P.sub.A
representative of the actual position the article engaging head
140. The signal P.sub.A is supplied to the Position Logic element
which has assumed a logical state in response to the program signal
P.sub.D. When the Position Logic element detects that the actual
position and the desired position are coincident (P.sub.A
=P.sub.D), a stop signal is provided by the Position Logic element
to the Drive Start-Stop element whereupon motion (in this case
vertical movement) ceases. At this point, it will be appreciated
that the desired movement has occurred in response to the program
information impressed upon the PRLC by the programmer. Thus, the
output of the Position Logic element is supplied to a Reset
element.
If my invention were to be utilized in conjunction with an article
manipulator having only a single degree of freedom, i.e., an
article manipulator which could only move along a single axis, the
output of the Position Logic element would be supplied directly to
the Reset element. However, in a more typical application, the
article manipulator will be adapted for movement along with three
axis', viz. vertical, thrust (T) and lateral (L). With such a
system, the end of a movement would occur when movement along all
three axis' had stopped. Thus, to detect such an event, a AND gate
may be introduced before the Reset element and supplied with
signals from the Position Logic element for the vertical axis, the
lateral axis and the thrust axis. Thus, when movement along all
three axis' had ceased, the AND gate would supply an output signal
to the Reset element. The inputs T and L to the And, as shown in
FIG. 2A, would be provided from the Position Logic element for the
Thrust and lateral axis systems if movement along all three axis'
was within the capability of the machine.
The Reset element, which I utilize in my preferred embodiment, is
employed to take advantage of the characteristics of the type
relays which I employ. Thus, when a movement of the article
engaging head 140 is completed, the Reset element provides a signal
to the Position Logic which clears the Position Logic element of
all previously stored information, for example, the last P.sub.D
signal. Clearing the Position Logic is advantageous in that one
would then know that, at the end of a movement, the Position Logic
should be in a "cleared" state. As such, a diagnostic check may be
performed upon the Position Logic at the end of each movement and
prior to commencing the next movement. The ability to perform such
a diagnostic check is one of the advantages alluded to hereinbefore
as being an advantage associated with the use of relays rather than
telephone types stepping switches.
The Reset element is also employed to activate a Index element
which provides an output signal to the programmer and thus indexes
the programmer to its next position whereupon new control
information is generated in the form of program signals that are
once again impressed upon the PRLC. In this manner, an article may
be automatically manipulated, e.g., moved from point to point.
Additionally, at any time, one may alter the programmed movement by
impressing new signals upon the PRLC and, most importantly, this
change in movmeent can be achieved without requiring a new program.
This feature of my invention arises from the fact that by utilizing
a programable control system, the control system responds to the
last program signal and continues its control function until the
last programmed signal has been satisfied. Since the programmed
control system always tries to satisfy the last programmed control
signal, it is not "aware" of the fact that the programmer may have
been by-passed and, upon satisfying its last instructed command,
will resume its response to programmed signals.
Having set forth the general control strategy which embodies my
invention, a specific embodiment of my invention will be
hereinafter described.
The control circuitry, illustrated diagrammatically in FIGS. 3 to
7, is sensor and programmer responsive, the programmer selecting
and connecting the responsive sensor to the control circuit and, in
some instances, as will be described, activating the circuitry. The
programmer, not shown, may be of any motor driven type, having a
drum which, when rotated, actuates a plurality of switches. The
programmer is driven intermittently and, preferably, the programmer
motor is a stepper motor. The switches are aligned along the drum
and actuated by detents on the drum. When actuated, the programmer
motor is stepped twice. The first stepping of the programmer motor
brings the detents on the drum, aligned on the drum with switches
to be closed, in contact with such switches and the second stepping
releases or reopens such switches. The closed switches actuate
solenoids on latcher switches in the control circuitry which will
be described.
Referring now, to FIGS. 3 to 7, showing the control circuitry, each
axis of machine movement, that is, lateral, vertical and thrust, is
provided with its own motor and control circuitry which circuitry,
for each axis, is identical or substantially identical to the
circuitry of the other axes. Thus, in the drawings and in the
following description, the circuitry of the lateral axis will be
described, it being understood that, except where otherwise noted
in the description, the control circuitry of the remaining axes are
identical.
As best shown in FIG. 3, the direction in which the motor is driven
is controlled, from the progammer, by switches 202, 204, the detent
on the program drum being set to close either switch 202 or 204,
depending upon which direction the carriage to be driven by the
motor is to travel during the next cycle of operation. Once one of
the switches has been closed and reopened by the programmer, the
motor will continue to operate in the direction determined by the
closed and reopened switch and further closing or opening of such
switch by the programmer is not required. For example, once switch
202 is closed and reopened by the programmer, closing and reopening
of switch 202 by the programmer is not again required until after
switch 204 has been closed and reopened to operate the motor in the
reverse direction and it is again desired to re-reverse the
direction of motor operation.
Referring to FIG. 3, one side of programmer switch 202 is
connected, by lead 206, to one side of the 110 V. A/C supply line
and the other side is connected, by lead 208, to solenoid 210 of
latcher switch 202. Solenoid 210 is connected, through lead 214, to
the other side of the 110 V. A/C supply, through main power switch
216 and fuse 218. When the detent on the programmer drum closes
switch 202, solenoid 210 is energized, latching latcher switch 212
in closed position.
