Transfer apparatus with digital path control
阅读：988发布：2022-03-30
专利汇可以提供Transfer apparatus with digital path control专利检索，专利查询，专利分析的服务。并且Transfer apparatus is disclosed for use with a cyclically operated material processing machine such as a power press or the like. The apparatus comprises a transfer unit which includes a workpiece holder with separate drive means for displacement along horizontal and vertical axes and, if desired, for rotation about a third axis. A transfer unit may be mounted on the input or output side of the processing machine or a pair of units may be used for loading and unloading if desired. A transfer unit is provided with a control system adapted for two modes of operation, the set up or teaching mode and an automatic mode for production runs. The control system comprises data storage means suitably in the form of a pinboard matrix in which stored data defines coordinates of selected points on a predetermined transfer path and the direction and velocity of movement between successive points. During the teaching mode of operation a manual controller enables an operator to move the transfer unit stepwise through a cycle of operation on a trial basis to establish the transfer path and the accelerations and velocities of the workpiece holder. The data storage means includes manually settable elements which enable the operator to store the necessary data for a given segment of the transfer path when a trial movement is satisfactory. When all of the control data is established in the storage means for the entire transfer path the control means are switched to automatic operation and the apparatus is ready for production operation. Since the transfer apparatus has its own drive means it need not be integrally connected with the mechanism of the processing machine. Instead of timing signal generator connected with the control system provides for synchronization of the movements of the transfer apparatus with the cyclic operation of the machine.，下面是Transfer apparatus with digital path control专利的具体信息内容。
1. Automatic transfer apparatus adapted for moving a workpiece relative to a cyclically operated processing machine with power means for operating the machine, said transfer apparatus comprising a workpiece holder, motive power means connected with the workpiece holder, destination signal generating means adapted to produce destination signals corresponding to plural selected points on a predetermined transfer path in succession, control means connected with the destination signal generating means and being operative to energize the motive power means to displace the workpiece holder to the destination point corresponding to the destination signal, timing signal generating means adapted to be connected with one of said power means to produce an enabling signal at a predetermined point in each cycle of operation, sequence means responsive to the arrival of the workpiece holder at the destination point and the occurrence of an enabling signal to produce a sequence signal, said sequence means being connected with the destination signal generating means to apply the sequence signal thereto whereby the workpiece holder is caused to move to the next succeeding point of the predetermined transfer path.
2. The invention as defined in claim 1 and further including a position signal generating means connected with the motive power means for generating signals corresponding to the actual position of the workpiece holder, said control means being connected additionally with the position signal generating means to produce a control signal effective to cause energization of the motive power means when the destination signal differs from the actual position signal.
3. The invention as defined in claim 2 wherein said destination signal generating means includes a data storage means for storing data defining said plural selected points, and data reading means connected with said storage means and adapted to read the stored data and produce destination signals corresponding to said selected points in succession in response to successive occurrences of a sequence signal.
4. The invention as defined in claim 3 wherein said data storage means also stores data defining the desired velocity of said workpiece holder between successive selected points, said data reading means being adapted to produce velocity signals corresponding to said velocity data in succession in response to successive occurrences of a sequence signal and to apply said velocity signals to said control means to regulate the energization of said motive power means.
5. The invention as defined in claim 4 wherein said data storage means also stores data defining the direction of movement required to reach the destination, said data reading means being adapted to produce direction signals corresponding to the direction data, and power controlling means in the control means and being responsive to the control signal and to said velocity signal and said direction signal to cause energization of the motive power means to displace the workpiece holder toward the destination point at a velocity corresponding to said velocity signal.
6. The invention as defined in claim 5 and further including a manual controller connectable to said power controlling means and adapted to supply manually selected direction signal and a manually selected velocity signal thereto whereby trial movements of said workpiece holder may be effected, said data storage means including manually settable elements to define the positioN of successive points on a transfer path and to define the velocity of movement between such points.
