US3849713A - Position detecting and maintaining device - Google Patents

Position detecting and maintaining device Download PDF

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Publication number
US3849713A
US3849713A US00370936A US37093673A US3849713A US 3849713 A US3849713 A US 3849713A US 00370936 A US00370936 A US 00370936A US 37093673 A US37093673 A US 37093673A US 3849713 A US3849713 A US 3849713A
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US
United States
Prior art keywords
lever
article
base
follow
path
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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US00370936A
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English (en)
Inventor
T Wada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsubakimoto Chain Co
Original Assignee
Tsubakimoto Chain Co
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP6169572A external-priority patent/JPS4920855A/ja
Priority claimed from JP2899473A external-priority patent/JPS49116781A/ja
Application filed by Tsubakimoto Chain Co filed Critical Tsubakimoto Chain Co
Application granted granted Critical
Publication of US3849713A publication Critical patent/US3849713A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/60—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type
    • B65G47/61—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type for articles

Definitions

  • ABSTRACT A position detecting and maintaining apparatus for use between a movable article and a movable base member.
  • Track means are provided and extend parallel to the direction of movement of the movable article and guide means are provided for guiding the base member along the track means.
  • a shaft is rotatably supported on the base member and has a lever fixed thereto and rotatable therewith and adapted to engage the article to effect a rotation of the shaft means upon a relative movement between the base member and the article.
  • a spring is provided for urging the lever in a direction opposite to the direction of movement of the base member and the article.
  • An electrical potentiometer is provided for converting the rotational movement of the shaft to an electrical output signal, which electrical output signal controls a servo-valve apparatus for maintaining a uniform relative spacing between the base member and thearticle.
  • the present invention relates to a position detecting apparatus for detecting a relative position between an auxiliary apparatus and an article conveying apparatus so that a follow-up control can be effected on the auxiliary apparatus. More particularly, the follow-up control will facilitate a movement of transferring or processing equipment in parallel direction with an article conveying apparatus, such as a conveyor, when loading thereonto or unloading therefrom an article or facilitate a processing or inspection of an article conveyed thereby, such being accomplishable by a servomechanism.
  • the present invention also relates to apparatus for generating synchronous follow-up confirmation signals which confirm that a conveying device and another device moving parallel therewith move therealong and are in a synchronous follow-up condition.
  • the auxiliary device can in many cases perform its operation even if it is not accurately kept in the synchronous follow-up condition.
  • the auxiliary device may be somewhat deflected or permitted to oscillate back and forth in either direction from the desired relative position when the auxiliary device does not move at precisely the same speed as the conveying device. Even then, so far as the amount of deflection or oscillation is within a tolerance, this deflected condition may be regarded as the synchronous follow-up condition and the auxiliary device can be operated.
  • FIG. 1 is a perspective illustration of a position detecting and maintaining apparatus embodying the invention
  • FIG. 2 is a sectional view through the position detecting and maintaining apparatus
  • FIG. 3 is a sectional view taken along the line III-III of FIG. 2;
  • FIG. 4 is a schematic illustration illustrating the positions of the lever
  • FIG. 5 is a block diagram of the drive control mechanism controlling the movement of the carrier
  • FIGS. 6(a) and 6(b) are a fragmentary longitudinal section and sideviews, respectively, of a pivoted lever construction
  • FIGS. 7(a) and 7(b) illustrate the two part lever in operation
  • FIG. 8 is an enlarged illustration of a portion of the position maintaining apparatus
  • FIG. 9 is a schematic illustration of the positions of a lever in a modified embodiment.
  • FIG. 10 is a modified block diagram of another servoapparatus utilized for controlling the movement of the carrier.
  • reference numeral 1 designates a hanger associated with an overhead conveyor and movable along a path and reference numeral 2is a carrier which carries an auxiliary device and is capable of moving along a parallel path with the conveyor.
  • a position detecting device 4 is mounted on an arm 3 projecting from the carrier 2, which carrier can be moved reciprocatingly on rails 6 either by means of a hydraulic cylinder rod 5 driven by a servomechanism B illustrated in FIG. 5 or the carrier 2 can be driven by an electric motor the speed of which is controlled by the difference signal from the amplifier A.
  • FIGS. 2 and 3 illustrate details of the detecting device 4, in which a vertically extending support 8 is mounted on a base 7 which in turn is mounted on the arm 3.
  • a shaft 10 is vertically supported by ball bearings 18 mounted in a bracket 9 mounted in turn on the support 8 adjacent the upper end thereof.
  • Ball bearings 18 are also mounted in the base 7 and rotatably support the lower end of shaft 10.
  • One end of a lever 11 is firmly secured to the lower portion of the shaft 10, which lever extends transversely of the movement paths and is adapted to engage the hanger l.
  • the shaft 10 is urged by a spiral spring 12 interposed between the shaft 10 and base 7 so that the lever 11 is continuously rotatingly urged in a direction opposite to the direction in which the hanger 1 moves.