One side of latcher switch 212 is connected, through leads 220,
252, to lead 206 and the other side of latcher switch is connected,
through leads 222 to timer motor 224. The other side of timer motor
224 is connected, by lead 226, to lead 214. When latcher switch 212
is closed, timer motor 224 is energized and closes and then reopens
timer switch contacts 228, 254. One side of timer switch arm 230 is
connected, by lead 232, to lead 222 and timer switch contact 228 is
connected, by lead 234, to one side of solenoid 236 of switches
238, 240. The other side of solenoid 236 is connected, by leads
242, 244, 246, 248, 250, 252, to lead 206. When timer switch arm
230 is closed with contact 228, solenoid 236 is energized and
closes switches 238, 240, in the 220 V. circuit, shown in heavier
lines in FIG. 4, to reverse lateral driving motor 30, as will be
hereinafter described.
After closing timer switch arm 230 with contact 228, timer motor
224 opens timer switch arm 230 from contact 228 and closes timer
switch arm 230 with contact 254. Contact 245 is connected, by lead
256, to one side of solenoid 258 and the other side of solenoid 258
is connected, by leads 260, 248, 250 and 252 to lead 206. When
timer switch arm 230 is closed with contact 254, solenoid 158 is
energized, and opens latcher switch 212, cutting off the power to
timer motor 224. Latcher switch 212 and the other latcher switches
shown in the drawings are two coil relays which have the
characteristic of remaining in position until the opposite coil is
energized. For example, switch 212, which was moved to its lower
position on energization of coil 210 remainded in that position
until coil 258 was energized.
Still referring to FIG. 3, one side of programmer switch 204 is
connected, by leads 270, 214, to one side of the 110 V. A/C supply
line and the other side is connected by lead 272 to one side of
solenoid 274. The other side of solenoid 274 is connected, by leads
276, 246, 248, 250, 252, 206 to the other side of the 110 V. A/C
supply line. When the detent on the programmer drum closes
programmer switch 204, solenoid 274 is energized and closes
solenoid latcher switch 278.
One side of latcher switch 278 is connected, by leads 280, 250,
252, 206 to one side of the 110 V. A/C supply line and the other
side of latcher switch 278, when solenoid 274 is energized and the
switch is closed, is connected, by leads 282, 284, to one side of
timer motor 286. The other side of timer motor 286 is connected, by
lead 288, to the other side of the 110 V. A/C supply line. Thus,
when solenoid 274 is energized and switch 278 is closed, motor 286
is energized.
Motor 286 is connected to switch arm 290. Switch arm 290 is
connected, by lead 292, to lead 282. Contact 294, with which switch
arm 290 closes and then reopens when timer motor 286 is energized,
is connected, by lead 296, to one side of solenoid 298 of switches
300, 302. The other side of solenoid 298 is connected, by leads
304, 244, 246, 248, 250, 252, 206, to one side of the 110 V. A/C
supply line. When switch arm 290 closes with contact 294, solenoid
298 is energized and closes switches 300, 302 and when switch arm
290 reopens with contact 294, switches 300, 302 are opened, all for
purposes later described.
After closing and reopening with contact 294, switch arm 290 closes
and then reopens with contact 306. Contact 306 is connected, by
lead 308, with one side of solenoid 310. The other side of solenoid
310 is connected, by leads 312, 246, 248, 250, 252, 206 to one side
of the 110 V. A/C supply line. When switch arm 290 closes with
contact 306, solenoid 310 is energized and opens switch 278 to
de-energize timer motor 286.
As hereinbefore noted, motors 30, 80, 122 are reversible and
powered from a 220 V. A/C power supply. The 220 V. A/C supply is
fed into a D/C power supply, there being a separate D/C power
supply for each motor. Thus, in the control circuitry illustrated
in FIG. 3 lateral motor 30 is powered from D/C power supply 320
connected, by leads 322, 324, to the opposite sides of the 220 V.
A/C supply line. The output of the D/C power supply 320 is
connected, respectively, by lead 326, to switch arm 328, and, by
lead 330, to switch arm 322. Lower contact 334, at switch arm 328
is connected, by leads 336, 338 to an upper contact 339, at switch
arm 422. Upper contact 340, at switch arm 322, is likewise
connected to upper contact 339, by leads 342, 338. Upper contact
344, at switch arm 328 is connected, by leads 346, 348, to an upper
contact 349, at switch arm 420. Lower contact 350, at switch arm
332, is likewise connected to upper contact 349, by leads 352, 348.
Upper solenoids 354, 356 of switch arms 328, 332 are connected, at
one of their sides, respectively, by leads 358, 360, to one end of
the arm of switch 300 and, at their other sides, by leads 362, 364,
366, 368, 370, to one side of the 220 V. A/C power supply. Contact
372 of switch 300 is connected, by leads 374, 376, to the other
side of the 220 V. A/C power supply.
Lower solenoids 380, 382 of switch arms 328, 332 are connected, at
one of their sides, respectively, by leads 384, 386, 388, to one
end of the arm of switch 238 and, at their other sides, by leads
390, 392, 394, 268, 370, to one side of the 220 V. A/C power
supply. Contact 396 of switch 238 is connected, by leads 398, 400,
402, 376 to the other side of the 220 V. A/C power supply.
