US3550630A - Serial-to-parallel hydraulic device - Google Patents

Serial-to-parallel hydraulic device Download PDF

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Publication number
US3550630A
US3550630A US3550630DA US3550630A US 3550630 A US3550630 A US 3550630A US 3550630D A US3550630D A US 3550630DA US 3550630 A US3550630 A US 3550630A
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United States
Prior art keywords
serial
control
hydraulic device
parallel
parallel hydraulic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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Inventor
Hugo A Panissidi
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International Business Machines Corp
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International Business Machines Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/43—Programme-control systems fluidic
    • G05B19/44—Programme-control systems fluidic pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/20—Programme controls fluidic
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86389—Programmer or timer
    • Y10T137/86445—Plural, sequential, valve actuations

Definitions

  • a hydraulically operated manipulator is con- 54 SERIAL-TO-PARALLEL HYDRAULIC DEVICE 99" as aummfitic assembly "9 E and w Claims 27 Drawing Figs oin parts.
  • a tape is perforated with coded InstructIons and drmensrons to control the sequence and amount of displace- U-S-Cl. ment means of incremental motions in several modes of 9 movement of the manipulator. Such modes include grip, [5 1] Int. weep X Y, Z (arcuate gripper wrist motion) and earch 6 5 19/00 (vibratory parts matching such as inserting a pin in a hole).
  • the main omponents of the manipulator are a tape reader an 303 35, 36, 214/70, 113, 132-4, electrically and hydraulically controlled hydraulic serial-to- 624-1 624-18, 624-2, 635 parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series Of [56] References Cited X, Y, Z slide members with a gripper and a wrist member all UNITED STATES PATENTS driven by a common drive cable, and a vibratory hydraulic 3,072,146 1/1963 Gizeski 137/552 search mechanism.
  • FIG. 14E PISTON ADDERS AT ZERO a ags 2150 2: l. 1 I I1 PATENTED 056291970 SHEET 15 0F 21 FIG. 14E

Description

I United States Patent 1' I 3,550,630
[72] Inventor Hugo A. Panissidi 3,198,084 8/1965 Hague et a1 r. 91/37X Peekskill,N.Y. 3,156,157 11/1964 Smith I /201 X [21] Appl. No. 695,139 3,198,084 8/1965 Hague 91/37 [22] Filed 1968 Prima 'ExaminerA1an Cohan {45 I patiz'med 1970 A ttoniZvs- Hanifin and Jancin and Graham 8. Jones 11 [73] AssIgnee International Business Machines Corporation Armonk, N.Y. a corporation of New York ABSTRACT: A hydraulically operated manipulator is con- 54 SERIAL-TO-PARALLEL HYDRAULIC DEVICE 99" as aummfitic assembly "9 E and w Claims 27 Drawing Figs oin parts. A tape is perforated with coded InstructIons and drmensrons to control the sequence and amount of displace- U-S-Cl. ment means of incremental motions in several modes of 9 movement of the manipulator. Such modes include grip, [5 1] Int. weep X Y, Z (arcuate gripper wrist motion) and earch 6 5 19/00 (vibratory parts matching such as inserting a pin in a hole). of Search 91/37(CL11'- The main omponents of the manipulator are a tape reader an 303 35, 36, 214/70, 113, 132-4, electrically and hydraulically controlled hydraulic serial-to- 624-1 624-18, 624-2, 635 parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series Of [56] References Cited X, Y, Z slide members with a gripper and a wrist member all UNITED STATES PATENTS driven by a common drive cable, and a vibratory hydraulic 3,072,146 1/1963 Gizeski 137/552 search mechanism.
SERIAL DIGITAL INPUTS ,soo
ELECTRICAL CIRCUITS A01 SERIAL BY SERIAL-T0- CHARACTER INPUTS 228 PARALLEL as CONVERTER 2s CONVERTER DATA vAI vEs I SYNCHRONIZATION CONTROL THREE POsITIoN PORT SWITCHING TOWER A102 SECTION STEPPING MODE INTEGER FRACTION DRIVE MEMORY MEMORY MEMORY VALVES VALVES VALVES T6 PARALLEL BY men OUTPUTS 4 SWEEP I5 CONTROL PISTON ADDERS, 35
LOGIC I TREE 26% SEARCH CABLE AND CONTROL PULLEYS 69 GRIP 26' 392 coNTRoI.
e CONTROL SERIAL DIGITAL'INPUTS /-800 ELECTRICAL CIRCUITS 2 SERIAL BY D SERIAL-W0 CHARACTER INPUTS 22 PARALLEL )3 CONVERTER 26 CONVERTER DATA VALVES SYNCHRONIZATION I CONTROL THREE POSITION PORT SWITCHING TOWER SECTION MODE INTEGER FRACTION STEPPING DRIVE MEMORY MEMORY MEMORY vALvEs VALVES VALVES Is PARALLEL BY L229 DIGIT OUTPUTS --R- j l... SWEEP 75 CONTROL PISTON ADDERS L LOGIC SEARCH TREE -2e2- CABLE AND L.
CONTROL. PULLEYS 69 GRIP 261 392 415 408/ CONTROL L e CONTROL 9 GEAR z CONTROL 2 ARM Y CONTROL Y ARM ,381' 38 1 x CONTROL x ARM INvENTOR HUGO A. PANISSID! ATTORNEY PATEN TEn-ntcze 19m sum 02 or 21 FIG. 2
PATENTED m2 9 19m sum as or .21
MAxmuu DISPLACEMENT CONVERSION CHART FOR 9 MODE (9 Yr+ Z MODES TOTAL PATENTEU 050291916 sum as or 21 PATENTEnuiczsl sm 3,550,630
saw us or 21 \(J STEP CONTROL VALVE CONTROL 63 PATENTFU UEC29 19m SHEET 10 0F 21 FIG. 12 PISTON ADDERS AT ZERO a ags 2150 2: l. 1 I I1 PATENTED 056291970 SHEET 15 0F 21 FIG. 14E
PATENTED HECZQ rem SHEET 180F21 to as 1 a) co N FIG. 14 H P e 2 T U. 52 U.
g s? E3 0' 5 I m u. i 2
LI. u E
US3550630D 1968-01-02 1968-01-02 Serial-to-parallel hydraulic device Expired - Lifetime US3550630A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US69513968A 1968-01-02 1968-01-02