  • Reference numeral 14 designates a position detecting device comprising, for example, a potentiometer mounted on the bracket 9 and having a sliding piece attached to the shaft 10.
  • the potentiometer 14 converts the rotational angular position of the shaft 10 into an electric signal.
  • the stopper 13 is provided to limit the rear rotational position of the lever 11 due to the urging of the spring 12.
  • the tip of the lever 11 is in such a position that it is engagable with an approaching hanger 1.
  • FIG. 4 illustrates a condition in which the lever 11 has been rotated while in engagement with the hanger l to the solid line position thereof. If it is assumed that an output voltage from the potentiometer 14 for the time when the lever 11 is at a position perpendicular to the running direction of the hanger 1 (FIG.
  • position YY is a reference voltage
  • an output voltagefrom the potentiometer for the time when said lever 11 has rotated either to the left or to the right, from the position YY through an angle of 6 or 0 degrees will effect a change in the output signal to either above or below the reference voltage depending on the sign of 0 or namely, the direction of movement of the lever 11 from the position YY.
  • a difference E-E 9 between the reference voltage E and an output voltage E 9 of the potentiometer 14 indicates a relative position of the hanger 1 to the carrier 2 and the difference equals zero when the lever is perpendicular to the line XX.
  • FIG. 5 is a block diagram showing a speed deviation control device 22 for controlling a servomechanism for operating a hydraulic cylinder driving the carrier 2.
  • the operating speed of the rod 5 of a hydraulic cylinder C is automatically controlled by an amplifier A amplifying a difference signal E-E 9 between the reference voltage E and a potentiometer output voltage E 9 when said lever 11 lies at an angle 0 or 0 relative to the line YY to effect an adjusting of the opening or control of a servovalve B according to the amplified voltage.
  • the amplifier A could be used to control the speed of an electric motor (not illustrated) which drives the carrier 2.
  • the carrier 2 moves while keeping a given relative position with respect to the hanger 1. Therefore, if auxiliary equipment is operated during such period of time, its operation can be performed at a correct position with respect to the article being conveyed.
  • the hanger 1 rotates the lever 11 to effect a disengagement therefrom (FIG. 7(a)).
  • the carrier 2 may also be so designed as to start its motion when the hanger l or the article being conveyed has engaged the lever 11 (See FIGS. 9 and 10 discussed hereinbelow).
  • the lever 11 may be divided into two lever portions lla and 11b, as shown in FIGS. 6(a), 6(b) and 7(b).
  • the two portions are connected by a pivot pin 16.
  • a tension spring 17 is connected to and extends between the lever portion lla and 11b so that the lever portion 11b is permitted to pivot with respect to the lever portion 11a, only in the direction opposite to that in which the article is conveyed.
  • a voltage at 0 O was used as the reference voltage.
  • a reference voltage may be selected with reference to any angle 0, in which case the carrier 2 runs at the same speed as the hanger 1 when it reaches a relative position forming a given angle 0.
  • plus/minus A0 may be established as a deflection tolerance and the auxiliary device may be operated by having the amplifier A detect only that the relative position of the carrier 2 and the hanger l is within the deflection tolerance of plus/minus A0.
  • a synchronous follow-up confirmation signal generating device 19 (FIGS. 2 and 3) is attached to the detecting device 4.
  • the device 19 has two lead switches 19a and 19b attached in such a manner that their position on the circumference of a cover is adjustable. More specifically, the switches 19a and 19b are secured to a mounting seat 20 fixed to the inside of the cover 15.
  • a permanent magnet 21 is secured to a supporting arm 21a which is fixed to the shaft 10. The center of the permanent magnet 21 lies at a middle angular position between the lead switches 19a and 19b when the lever 11 is at a position where 6 0 (position Y-Y).
  • the lead switches 19a and 19b are closed when the angular position is within the range of D and E, respectively.
  • both lead switches 19a and 19b are closed.
  • the signal will become a confirmation signal indicating that the carrier 2 is in the synchronous follow-up condition with respect to the hanger 1. So long as such confirmation signal is being issued, the auxiliary device can be operated without hindrance.
  • two lead switches and a permanent magnet are combined as a synchronous follow-up confirmation signal generating device 19. They are arranged so that the deflection tolerance of plus/minus A0 can be adjusted. As compared with this, when a single lead switch is used, the angular position range D or E becomes a deflection tolerance. And this deflection tolerance can be adjusted by changing the properties of and the space between the lead switch and the permanent magnet.
  • other known non-contact access detecting devices such as the combination of a light source and two or one phototransistor, may be used as the synchronous follow-up confirmation signal generating device.
  • this invention makes it possible to readily confirm that the auxiliary device, which is follow-up controlled with respect to the article conveying device, is in the synchronous follow-up condition within a desired deflection tolerance.
  • operational control of the auxiliary device can be facilitated and the accuracy of the follow-up control can be increased because the confirmation signal does not change irrespective of the direction in which the auxiliary device comes into the synchronous follow-up condition with respect to the conveying device.