The arms of switches 240, 302 are connected, by leads 404, 400,
406, 402, 376 to one side of the 220 V. A/C supply line. Contact
408 of switch 240 and contact 410 of swich 302 are connected, by
leads 412, 414, to one side of solenoid 416. The opposite side of
solenoid 416 is connected by leads 418, 370, to the other side of
the 220 V. A/C supply line. Switches 420, 422 of solenoid 416 are
normally in the position shown in FIG. 3. When solenoid 416 is
energized by the closing of switch 240 or switch 302 by energizing
solenoid 236 or 298, switches 420, 422 are pulled in contact with
contacts 424, 426 connected, respectively, by leads 428, 430, to
resistor 432 which, when connected to motor 30, dynamically brakes
the motor before motor 30 is energized in the reverse
direction.
Lateral motor 30, thrust motor 80 and vertical motor 122 are all
operated continuously. Each motor is energized to operate in the
forward or reverse direction by the motor control circuitry of FIG.
3, the direction being controlled by switches on the programmer, as
hereinabove described. Motor 30 drives clutch-brake 34 which,
except when energized as hereinafter described, is normally in
brake position. Motors 80 and 122 drive, respectively,
clutch-brakes 86, 120 which, except when energized, are normally in
brake position.
Referring to FIG. 4, clutch-brake 34 of lateral motor 30 and
clutch-brake 82 of thrust motor 80 are controlled by the programmer
and sensors 54 and 100, respectively. For purposes of illustration,
the control circuitry of clutch-brake 34 and speed control of
lateral motor 30 will be described, it being understood, however,
that the circuitry of clutch-brake 82 and speed control of thrust
motor 80 are identical.
The number of sensors that may be employed along the lateral and
thrust axes, to control the machine along the respective axis, may
vary, depending upon the length of the axis and the degree of
control required along such axis. During each movement of the
machine from one point along the axis to another, movement of the
machine is initiated by the programmer and terminated by one of the
sensors, selectively connected, through a switch, not shown, on the
programmer to the proximity amplifier in the position control
circuit, there being one position control proximity amplifier, one
transistor relay and one time delay for position control in each
axis. In addition, one or more of the sensors may be selectively
connected, through switches, not shown, on the programmer to
control motor speed. As will be more apparent from the following
description, one sensor, during one movement, may be connected to
control position and, during another, to control speed. For
purposes of illustration and description in FIG. 4, only one sensor
is shown which will be described, with certain of the programmer
switches closed, as the position control and, with other programmer
switches closed, as the speed control actuator. It is to be
understood, however, in any one movement of the machine from one
position to the other, the same sensor would not be employed for
both purposes.
Referring to FIG. 4, sensor 54 is connected, by leads 440, 442 to
the arms of switches 444 and 446. Contact 448 of switch 444 is
connected, by lead 450, to the arm of switch 452. Contact 454 of
switch 446 is connected, by lead 456 to the arm of switch 458. As
shown in FIG. 4, the arms of switches 452, 458 are against contacts
460, 462, respectively, and are open for purposes more apparent
hereinafter.
Programmer switch 464 is connected, at one of its sides, by leads
466, 468, 470, 472, to one side of the 110 V. A/C power supply line
and is connected, at its other side, by lead 474 to solenoid 476 of
switches 444, 446. The other side of solenoid 476 is connected by
leads 478, 480 and 482 to the other side of the 110 V. A/C supply
line. Solenoid 484 of switches 444, 446 is connected to the X, Y
leads for purposes later described.
Programmer switch 486 is connected, at one of its sides, by leads
488, 468, 470, 472 to one side of the 110 V. A/C power supply and,
at its opposite side, by lead 490 to solenoid 492 of switches 452,
458. Solenoid 494 of switches 452, 458 is connected to the X, Y
leads for purposes later described.
Contact 496 of switch 444 is connected, by lead 498 to proximity
amplifier 500. Contact 502 of switch 446 is connected by lead 504
to proximity amplifier 500. Proximity amplifier 500 is connected by
leads 506, 508, to one side of the 110 V. A/C supply line and by
leads 510, 512 to the other side of the 110 V. A/C supply line.
Proximity amplifier 500 is also connected by leads 514, 516 to
transistor relay 518 which, in turn, is connected by lead 520 to
gate control lead B and, by lead 522 to time delay 524. Time delay
524 is connected by lead 526 to gate control lead A and, by leads
528, 530 to solenoid 532. Switch 534 of solenoid 532 is connected,
by lead 536, to the clutch-brake control and contact 538 of switch
534 is connected, by lead 540, to the clutch-brake control.
Solenoid 542 to switch 534 is connected, by lead 544 and lead 482,
to one side of the 110 V. A/C supply line, and by lead 546, to one
side of the programmer switch 548. Programmer switch 548 is
connected, by leads 550, 470, 472, to the other side of the 110 V.
A/C supply line.
Contact 552 of switch 452 is connected, by lead 554, to speed
control proximity amplifier 556. Contact 558 of switch 458 is
connected, by lead 560, to proximity amplifier 556. Proximity
amplifier 556 is connected, by leads 562 and 508, to one side of
the 110 V. A/C supply line and, by leads 564, 512, to the other
side of the 110 V. A/C supply line. Proximity amplifier 556 is also
connected, by leads 566, 568, to transistor relay 570 which, in
turn, in connected, by leads 572, 574, to time delay 576. The
output of time delay 576 is fed by leads 577, 579 to the speed
control, FIG. 6.
In the operation of the control circuitry of FIG. 4, the motor to
be operated, such as lateral motor 30 or thrust motor 80 is in
operation and, if movement along the axis is required, programmer
switch 548 is closed by the programmer, as will be hereinafter
described, energizing solenoid 542 and closing arm of switch 534
with contact 538. The clutch is then engaged. At the same time that
the programmer closes switch 548, the programmer closes switch 464
connected to the sensor at a remote point on the machine at which
the machine is to be stopped when it reaches the selected sensor.
