Programmable automatic assembly system
Patent 4260940 Issued on April 7, 1981. Estimated Expiration Date: 
April 18, 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.
April 18, 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.Patent ReferencesProgram control system for manipulator Patent #: 3943343 Inventors
ApplicationNo. 06/030994 filed on 04/18/1979US Classes:318/562, Time-sharing or multiplexing systems318/568.1, With program recording or composing means318/571, With "feed-rate" control318/573, With interpolating means318/574, Multiple axes point to point systems318/590, Multiple mode systems414/5, Having means to transmit feedback signal from manipulator means to hand, finger, or arm901/15, Jointed arm901/20, With provision for altering speed of driven element901/22, Fluid motor901/26, Including bevel gear901/31, Gripping jaw901/5, Machine driven lead through901/9Closed loop (sensor feedback controls arm movement)ExaminersPrimary: Rubinson, Gene Z.Assistant: Indyk, Eugene S. Attorney, Agent or FirmInternational ClassesB23P 21/00 (20060101)B25J 9/10 (20060101) G05B 19/25 (20060101) G05B 19/19 (20060101) G05B 19/42 (20060101) AbstractA programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized. | |