  • the device of the present invention can freely and readily reduce the time interval of said confirmation signal to a very small value. Also, it assures a long service life against frequently repeated use, owing to the use of a non-contact access detecting device.
  • the device according to the invention can be made in a very small size.
  • the position detecting device and a compact follow-up control detecting device convenient for attachment to the auxiliary device can be made.
  • FIGS. 9 and 10 illustrate another embodiment of a speed control apparatus.
  • the hanger 1 moves along the axis X-X in the direction of the arrow.
  • the lever 11 is kept pressed against the stopper 13 by the spring 12 in the position Y'Y'.
  • the angle 0 is-() (as represented by the broken line showing in FIG. 9), and the output voltage E of the potentiometer is also 0.
  • the angle 0 increases and the output voltage E of the potentiometer increases accordingly.
  • the output voltage E (FIG. 10) of the potentiometer is amplified by an amplifier A and the opening of a servo-valve B is adjusted according to the amplified output so that the operating speed of the cylinder C, that is, the speed of the carrier 2, is automatically controlled.
  • the output voltage E is low and, as a result, the speed of said carrier 2 is also low, which causes the hanger l to outrun the lever 11.
  • the angle 0' or the output voltage E 0 becomes larger thereby resulting in an increase in the speed of said carrier 2. Therefore, the speed of the carrier 2 approaches and then becomes equal to the speed of said hanger 1.
  • the amplifier A could be used to control the speed of an electric motor (not illustrated) which drives the carrier 2.
  • the relative position of the hanger l to the carrier 2, or the value of the angle 6, for the time when the two are running at an equal speed can be freely fixed by changing the amplification rate of the amplifier A.
  • the position detecting apparatus is of very simple and durable construction. Further, it is capable of a follow-up control of auxiliary equipment as set forth above to keep it in a given relative position with respect to an article being conveyed so that the auxiliary equipment can perform its function at an appropriate position on the article being conveyed which.
  • a position detecting device for use with an article moving in a first direction along a first path comprising:
  • guide means defining a second path which is spaced from but substantially parallel to said first path; base means coacting with said guide means for movement along said second path in said first direction;
  • lever means projecting outwardly so as to extend transversely relative to said paths, said lever means having a portion thereof positioned for engagement with said article when same is being moved along said first path to effect rotation of said lever means upon relative movement between said article and said base means;
  • control means coacting with said base means and responsive to said electric signal for maintaining a substantially uniform spacing between said base means and said article as they are moved along 7 their respective paths, whereby said base means and said article are moved substantially, in synchronism with one another.
  • a device including auxiliary means mounted on said base means and adapted to cooperate with said article;
  • follow-up control means for generating synchronous follow-up confirmation signals having predefined limits, said follow-up control means being connected in circuit with said auxiliary means to activate same only when the relative position between said article and said base means are within said predefined limits of said follow-up confirmation signals.
  • said follow-up control means includes a pair of spaced limit switches adjustably mounted on said base means, said spacing defining said predefined limits of said follow-up confirmation signals and limit switch activation means connected to said lever means and being rotatable therewith between said pair of limit switches.
  • control means includes motor means drivingly connected to said base means for driving same along said second path in said first direction, said control means also including servo means operatively connected between said converting means and said motor means for accelerating or decelerating said base means responsive to said electric signal for causing said base means to be moved substantially in synchronism with said article.
  • said servo means includes means defining an electrical reference signal and electrical amplification means responsive to said electric signal and said reference signal to produce an output signal indicative of the relative position between said article and said base means, and said motor means being responsive to said output signal to control the speed of movement of said base means along said guide means.
  • a device comprising follow-up control means coacting between said lever means and said base means for sensing when the speed of said base means is within predefined limits relative to the speed of the article.
  • said converting means comprises a potentiometer having a rotatable wiper arm secured to and rotatable with said lever means.
  • said lever means includes a first lever portion pivotally supported on said base means and a second lever portion pivotally supported on said first lever portion, and spring means coacting between said first and second lever portions for normally maintaining same in a selected positional relationship, said second lever portion being swingable relative to said first lever portion in opposition to the urging of said spring means to permit movement of said article along said first path in the opposite direction.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Control Of Position Or Direction (AREA)
US00370936A 1972-06-20 1973-06-18 Position detecting and maintaining device Expired - Lifetime US3849713A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP6169572A JPS4920855A (enExample) 1972-06-20 1972-06-20
JP2899473A JPS49116781A (enExample) 1973-03-14 1973-03-14