If, before reaching such selected sensor the movement of the
machine along such axis is to be slowed down or decelerated,
programmer switch 498 connected to the sensor at the point where
such deceleration is to start is also closed. Obviously, switches
464 and 486 cannot be connected to the same sensor. The sensor to
slow down or decelerate the motor must, in the path of movement,
precede the sensor selected to stop the motor.
Considering first slowing down or deceleration, programmer switch
464, connected to the sensor at the point where deceleration is to
commence, is open and programmer switch 486 is closed. Thus
solenoid 476 is not energized but solenoid 492 is energized. The
arms of switches 444, 446 are closed with contacts 448, 454,
respectively, and the arms of switches 452, 458 are closed with
contacts 552, 558, respectively, by energized solenoid 492. Sensor
54, which may be capacitance or inductance responsive, a photocell,
or other responsive unit, at the point where, by the closing of
switch 486, deceleration is to commence, is sensitized so that when
the movable control unit on the machine, for example, arm 56,
reaches the sensitized sensor, a signal will be generated and,
through the connecting leads, will be fed to the proximity
amplifier 556 and, from proximity amplifier 556 through transistor
relay 570, time delay 576 and leads 577, 579 to the speed control,
as will be hereinafter described.
Considering next, position control and still referring to FIG. 4,
programmer switch 464 is closed and, through leads 474, 478, 480,
382 energizes solenoid 476, closing the arms of switches 444, 446,
respectively, with contacts 496, 502. When the sensor control arm,
moving along the axis, reaches the sensitized sensor, the signal
generated by sensor 54 is transmitted, through the connecting
leads, to proximity amplifier 500 and from such amplifier to
transistor relay 518, time delay 524 and solenoid 532. When
energized, solenoid 532 opens the arm of switch 534 and disengages
the clutch. The brake in the clutch-brake re-engages. Thus, the
movement of the machine along the controlled axis is terminated. At
the same time, transistor relay 518 and time delay 524 transmit a
signal through leads A, B, for purposes more apparent
hereinafter.
Referring, next, to FIG. 5, the signal transmitted through leads A,
B, FIG. 4, from the control circuits of lateral motor 30, thrust
motor 80 and vertical motor 122 are transmitted, respectively, to
automatic and gate solenoids 600, 602, 604, FIG. 5, closing,
respectively, switches 606, 608, 610. The signals transmitted
through leads A, B, from the control circuits of the lateral,
thrust and vertical motors are transmited as the movement in the
respective axis is completed and the signal is generated by the
sensitized sensor, FIG. 4, in each such axis. Thus, switches 606,
608, 610 may be closed in any order. For purposes more apparent
hereinafter, switches 606, 608, 610 are in series.
The arm of switch 606 is connected, by leads 612, 614, to one side
of the 110 V. A/C supply line and contact 616 of switch 606 is
connected, by leads 618, 620 to the arm of switch 608. Contact 622
of switch 608 is connected by leads 624, 626 to the arm of switch
610. Contact 628 of switch 610 is connected by leads 630, 632, 634,
636, 638, to one side of solenoid 640. The other side of solenoid
640 is connected by leads 642, 644, 646 to the opposite side of 110
V. A/C supply line. Thus, when switches 606, 608, 610 are closed by
the signals transmitted through leads A, B of the control circuits
of the lateral, thrust and vertical axes, respectively, solenoid
640 is energized and closes switches 650, 652 of solenoid 640. At
the same time, a signal is transmitted through the X, Y leads
connected, respectively, through lead 654 to lead 638 and to lead
646. The signal transmitted through the X, Y leads, FIG. 5, is
transmitted to and received by solenoids 484, 494, FIG. 4, and
reset switches 444, 446 and 452, 458, respectively, to the position
shown in solid line, FIG. 4.
The arm of switch 650 is connected by leads 656, 658, to one side
of the 110 V. A/C supply line and the arm of switch 652 is
connected by leads 660, 662, to the other side of the 110 V. A/C
supply line. Contact 664 of switch 650 is connected, by lead 666 to
one side of programmer motor 668 and the other side of programmer
motor 668 is connected by lead 670 to contact 672 of switch 652.
Thus, when switches 650 and 652 are closed by the energization of
solenoid 640, programmer motor 668 is energized and, after a preset
interval, closes switch 674. The arm of switch 674 is connected, by
leads 676 and 658 to one side of the 110 V. A/C supply and contact
678 is connected by lead 680 to one side of solenoid 682. The other
side of solenoid 682 is connected by leads 684 and 662 to the
opposite side of the 110 V. A/C supply line. Thus, when switch 674
is closed by programmer motor 668, solenoid 682 is energized and
re-opens switches 650, 652 to stop programmer motor 668.
In addition to energizing solenoid 640, switches 606, 608, 610,
when all switches are closed, are connected through leads 630, 632,
690, 692 to one side of solenoid 694. The other side of solenoid
694 is connected, by leads 696, 698, 646 to one side of the 110 V.
A/C supply line. Thus, through leads 614, 612, closed switches 606,
608, 610, and the leads associated therewith, solenoid 694 is
energized to close switch 700.
The arm of switch 700 is connected by lead 702, 698, 644 and 646 to
one side of the 110 V. A/C supply line. Contact 704 of switch 702
is connected, by leads 706, 708, to one side of timer motor 710.
