US3654613A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Programmed manipulator apparatus with artificial end-of-program facilities
Assignee: Unimation Inc
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Filing: 1970-02-11
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Granted: 1972-04-04
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Expires: 1990-02-11
Abstract
Abstract A programmed manipulator apparatus is provided with partial program repetition teaching facilities so that a predetermined portion of the total program may be repeated a selectable number of times after which the total program is performed. The point at which the partial program is to be repeated is employed to develop an artificial end-of-program signal which is employed to restart the total program. Counter means are provided for disabling the artificial end-of-program signal after a number of repetitions of the partial program. The manipulator apparatus is also arranged to cooperate with an externally produced artificial end-of-program signal which may be responsive to the presence or absence of a part carried by the manipulator arm, a characteristic such as the temperature of the part carried by the arm, or the like, and is employed to restart the total program if an undesired characteristic is sensed.
Inventors
- 👤 Maurice J Dunne
- 👤 George E Munson Jr
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-22 22:05
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36498
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
203 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of axes, a magnetic storage medium, means for recording a series of program steps on said medium, means for recording an end-ofprogram signal on said medium in association with the last step of said recorded program, means for recording a control signal in association with a particular step of said program, sensing means in operative relation to said medium for sequentially sensing said recorded program steps, said end-of-program signal and said control signal, means controlled by said sensing means for controlling said moving means to move said arm to positions corresponding to said recorded program steps, reset means responsive to sensing of said end-of-program signal for controlling said sensing means to respond to the first step of said recorded series of program steps, whereby said arm is moved repetitively through said series of programmed positions, means responsive to sensing of said control signal for developing an artificial end-of-program signal in response thereto, and means for supplying said artificial end-of-program signal to said reset means, thereby to return said arm to its initial position when only a predetermined portion of said program has been completed.
Claim 2
Dependent Claim
203 words
In a programmed manipulator apparatus, the combination of, a manipulator arm, means for moving said arm in a plurality of axes, a magnetic storage medium, means for recording a series of program steps on said medium, means for recording an end-ofprogram signal on said medium in association with the last step of said recorded program, means for recording a control signal in association with a particular step of said program, sensing means in operative relation to said medium for sequentially sensing said recorded program steps, said end-of-program signal and said control signal, means controlled by said sensing means for controlling said moving means to move said arm to positions corresponding to said recorded program steps, reset means responsive to sensing of said end-of-program signal for controlling said sensing means to respond to the first step of said recorded series of program steps, whereby said arm is moved repetitively through said series of programmed positions, means responsive to sensing of said control signal for developing an artificial end-of-program signal in response thereto, and means for supplying said artificial end-of-program signal to said reset means, thereby to return said arm to its initial position when only a predetermined portion of said program has been completed.
Claim 3
Dependent Claim
45 words
The combination of claim 1, wherein there is provided means for disabling said artificial end-of-program signal after said predetermined portion of said program has been performed a given number of times, thereby to permit said arm to thereafter perform the remaining portion of said program.
Claim 4
Dependent Claim
54 words
The combination of claim 2, wherein said artificial end-of-program signal developing means comprises a pair of series connected inverter stages, and said disabling means comprises means for applying a disabling signal to the input to said second inverter stage after said predetermined portion of said program has been completed said given number of times.
Claim 5
Dependent Claim
62 words
The combination of claim 1, wherein there is provided means for developing a total coincidence signal when movement of said arm in all of said plurality of axes has been completed for a step of said program, and said reset means is controlled jointly by said total coincidence signal and said artificial end-of-program signal to return said arm to said initial position.
Claim 6
Dependent Claim
99 words
In a programmed manipulator apparatus of the type having a predetermined total program for repetitively moving a manipulator arm through a series of positions to accomplish a predetermined task, a partial program repetition circuit comprising means for developing a control signal when said arm has been moved through only an initial portion of said programmed series of positions, means responsive to said control signal for developing an artificial end-of-program signal, and means utilizing said artificial end-of-program signal for causing said manipulator arm to be moved to the initial one of said positions without completing the remainder of said program.
