Programmable air pressure counterbalance system for a manipulator

Patent 4229136 Issued on October 21, 1980. Estimated Expiration Date:

March 19, 1999. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.

Abstract Claims Description Full Text

Patent References

3756563

Inventor

Panissidi, Hugo A.

Application

No. 06/021647 filed on 03/19/1979

US Classes:

414/673, Return, buffer, or counterweight feature414/719, Return, buffer, or counterweight feature414/730, Programmable or condition responsive means controls grab operation901/16, Cartesian (X-Y-Z arm)901/22, Fluid motor901/23, Electric motor901/29, Wrist901/48, COUNTERBALANCE901/9, Closed loop (sensor feedback controls arm movement)D15/199MISCELLANEOUS

Examiners

Primary: Sheridan, Robert G.
Assistant: Abraham, George F.

Attorney, Agent or Firm

Young; Philip

International Class

B25J 19/00 (20060101)

Abstract

An air pressure counterbalance system is provided for an X Y Z orthogonal manipulator wherein the effect of gravity on a manipulator arm joint is counterbalanced both while hydraulic pressure is supplied to the hydraulic motors and also when the motive power is suspended. The air pressure counterbalance force is produced by a piston operating in an air cylinder in the direction of the gravity axis as the manipulator hand is raised or lowered. A selected constant air pressure is supplied to the counterbalance cylinder through an air pressure regulating system. In a preferred embodiment, a program-controlled counterbalance system is provided wherein the weights of various tools to be grasped by the manipulator fingers during a program are stored in CPU memory. The manipulator program selects the appropriate counterbalancing force to compensate for the predetermined tool weight and adjusts an air pressure regulator accordingly.