The other side of timer motor 710 is connected, by leads 712, 714,
716, to lead 690, 634, 636, 638. One side of solenoid 718 is
connected, by lead 720, to lead 716 and the other side of such
solenoid is connected, by lead 722, to contact 724 of timer motor
switch 726. The arm of switch 726 is connected, by lead 728, to
lead 698. Thus, when solenoid 694 is energized and the arm of
switch 700 is closed with contact 704, time delay motor 710 is
energized. After a predetermined time interval, timer motor 710
closes switch 726, energizes solenoid 718 and reopens switch
700.
Solenoid 730 is connected, at one side, by lead 734 to lead 714.
The arm of switch 736 controlled by solenoid 730 is connected, by
lead 738, to one side of the 110 V. A/C supply. Contact 740 of
switch 736 is connected, by lead 742, to lead 654, so that the
closing of switch 736 will energize solenoid 640.
Lateral gate solenoid 750 is connected, at one of its sides, by
leads 752, 754, 646 to one side of the 110 V. A/C supply and the
other side of solenoid 750 is connected, by leads 756, 758, to lead
634. Thrust gate solenoid 760 is connected, at one of its sides, by
leads 762, 764, to lead 754 and, at its other side by leads 766 and
768, to lead 758. Vertical gate solenoid 770 is connected, by lead
772, to lead 764 and, at its other side, by lead 774, to lead
768.
In the operation of the circuit of FIG. 5, each of the solenoids
600, 602, 604 are energized by leads A, B of the position control
circuits, FIG. 4, of the respective axis. Thus, when all the
switches 606, 608, 610, connected in series, are closed, solenoid
640 is energized closing switches 650, 652 to drive programmer
motor 668 and to close and then reopen switch 674. When closed,
switch 674, energizes solenoid 682 to reopen switches 650, 652, and
the programmer is stepped one position. At the same time that
switches 606, 608 and 610 are all closed, energizing solenoid 640,
solenoids 750, 760, 770 are energized, reopening switches 606, 608,
610.
Concurrent with the closing of switches 606, 608, 610 and the
energization of solenoids 640, 750, 760, 770, solenoid 694, on the
feed back, is energized closing switch 700. With switch 700 closed,
time delay motor 710 is driven and, after a pre-set interval,
closes switch 726 and energizes solenoid 718 to reopen switch 700.
While closed, switch 700 also energizes solenoid 730 and closes
switch 736. When closed, switch 736 energizes solenoid 640,
recloses switches 650, 652, re-energizes programmer motor which, in
turn, closes switch 674, and energizes solenoid 682 to reopen
switches 650, 652. Thus, programmer motor 668 rotates the timer
drum a second step. When switch 700 is reopened, solenoid 730 is
deenergized and switch 736 reopens.
As the circuitry of FIG. 5 and the operation thereof are
hereinabove described, the apparatus of FIGS. 1 and 2 is operated,
in all three axes, that is, the lateral axis, the thrust axis and
the vertical axis. Should it be desired to operate the apparatus
without movement in one or more axis, the sensor or sensors on such
axes are not sensitized and no signal will be transmitted through
leads A, B connected to the control circuit of such inactive,
de-sensitized axes. In lieu of such signal when such axis is
de-sensitized, the appropriate manual switch 780, 782, 784 is
closed, by-passing the solenoid control switch of the
de-sensitized, non-moving axes, be it the lateral, thrust, vertical
axes or any combination thereof. Except for the manually controlled
switch closed on the de-sensitized, non-moving axis, the balance of
the circuit in FIG. 5 operates as heretofore described.
Referring now to FIG. 6, the speed of lateral motor 30, thrust
motor 80 and vertical motor 122, may each be controlled by adding
resistance into or removing resistance from leads F, G connected to
D/C power supply 320, FIG. 3. The circuitry for such addition and
subtraction being shown, diagrammatically, in FIG. 6. While only
two resistors and resistor circuits are shown in FIG. 6, it is to
be understood that any number of such resistors may be added to and
subtracted from the circuit of leads F, G, depending upon the
number of speed variations desired in the machine and in the
particular machine axis. As will be more apparent from the
following description, where additional resistors and resistor
circuits are employed each would be selectively connected with, and
disconnected from, the respective motors in accordance with speed
requirements.
In FIG. 6, lead F is connected to the arm of switch 800 and contact
802 of switch 800 is connected, by lead 804, to the arm of switch
806. Contact 808 of switch 806 is connected, by lead 810, to slide
812 of variable resistor 814. Slide 812 may be fixed or manually
adjustable. Resistor 814 is connected, by lead 816, to lead G.
Contact 820 of switch 806 is connected, by lead 822, to variable
resistor 824. Slide 826, which may be fixed or manually adjustable,
is connected, by lead 828, to lead G.
Solenoid 830 of switch 800 is connected, at one of its sides, to
one side of the 110 V. A/C supply line and, at its other side, by
lead 832, to the arm of programmer switch 834. Contact 836 of
programmer switch 834 is connected, by lead 838, to the other side
of the 110 V. A/C supply line. Solenoid 840 of switch 800 and
solenoid 842 of switch 806 are connected to the X, Y leads.
Solenoid 844 is connected to time delay leads 577, 579, FIG. 4.