7. The invention as defined in claim 6 wherein said data storage means includes a manually settable element to define the position of a check point, said data reading means being effective to produce a check point signal and being connected with said sequence means to disable the same until said enabling signal is applied thereto, whereby said workpiece holder will not advance beyond said check point until the processing machine has reached said predetermined point in its cycle.
8. The invention as defined in claim 7 wherein said data storage means comprises an array of binary elements disposed in columns and rows with a first group of elements in each row representing the position of a point and a second group of elements defining velocity of movement between points, said elements being settable and resettable by manual operation.
9. The invention as defined in claim 8 wherein said array of binary elements comprises a pinboard including columns and rows of sockets adapted to receive removable pins for setting and resetting the elements, column conductors each of which is connected with all sockets in a respective column, row conductors each of which is connected with all sockets in a respective row, and said reading means comprises means for sequentially applying an input voltage to said row conductors whereby a pin in a socket in a given row conductor causes an output voltage on the column conductor corresponding to said socket.
10. Automatic transfer apparatus adapted for moving a workpiece relative to a cyclically operated processing machine, said transfer apparatus comprising a workpiece holder, first and second motive power means connected with the workpiece holder for moving it along first and second axes, first and second destination signal generating means adapted to produce destination signals corresponding to plural selected points on a predetermined transfer path in succession in response to successive occurrences of a sequence signal, first and second position signal generating means connected with the first and second motive power means for generating signals corresponding to the actual position of the workpiece holder on the first and second axes, first and second control means connected respectively with the first and second destination signal generating means and the first and second position signal generating means and being operative to energize the first and second motive power means to displace the workpiece holder to the destination point corresponding to the destination signal, timing signal generating means adapted to be connected with said processing machine to produce an enabling signal at a predetermined point in each cycle of operation of said machine, sequence means responsive to the arrival of the workpiece holder at the destination point and the occurrence of an enabling signal to produce a sequence signal, said sequence means being connected with the destination signal generating means to apply the sequence signal thereto whereby the workpiece holder is caused to move to the next succeeding point of the predetermined transfer path.
11. The invention as defined in claim 10 wherein each of said destination signal generating means comprises data storage means for storing data defining the plural selected points on the predetermined transfer path and data reading means connected with said storage means and adapted to produce said destination signals.
12. The invention as defined in claim 11 wherein said first and said second data storage means is adapted to store data defining a predetermined direction and velocity for said workpiece holder between succeeding points on the transfer path, said first and second data reading means being adapted to produce velocity and direction signals corresponding to the data in succession in response to successive occurrences of said sequence signal whereby the movement of the workpiece holder beTween successive points is effected at individually predetermined velocities.
13. The invention as defined in claim 12 wherein said first and second control means includes respectively first and second comparing means connected respectively with the first and second data reading means and the first and second position signal generating means and each producing a control signal, said first and second control means also including respectively first and second poser controlling means connected respectively with the first and second comparing means and with the first and second data storage means and being responsive to the control signal, the velocity signal and the direction signal to cause energization of the first and second motive power means to displace the workpiece holder until the control signal is nullified.
14. The invention as defined in claim 12 and further including a manual controller connectable to said power controlling means and adapted to supply a manually selected direction signal and a manually selected velocity signal thereto whereby trial movements of said workpiece holder may be effected, said data storage means including manually settable elements to define the position of successive points on a transfer path and to define the velocity of movement between such points.
15. The invention as defined in claim 14 wherein said data storage means includes a manually settable element to define the position of a check point, said data reading means being effective to produce a check point signal and being connected with said sequence means to disable the same until said enabling signal is applied thereto, whereby said workpiece holder will not advance beyond said point until the processing machine has reached said predetermined point in its cycle.
16. The invention as defined in claim 15 wherein said data storage means comprises an array of binary elements disposed in columns and rows with a first group of elements in each row representing the position of a point and a second group of elements defining velocity of movement between points, said elements being settable and resettable by manual operation.
