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Publication numberUS3575301 A
Publication typeGrant
Publication dateApr 20, 1971
Filing dateJan 2, 1968
Priority dateJan 2, 1968
Publication numberUS 3575301 A, US 3575301A, US-A-3575301, US3575301 A, US3575301A
InventorsPanissidi Hugo A
Original AssigneeIbm
Export CitationBiBTeX, EndNote, RefMan
External Links: USPTO, USPTO Assignment, Espacenet
Manipulator
US 3575301 A
Images(33)
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Description  (OCR text may contain errors)

United States Patent [72] Inventor HugoAJanisidi PeekskilLNX. [2|] Appl.No. 694,941 [22] Filed Jan.2, 1968 [45] Patented Apr. 20, 197] [73] Assignee International Business Machines Corporation Armonk,N.Y.

[54] MANIPULATOR 21 Claims, 48 Drawing Figs.

[52] U.S.CI 214/1, 2l4/l47,74/89.2 [51] lnt.Cl B25j9/00 [50] 2l4/l(B), 1 (83), l (B4), 1 (RCM), I47, 147 (T), 650, 65!, 653,1 (B7);74/1l0, 89. (Z)

[ 56] References Cited UNITED STATES PATENTS 2,876,650 3/1959 Sangster 74/365 2,959,301 ll/l960 Willsea 2l4/l(RCM) 3,2l2,649 l0/l965 Johnson 2l4/l(B3) 3,322,206 5/l967 Gernhardtm 212/55X 2,073,721 3/l937 Wheelock 214/16.l(6B) 3,406,836 10/1968 Manetta 2 l4/l(B4) 3,455,476 7/1969 Grigsby 214/620 3,043,448 7/1962 Melton 2 l4/l(RCM) 3,05 l ,327 8/1962 Goodellm. 214/ HRCM )UX 3,084,967 4/ l 963 Harrett 294/86 3,372,8 l 7 3/ I968 Conklin 2l4/l6.4

Primary Examiner-Gerald M. Forlenza Assistant Examiner-George F. Abraham Attorneys-Hanifin and .lancin and Graham S. Jones ABSTRACT: A hydraulically operated manipulator is controlled as an automatic assembly robot to grasp, position and join parts. A tape is perforated with coded instructions and dimensions to control the sequence and amount of displacement by means of incremental motions in several modes of movement of the manipulator. Such modes include grip, sweep, X, Y, Z, 6 (arcuate gripper wrist motion) and search (vibratory parts matching such as inserting a pin in a hole). The main components of the manipulator are a tape reader, an electrically and hydraulically controlled hydraulic serial-to-parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series of X, Y, Z slide members with a gripper and a wrist member all driven by a common drive cable, and a vibratory hydraulic search mechanism.

PMUHED MR2 I971 SHEU 01 0F 33 3 575301 SERIAL DIGITAL INPUTS -800 ELECTRICAL CIRCUITS WW 2 I SERIAL BY SERIAL-T0- CHARACTER INPUTS 228 PARALLEL 1 CONVERTER 2e CONVERTER -63 DATA VALVES SYNCHRONIZATION CONTROL THREE POSITION PORT SWITCHING TOWER r802 SECTION M DE NTEG R FRACTION STEPPING o I E DRWE MEMORY MEMORY MEMORY vALvEs vALvEs vALvEs PARALLEL BY L225 23 231 men OUTPUTS ---j g 'figg PISTON AOOERs -s5 LOGIC SEARCH TREE 252 CABLE AND CONTROL PULLEYS CRLP CONTROL L e CONTROL 9 GEAR z CONTROL 2 ARM Y CONTROL Y ARM ,sav ,38 1 x CONTROL x ARM INVENTOR HUGO A. PANISSIDI ATTORNEY PMENTED APRZO ISFI SHEET 02 OF 3 FIG. 3B