In the operation of the speed control circuit of FIG. 6, switches
800 and 806 are in the position shown in FIG. 6, having been placed
in such position by the energization of solenoids 840, 842,
respectively, by contacts X, Y during the preceding programmer
cycle, FIG. 5. Thus, to close the arm of switch 800 with contact
802 and connect the speed control circuit of FIG. 6 to the D/C
power supply 320, FIG. 3, a detent on the programmer drum is
positioned to close programmer switch 834. The speed control, at
the speed determined by resistor 814 is then connected to leads F,
G and D/C power supply 320 and the motor powered therefrom will
operate at the appropriate speed.
Assuming that, as the apparatus is being moved along the axis at
the speed determined by resistor 814 and is to be slowed down
before reaching the sensor sensitized to stop the machine, the
sensor at the point along the axis where the speed is to be reduced
is sensitized and connected to the speed control actuator by a
detent on the programmer drum which closes switch 486, FIG. 4.
Thus, as the sensor actuator fixed to the machine moving along such
axis passes the sensor sensitized by closed programmer switch 486,
a signal is transmitted through leads 577, 579, FIG. 4, to solenoid
844, FIG. 6. Thus, solenoid 844 is energized, engages the switch
arm of switch 806 with contact 820, disconnects resistor 814 and
connects resistor 824 and the speed of the motor is reduced.
Referring next to FIG. 7, the apparatus of the instant invention
may be controlled by programming lateral motor 30, thrust motor 80
and vertical motor 122, through the motor control circuitry of FIG.
4 or, as is preferred, vertical motor 122 may be controlled through
the circuitry of FIG. 7. In such control, sensor 148 is connected
by leads 850, 852 to proximity amplifier 854 in turn connected by
lead 856 to one side of the 110 V. A/C supply line and by lead 858
to the other side of the 110 V. A/C supply line. The signal output
of amplifier 854 is manually adjusted by potentiometer, generally
designated 860. Sensor 150 which, as will be later described,
controls the vertical position of head 126, when sensor 150 is
sensitized and the head is being moved vertically downward, is
connected by leads 862, 864 to proximity amplifier 866 which, in
turn, is connected by leads 868, 870 to the opposite sides of the
110 V. A/C supply line. The output of proximity amplifier 866 is
controlled by manually adjustable potentiometer 872. Sensor 152
which is mounted on head 126 intermediate sensors 148, 150 and,
when sensitized, controls motor speed, as will be hereinafter
described, is connected by leads 874, 876 to proximity amplifier
878, in turn connected by leads 880 and 882 to the opposite sides
of the 110 V. A/C supply line. Manually adjustable potentiometer,
generally described 884, controls the signal output of proximity
amplifier 878. Proximity amplifier 866 is connected, by leads 886,
888 and by leads 890, 892, 894 to time delay 896 and by leads 890,
898 to one side of solenoid 900. Proximity amplifier 854 is
connected by leads 902, 888 and 904, 894 to time delay 896 and by
leads 904, 892 and 898 to one side of solenoid 900. Time delay 896
is connected by lead 906 to the other side of time delay 900.
Solenoid 908 is connected, at one of its sides, to one side of the
110 V. A/C supply line and, at its other side, by lead 910 to
contact 912 of programmer switch 914. The arm of programmer switch
914 is connected to the otheside of the 110 V. A/C supply line.
The arm of latcher switch 916, controlled by solenoids 900, 908 is
connected by lead 918 to lead B, FIG. 5. Contact 922 of switch 916
is connected by lead 924 to clutch-brake control line 920 and
through the clutch-brake control to lead A, FIG. 5. Proximity
amplifier 878 is connected, at one side, to lead 577, FIG. 4, and
at its other side through lead 926 to the arm of programmer switch
928. Contact 930 of programmer switch 928 is connected to lead 579,
FIG. 4.
In the operation of vertical motor 122 with sensors 148, 150, 152,
FIG. 7, the clutch of clutch-brake 120 is engaged, through
clutch-brake control 920, by a detent on the programmer drum which
closes switch 914, energizes solenoid 908 and disengages the arm of
switch 916 from contact 922. In some cases it is desired during the
movement of head 126 to slow its downward movement by intermediate
sensor 152 before such head is stopped by sensor 150. In such cases
a detent on the programming drum closes the arm of switch 928 with
contact 930 at the time that the programmer is indexed, through the
circuitry of FIG. 5, to close programmer switch 914.
As head 126 moves down and sensitized sensor 152 is energized, a
signal is transmitted through leads 577, 579 to solenoid 844, FIG.
6, in the control circuitry of D/C power supply 320 of motor 122
and through leads F, G, FIGS. 3 and 6, motor 122 is slowed down.
When the head 126 reaches the sensitized position of sensor 150, a
signal is generated through leads 862, 864 to proximity amplifier
866 and, from the proximity amplifier and through the connecting
leads and time delay 896 to energize solenoid 900. The arm of
switch 916 is thereby closed with contact 922 and clutch-brake
control 920 disengages the clutch and re-engages the brake of
clutch-brake 120, FIG. 2.
Similarly, when head 126 is to be moved in the upward direction, a
detent on the programmer closes switch 914 and, when the head
approaches sensor 148 a signal is generated, solenoid 900 is
energized and clutch-brake control 920 releases the clutch and
engages the brake of clutch-brake 120, FIG. 2.
As hereinabove described, the apparatus of the instant invention is
controlled by sensors mounted in fixed position along the lateral
and thrust axes which, through the described circuitry, control
lateral motor 30 and thrust motor 80 and by sensors on head 126
which control vertical motor 122. In addition to such controls with
such sensors, the apparatus may be controlled along the lateral and
thrust axes by sensors positioned on the head. In such arrangement
the head is provided with fingers, rather than suction cup 140. The
apparatus for this arrangement is shown in FIG. 8.