17. The invention as defined in claim 16 wherein said array of binary elements comprises a pinboard including columns and rows of sockets adapted to receive removable pins for setting and resetting the elements, column conductors each of which are connected with all sockets in a respective column, row conductors each of which is connected with all sockets in a respective row, and said reading means comprises means for sequentially applying an input voltage to said row conductors whereby a pin in socket in a given row conductor causes an output voltage on the column conductor corresponding to said socket.
18. The invention as defined in claim 10 and further comprising a third motive power means connected with the workpiece holder for rotating it about a third axis, a third destination signal generating means adapted to produce a signal corresponding to an angular displacement of the holder, a third position signal generating means connected with the third motive power means for generating an angular position signal, third control means connected with the third destination signal generating means and the third position signal generating means and being operative to energize the third motive power means to displace the workpiece holder to the angular position corresponding to the destination signal.
19. Automatic transfer apparatus adapted for moving a workpiece relative to a cyclically operated processing machine which includes a prime mover, said transfer apparatus comprising a workpiece holder movable along first and second coordinate axes, first and second motive power means independent of said prime mover and connected with the workpiece holder for moving it forward and backward along the first and second axes respectively, first and second destination data storage means for storing data defining the coordinates of plural selected points on a desireD transfer path of said workpiece holder, first and second data reading means connected with said storage means and adapted to read the stored data and produce destination signals corresponding to selected points on said path in succession in response to successive occurrences of a sequence signal, first and second position signal generating means connected with the first and second motive power means for generating signals corresponding to the actual position of the workpiece holder on the first and second axes, first and second comparing means connected respectively with the first and second data reading means and the first and second position signal generating means and producing a control signal, first and second power controlling means connected respectively with the first and second comparing means and responsive to the control signal to cause the energization of the first and second motive power means to displace the workpiece holder until the control signals are nullified, timing signal generating means adapted to be connected with said processing machine to produce an enabling signal at a predetermined point in each cycle of operation of said machine, sequence means connected with the first and second comparing means and with the timing signal generating means to produce a sequence signal when the control signals are nullified and said enabling signal is present thereby signifying that the desired destination point has been reached and that the movement of the workpiece holder is properly synchronized with said machine, said sequence means being connected with the reading means to apply the sequence signal thereto whereby the workpiece holder is caused to move to the next succeeding point on the desired transfer path.
20. The invention as defined in claim 19 wherein said data storage means also stores data defining the desired direction and velocity of said workpiece holder between successive selected points, said data reading means being adapted to produce direction and velocity signals corresponding to said data in succession in response to successive occurrences of a sequence signal and to apply said direction and velocity signals to said power controlling means to regulate the energization of said motive power means.
21. The invention as defined in claim 20 including a manual controller connectable to said power controlling means and adapted to supply manually selected direction signal and a manually selected velocity signal thereto whereby trial movements of said workpiece holder may be effected, said data storage means including manually settable elements to define the position of successive points on a transfer path and to define the velocity of movement between such points.
22. The invention of as defined in claim 21 wherein said data storage means includes a manually settable element to define the position of a check point said data reading means being effective to produce a check point signal and being connected with said sequence means to disable the same until said enabling signal is applied thereto, whereby said workpiece holder will not advance beyond said check point until the processing machine has reached said predetermined point in its cycle.
23. The invention as defined in claim 22 wherein said data storage means comprises an array of binary elements disposed in columns and rows with a first group of elements in each row representing the position of a point and a second group of elements defining velocity of movement between points, said elements being settable and resettable by manual operation.
24. The invention as defined in claim 23 wherein said array of binary elements comprises a pinboard including columns and rows of sockets adapted to receive removable pins for setting and resetting the elements, column conductors each of which are connected with all sockets in a respective column, row conductors each of which is connected with all sockets in a respective row, and said reading means comprises means for sequentially applying an inpuT voltage to said row conductors whereby a pin in socket in a given row conductor causes an output voltage on the column conductor corresponding to said socket.
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