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GB (1) GB1246279A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3835750A (en) * 1973-05-14 1974-09-17 Unimation Inc Record-playback manipulator system utilizing hydraulic microbit actuators
US3882893A (en) * 1973-04-09 1975-05-13 Leesona Corp Fluid operable binary control system with diagnostic indicators
US3984006A (en) * 1974-02-01 1976-10-05 Hitachi, Ltd. Automatic assembly control system
US4001556A (en) * 1975-04-07 1977-01-04 International Business Machines Corporation Computer controlled pneumatic retractable search sensor
US4153076A (en) * 1977-12-08 1979-05-08 Waters Associates, Inc. Pneumatic valve apparatus
US4696501A (en) * 1986-01-30 1987-09-29 Honeywell Inc. Robot gripper
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
US20060095159A1 (en) * 2004-10-29 2006-05-04 Neil Desmond Self structuring and computing system
US20080298949A1 (en) * 2005-02-21 2008-12-04 Csi Industries B.V. Palletizing Unit and Method for Installing a Palletizing Unit
CN112239065A (en) * 2020-11-26 2021-01-19 苏州诚尚精密模具有限公司 Automatic mould processing turning device based on manipulator
CN114439447A (en) * 2021-11-12 2022-05-06 烟台杰瑞石油服务集团股份有限公司 Connecting device of manifold sledge, fracturing system and operation method of fracturing system

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3882893A (en) * 1973-04-09 1975-05-13 Leesona Corp Fluid operable binary control system with diagnostic indicators
US3835750A (en) * 1973-05-14 1974-09-17 Unimation Inc Record-playback manipulator system utilizing hydraulic microbit actuators
US3984006A (en) * 1974-02-01 1976-10-05 Hitachi, Ltd. Automatic assembly control system
US4001556A (en) * 1975-04-07 1977-01-04 International Business Machines Corporation Computer controlled pneumatic retractable search sensor
US4153076A (en) * 1977-12-08 1979-05-08 Waters Associates, Inc. Pneumatic valve apparatus
WO1979000359A1 (en) * 1977-12-08 1979-06-28 Waters Associates Inc Pneumatic valve apparatus
US4696501A (en) * 1986-01-30 1987-09-29 Honeywell Inc. Robot gripper
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
US20060095159A1 (en) * 2004-10-29 2006-05-04 Neil Desmond Self structuring and computing system
US7567854B2 (en) * 2004-10-29 2009-07-28 Neil Desmond Self structuring and computing system
US20080298949A1 (en) * 2005-02-21 2008-12-04 Csi Industries B.V. Palletizing Unit and Method for Installing a Palletizing Unit
CN112239065A (en) * 2020-11-26 2021-01-19 苏州诚尚精密模具有限公司 Automatic mould processing turning device based on manipulator
CN114439447A (en) * 2021-11-12 2022-05-06 烟台杰瑞石油服务集团股份有限公司 Connecting device of manifold sledge, fracturing system and operation method of fracturing system
CN114439447B (en) * 2021-11-12 2022-11-18 烟台杰瑞石油服务集团股份有限公司 Connecting device of manifold sledge, fracturing system and operation method of fracturing system

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Publication number Publication date
GB1246279A (en) 1971-09-15

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