Referring to FIG. 8, head 126' has a fixed finger 128' and a
movable finger 130'. Double acting cylinder 132' having fluid
pressure inlet 134' and fluid pressure outlet 136' and a piston rod
138' is mounted on movable finger 130' and piston rod 138' is
connected to fixed finger 128'. Double acting cylinder 132' opens
and closes fingers 128', 130'. Vertical sensor 150 is mounted
intermediate fingers 128', 130'. Thrust sensors 160' and 162' are
mounted on head 126' with the sensor head of sensor 160' facing
forwardly between fingers 128', 130' and the sensor head of sensor
162' facing rearwardly. Lateral sensors 164', 166' face lateral
outwardly from the opposite lateral side of head 126' with the
sensitized heads facing outwardly and away from head 126'.
Photocell 170' is mounted in fixed finger 128' and faces reflector
172' mounted in movable finger 130'. As will be described,
photocell 170' is connected to a solenoid valve not shown, for
actuating double acting cylinder 132' to close fingers 128', 130'.
Such valve for actuating cylinder 132' is also connected to the
programmer for opening fingers 128', 130'.
In the operation of the apparatus the sensors on head 126', FIG. 8,
will seek out, find, locate and engage the object. In order that
this can be done, the sensors on head 126' must be sensitized so
that head 126' will first be removed downwardly toward the work
supporting table and stopped by vertical sensor 150, will then be
moved laterally and stopped by sensor 164' or 166', depending upon
the direction in which lateral motor 30 is energized and,
thereafter, will move forward, in the thrust direction until
forward or thrust throttle is stopped by sensor 160'. When head
126' has moved in the vertical, lateral and thrust directions and
is stopped by sensor 160' the article to be engaged will be between
fingers 128', 130' and double acting cylinder 132 will be actuated
by the interruption of the signal from reflector 172' back to
photocell 170'. In order that the apparatus controlled by the
sensors on head 126', FIG. 8, will be actuated first vertically,
then laterally, then forward on the thrust axes, the sensors are
sensitized, one after the other, by the programmer motor which is
twice stepped, as hereinabove described, at the end of movement in
each direction. In order that the programmer motor may be so
stepped, while vertical movement, without lateral and thrust
movement, is taking place, lateral switch 780 and thrust switch
782, FIG. 5, are closed, either manually or by detents on the
programmer. During lateral movement, thrust switch 782 and vertical
switch 784 are closed and, during thrust movement lateral switch
780 and vertical switch 784 are closed.
Referring to FIG. 9, the head movement of the apparatus of the
instant invention is shown, diagrammatically, as it is moved
through an illustrative pattern. The machine is programmed, by the
circuitry hereinabove described, to return to position A after each
programmed operation. From position A, the machine is programmed to
move the head vertically downward to position B and then to the
right, as viewed from the front of the machine, to position C.
Next, the machine moves the head forward to position D where the
article, to be picked up and moved, is engaged and the fingers on
the head are closed, as hereinbefore described, to grip the
article.
If the article to be engaged and moved is located at a
predetermined position on the table and is to be picked up from the
top of the article, such as by the suction cup of FIGS. 1 and 2,
the machine may be programmed, as hereinabove described, to move in
the vertical, horizontal and thrust directions, simultaneously, and
to stop, in each direction, when it reaches it programmed position.
If, however, the article is not located at a predetermined position
and the sensors for all three axes, such as shown in FIG. 8 and
described in connection therewith, are used, then movement must be
completed in the vertical axes before such movement commences in
the horizontal and thrust axes. Likewise, movement must be
completed horizontally, or longitudinally, before thrust movement.
Loss of time in such movement along individual axes can be
minimized by programming the starting position A as close as
possible to the area where the article will be located.
After the article is engaged at position D, the head and article
gripped therein, are moved to position E and then to position F. In
the illustrated embodiment at position F, the article is fed to a
drill and a hole is drilled in the article. Such drill, or other
accessory to which such article is fed, may be operated
continuously, turned on by a suitable switch, not shown, on the
programmer, or by a sensor at the accessory past which the head and
article move as such article is being fed to the accessory.
From position F, the apparatus is programmed to move the head to
position G, then to H and vertically upward to position I and back
to position J where, through a switch on the programmer, the
article is released. The head is then raised to position K through
the programmer and returns to position A.
In the operation illustrated in FIG. 9, the head stacks one article
on the other. Thus, the apparatus is programmed so that after each
article is stacked, the next article will be stacked one article
higher. This may be accomplished by so programming the apparatus.
However, in most cases the stacking altitude will be sensed by the
appropriate sensor which will cause each succeeding article to be
deposited on the preceding article. For reasons discussed above,
movement of the head along the respective axis from position G to
position J may occur simultaneously and the speed of the overall
operation will thereby reduced.
As is obvious from the foregoing description, the movement of the
head might be controlled by the programmer with the sensors located
along the respective axis of the work area. In such operation,
however, each axis would be sensitized and movement of the head
completed in each axis before the other axis was sensitized and the
head was moved in such other axis.