PATEHTEU APRZU I871 3 575 PMEIHEU APRZUISYI SREU 05 [1F 33 P 4 0 L men NORMA X8 210 39 MODES mmul DISPLACEMENT 45 x 10" 40 Y 10" 41 I Z 32" x 1 Q a 2 "(2m") TOTAL 51 I2 (mm i SWEEP I Y 1' 1 l g l g l 90H I (IN) I 310 l I CONVERSION cum FOR 0 MODE (9-Y+Z) F|G 5 e DISPLACEMENT PUNCH CODE FOR IN 0mm ur HOLES 1/32" 7 /3 /15" Hlq 1/32" I f WI Pmmfinmzomn 3.575301 saw as []F 33 FIG 6 ARM SELECT GRIP SWEEP SEARCH 1 Y 2 CLOSED m m a as 80 OPEN ()UT OFF PATENTEU APRZO I971 SHEET 07 u; 3

E e: 9 FwIby w m O n m 2 2 z 2 o:

PATENTEDAFRZOISYI $575,301

SHEET 10 0F 33 PATEHIEDAPR20|9Y| 3,575,301

' sum 11 0F 33 comm -(A) STEP VALVE 2 PORHD) mums; 245

VALVE I m STEP PORT(F)/- comm VALVE comm as mnnmmmqn 3,575,301

sum 12 0F 33 FIG.16

PISTON ADDERS AT ZERO MAX. OUTPUT 31 PATEHTEU APRZO 1m SHEET 18 [1F 33 FIG.2O

A o 2 mm F RETRACTED

Patent Citations
Cited PatentFiling datePublication dateApplicantTitle
US2073721 *Jan 18, 1930Mar 16, 1937Wheelock Edwin MAutomobile storage device
US2876650 *Jan 13, 1955Mar 10, 1959Sundstrand Machine Tool CoApparatus for automatically relatively positioning workholders, tools and the like
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US3051327 *Apr 14, 1961Aug 28, 1962Us Industries IncAutomatic manipulator apparatus
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US3322206 *Oct 9, 1964May 30, 1967Ohio Brass CoEarth borer
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Referenced by
Citing PatentFiling datePublication dateApplicantTitle
US3658190 *Sep 25, 1970Apr 25, 1972Norton CoAutomatic workpiece loader and unloader
US3709379 *Feb 17, 1971Jan 9, 1973Kaufeldt Ingenjors Ab RRobot system
US3731821 *Sep 15, 1970May 8, 1973Wallis BArticle transfer device
US3731822 *Dec 24, 1970May 8, 1973Hartman M W Manuf Co IncFoundry mold jacket and weight shifter
US3762015 *Jan 17, 1972Oct 2, 1973Automated Equip CorpDie bonder apparatus
US3770140 *Sep 23, 1970Nov 6, 1973American Ass CyberneticsSensor responsive cybernetics machine
US3819061 *Feb 7, 1972Jun 25, 1974Electrolux AbApparatus for transferring material from and to predetermined positions
US3827579 *Nov 2, 1970Aug 6, 1974Gen ElectricIrradiated fuel processing system
US3847291 *Jan 16, 1973Nov 12, 1974Aeg Elotherm GmbhWorkpiece gripper having vibrating means thereon
US3851769 *Apr 10, 1972Dec 3, 1974Seiko Instr & ElectronicsIndustrial robot
US3870164 *Jul 12, 1972Mar 11, 1975Haase Harold AWork transfer device
US3888360 *Apr 8, 1974Jun 10, 1975Seiko Instr & ElectronicsIndustrial robot
US4046262 *Jan 24, 1974Sep 6, 1977The United States Of America As Represented By The Administrator Of The National Aeronautics And Space AdministrationAnthropomorphic master/slave manipulator system
US4130205 *Dec 8, 1976Dec 19, 1978Fritz Studer Ag.Loading arm
US4132318 *Dec 30, 1976Jan 2, 1979International Business Machines CorporationAsymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
US4218173 *Jul 12, 1978Aug 19, 1980CrouzetRobots
US4349310 *Dec 22, 1978Sep 14, 1982L. Schuler GmbhUnloading device for a press
US4352627 *Jan 4, 1979Oct 5, 1982L. Schuler GmbhLoading device for a press