Claim 7
Dependent Claim
99 words
In a programmed manipulator apparatus of the type having a predetermined total program for repetitively moving a manipulator arm through a series of positions to accomplish a predetermined task, a partial program repetition circuit comprising means for developing a control signal when said arm has been moved through only an initial portion of said programmed series of positions, means responsive to said control signal for developing an artificial end-of-program signal, and means utilizing said artificial end-of-program signal for causing said manipulator arm to be moved to the initial one of said positions without completing the remainder of said program.
Claim 8
Dependent Claim
61 words
The combination of claim 5, wherein said arm is movable in a plurality of axes, means for developing a total coincidence signal when movement of said arm has been completed in all of said axes at each programmed position of said arm, and means jointly responsive to said total coincidence signal and said artificial end-of-program signal controlling said arm moving means.
Claim 9
Dependent Claim
57 words
The combination of claim 5, wherein there is provided means for counting the number of times said arm is moved through said initial portion of said program, and means controlled by said counter means for disabling said artificial end-of-program signal developing means, thereby to permit said arm to move to the positions corresponding to said total program.
Claim 10
Dependent Claim
79 words
The combination of claim 5, wherein said manipulator arm is arranged to grip an article and move it successively to said series of positions, sensing means is provided at one of said series of positions to detect whether or not an article is being gripped by said arm at said one position, and means for developing said control signal only when said sensing means detects that an article is not being gripped by said arm at said one position.
Claim 11
Dependent Claim
98 words
The combination of claim 5, wherein said manipulator arm is provided with a holder at the end thereof which is adapted to grip an article so that the article is moved in a predetermined path when said arm is moved to said series of positions, sensing means is provided to determine whether or not an article is in said path when said arm is at one of said positions, and means for developing said control signal only when said sensing means indicates the absence of an article in said path when said arm is at said one position.
Claim 12
Dependent Claim
93 words
The combination of claim 5, wherein said manipulator arm is provided with a clamp at the end thereof which is adapted to grip an article so that the article is moved in a predetermined path when said arm is moved to said series of positions, sensing means adjacent said path for sensing a predetermined characteristic of the article when said arm is at one of said positions, and means controlled by said sensing means for developing said control signal only when said predetermined characteristic of an article is sensed by said sensing means.
Claim 13
Dependent Claim
115 words
In a programmed manipulator apparatus of the type having a predetermined program for repetitively causing a manipulator arm to pick up an article at an initial position and move it in a predetermined path from one position to another in a programmed series of positions, a control circuit including sensing means positioned adjacent said path for sensing a predetermined characteristic of the article, means for developing an artificial end-of-program signal only when said predetermined characteristic of an article is sensed by said sensing means, and means controlled by said artificial end-of-program signal for causing said manipulator arm to be moved to said initial position without moving to the remainder of said programmed series of positions.
Claim 14
Dependent Claim
115 words
In a programmed manipulator apparatus of the type having a predetermined program for repetitively causing a manipulator arm to pick up an article at an initial position and move it in a predetermined path from one position to another in a programmed series of positions, a control circuit including sensing means positioned adjacent said path for sensing a predetermined characteristic of the article, means for developing an artificial end-of-program signal only when said predetermined characteristic of an article is sensed by said sensing means, and means controlled by said artificial end-of-program signal for causing said manipulator arm to be moved to said initial position without moving to the remainder of said programmed series of positions.
Claim 15
Dependent Claim
41 words
The combination of claim 11, wherein said sensing means comprises means for developing a control signal when the temperature of an article sensed thereby is below a predetermined value, and said control signal is employed to develop said artificial end-of-program signal.
Claim 16
Dependent Claim
30 words
The combination of claim 11, wherein said sensing means comprises means for sensing the absence of an article when said arm is moved to a predetermined one of said positions.
Claim 17
Dependent Claim
44 words
The combination of claim 12, wherein a receptacle for below-temperature articles is provided, and means for controlling said manipulator arm to deposit a below-temperature article in said receptacle before said arm is returned to said initial position in response to said artificial end-of-program signal.
Claim 18
Dependent Claim
53 words
The combination of claim 11, wherein said manipulator arm is provided with article holding means on the end thereof, and said sensing means comprises means normally actuated by the presence of an article in said article holding means when said arm is moved to one of said positions other than said initial position.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1975-04-04 | 1975-10-04 | 1976-04-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1979-04-04 | 1979-10-04 | 1980-04-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1983-04-04 | 1983-10-04 | 1984-04-04 | $7700.00 | Window Closed / Lapsed |