The apparatus of the instant invention may be controlled by a still
further head-mounted sensor to roughly locate the desired object
and place the head 126 or 126' in a position sufficiently close to
the desired object that it may be picked up by suction cup 140 or
between fingers 128' and 130'. The additional sensor is triggered
by the presence of the desired object within a defined optical
field of view in front of the head 126 or 126'. The sensor is
detachable for operations where its use is unnecessary. The
apparatus for this arrangement is explained hereinafter with
reference to FIGS. 1, 9 and 10.
A photometric sensor in the form of a spotlight meter 932 is bolted
to the head 126. Although not shown in FIG. 8, the spotlight meter
932 may also be bolted to the head 126'. The spotlight meter 932 is
focused manually to a predetermined setting appropriate for the
size of the area and object to be scanned. The limits for the
setting are approximately three free to infinity.
Referring now more particularly to FIG. 10, the spotlight meter 932
has a one degree optical field of measurment and is self-adjusting
to the ambient light conditions. In other embodiments the field of
view may be three degress or even broader depending on the
selectivity required. When an object enters this field, a voltage
will be generated at the output leads 934 and 936 from the
spotlight meter 932. The output voltage is directly proportional to
the difference between the background or ambient light conditions
and the light reflected from the sensed object.
The photometric output voltage is applied through the leads 934 and
936 to opposite sides of a parallel circuit comrpising a motor 938,
a variable resistor 940, and a full wave rectifier bridge 942. The
motor 938 moves the sliding arm of a null bridge (not shown) within
the spotlight meter 932 to cancel the output voltage. This
constitutes the "self-adjusting" feature of the spotlight meter
932. The spotlight meter adjusts, through the motor 938 and the
null bridge to the ambient or background lighting conditions until
no output voltage is produced.
When light is reflected from an object suddenly appearing in the
spotlight meter's field of view, however, an output voltage is
produced across leads 934 and 936 while the meter self-adjusts to
the new lighting conditions. The resistor 940 shunts the motor 938
to suppress transient signals generated by the motor itself.
This output voltage across leads 934 and 936 is rectified by the
diode rectifier bridge 942. The positive (+) output of the bridge
is applied to the circuit ground by lead 944. The negative (-)
output of the bridge is applied to the input lead 946 of a Schmitt
trigger circuit 948. The Schmitt trigger circuit 948 is comprised
of various transistors, resistors, capacitors, and a diode in a
conventional circuit. The component values shown in FIG. 10 are by
way of example only, it being recognized that various other
combinations could be utilized.
The circuit has a positive feedback so that when a voltage of
predetermined magnitude is generated by the sensor 932 across the
bridge 942, the Schmott trigger circuit 948 will give a symmetrical
square wave output at lead 950 as long as the voltage of
predetermined magnitude is present at the input 946. The output
from the Schmitt trigger is applied through the lead 950 to one
side of a solenoid 952. The other side of the solenoid 952 is
connected to the circuit ground by a lead 954. The required
predetermined voltage level for the trigger input is selected to be
sufficiently large to exclude undesired objects and prevent false
triggering.
The solenoid 952, when energized, closes the arm of a switch 956
with a contact 958 and the arm of a switch 960 with a contact 962.
The contact 958 is connected to the lead 530 of FIG. 4. The contact
962 is connected by a lead 964 to the arm of a programmer switch
966. The contact 968 of the switch 966 is connected to the lead 528
of FIG. 4. The contact arm of the switch 956 is connected by leads
970 and 472 to one side of the 110 V. A/C supply line. The arm of
the switch 960 is connected by leads 972 and 482 to the other side
of the 110 V. A/C supply line. The photometric sensor 932 is
sensitized by the closing of the programmer switch 966.
In operation the head 126 and 126' descends to the operating
surface where its height is sensed by the sensors 150 and 152. The
area is scanned by lateral movement of the head until the desired
object comes within the field of view of the photometric sensor
932. When the object comes within the field of view the output from
the sensor will cause the Schmitt trigger circuit 948 to generate a
square wave output of duration proportional to the amount of light
reflected from the object.
The output from the Schmitt trigger circuit 948 energizes the
solenoid 952 and thereby closes switches 956 and 960. The closing
of these switches applies power from the 110 V. A/C supply line
through the leads 528 and 530 to solenoid 532 of FIG. 4. This
energizes solenoid 532 and opens switch 534 which disengages the
clutch-brake control, thereby stopping the lateral movement of the
head 126 or 126'. The operation of the apparatus thereafter follows
the sequence described above in reference to FIGS. 4 or 8,
depending upon which head 126 or 126' is used.
Because the output at lead 950 from the Schmitt trigger 948 is a
substantially symmetrical square wave and has a duration
proportional to the amount of light reflected from the object
within the field of view of the photometric sensor 932, the
circuitry of FIG. 10 is capable of distinguishing between objects
of different refleective characteristics. The primary
distinguishable reflective characteristic is color. In some
embodiments logic circuitry is interposed between the output at
lead 950 and the solenoid 952 which counts the number of square
waves to distinguish between dark colored objects and light colored
objects. Greater variation in the sensor's color distinguishing
capability may be accomplished by adding color filters to the
optical input to the spotlight meter 932.
Thus the photometric sensor 932 and the related circuitry of FIG.
10 allows the apparatus of the invention to position the operating
head in near proximity to the object which is to be picked up and
is capable of distinguishing between objects by their light
reflective characterictics.
The terms and expressions which have been employed are used as
terms of description and not of limitation, and there is no
intention in the use of such terms and expressions of excluding any
equivalents of the features shown and described or portions
thereof, but it is recognized that various modifications are
possible.
* * * * *