US4674948 *Jul 17, 1985Jun 23, 1987Industrial Technology InstituteHigh weight capacity robot to pick and place palleted materials in a confined space with specific rotational control
US4676713 *Dec 6, 1985Jun 30, 1987Voelpel Charles EMaterial handling machine
US5105069 *Apr 7, 1989Apr 14, 1992International Business Machines CorporationSelf-service transaction apparatus and method
US5125789 *Jan 2, 1990Jun 30, 1992Peerless AutomationMolded parts removal and transfer robot
US5184601 *Aug 5, 1991Feb 9, 1993Putman John MEndoscope stabilizer
US5351676 *Feb 8, 1993Oct 4, 1994Putman John MEndoscope stabilizer
US5428713 *Nov 25, 1992Jun 27, 1995Kabushiki Kaisha ToshibaCompound module type manipulator apparatus
US5441042 *Dec 22, 1993Aug 15, 1995Putman; John M.Endoscope instrument holder
US5465036 *Dec 8, 1993Nov 7, 1995Canon Kabushiki KaishaControl apparatus of robot
US5597146 *Sep 28, 1994Jan 28, 1997Putman; J. MichaelRail-mounted stabilizer for surgical instrument
US6424077 *Apr 7, 2000Jul 23, 2002Minolta Co., Ltd.Manipulator
US6777903 *Sep 9, 2002Aug 17, 2004Storage Technology CorporationWedge type parallel jaw gripper for automated data storage library
US7746018 *Nov 13, 2006Jun 29, 2010MI Robotic SolutionsRobot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes
US7846260 *Apr 29, 2006Dec 7, 2010Congquan JiangOn-line automatic cleaning device for a condenser in a turbine generator
US8099184 *Apr 13, 2009Jan 17, 2012Rimrock Automation, Inc.Load compensation for robotic applications
US8220354Sep 13, 2006Jul 17, 2012Genmark Automation, Inc.Belt-driven robot having extended Z-axis motion
US8240971 *Apr 2, 2008Aug 14, 2012Erowa AgHandling manipulator assembly
US8418830Nov 13, 2006Apr 16, 2013Mi Robotic Solutions (Mirs)Robot system and method for removing sticks and/or foreign elements from conveyor belts
US20100139436 *Feb 29, 2008Jun 10, 2010Tokyo Institute Of TechnologyManeuvering system having inner force sense presenting function
US20130312563 *Mar 15, 2013Nov 28, 2013Tokyo Institute Of TechnologyManeuvering system having inner force sense presenting function
DE2323113A1 *May 8, 1973Nov 22, 1973Unimation IncProgrammgesteuerte manipulatoranordnung
DE4140687A1 *Dec 11, 1991Jun 17, 1993Werner Prof Dr Ing WeinertRobot drive device with numerically controlled linear axes - comprises two linear axes units at right angles for two carriages and drive motor connected with couplers and brake elements
EP0310481A1 *Sep 23, 1988Apr 5, 1989Bernard Claude Pierre EudeApparatus for moving a manipulator, particularly a gripper, in a vertical plane
EP0315310A1 *Sep 23, 1988May 10, 1989The Kemble Instrument Company LimitedMultiple degree of freedom machine drive system
EP0587948A1 *Sep 16, 1992Mar 23, 1994John Michael PutmanEndoscope stabilizer
Classifications
U.S. Classification414/618, 901/22, 74/89.2, 901/16, 901/36, 414/744.6, 414/728, 901/5, 414/744.3, 901/7, 901/39, 901/21, 901/29
International ClassificationB25J9/04, G05B19/18, B25J9/02, B25J18/02, B25J18/00
Cooperative ClassificationB25J18/02, B25J9/041, G05B19/188
European ClassificationB25J9/04B, G05B19/18F, B25J18/02