Publications (1)

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US3849713A true US3849713A (en) 1974-11-19

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US00370936A Expired - Lifetime US3849713A (en) 1972-06-20 1973-06-18 Position detecting and maintaining device

Country Status (5)

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US (1) US3849713A (enExample)
DE (1) DE2331578A1 (enExample)
FR (1) FR2190288A5 (enExample)
GB (1) GB1434133A (enExample)
NL (1) NL158951B (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS548378A (en) * 1977-06-22 1979-01-22 Tsubakimoto Chain Co Moving and placing device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2835042A (en) * 1956-08-21 1958-05-20 Warner & Swasey Res Corp Programming apparatus
US2849272A (en) * 1953-06-22 1958-08-26 Martin W Brossman Recycling displacement measuring and recording device
US2997636A (en) * 1958-09-08 1961-08-22 Cutler Hammer Inc Motor control systems
US3020458A (en) * 1960-11-16 1962-02-06 Exxon Research Engineering Co Servosystem electro-mechanical reset mechanism
US3704405A (en) * 1971-01-15 1972-11-28 Eagle Picher Ind Inc Positioning device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2849272A (en) * 1953-06-22 1958-08-26 Martin W Brossman Recycling displacement measuring and recording device
US2835042A (en) * 1956-08-21 1958-05-20 Warner & Swasey Res Corp Programming apparatus
US2997636A (en) * 1958-09-08 1961-08-22 Cutler Hammer Inc Motor control systems
US3020458A (en) * 1960-11-16 1962-02-06 Exxon Research Engineering Co Servosystem electro-mechanical reset mechanism
US3704405A (en) * 1971-01-15 1972-11-28 Eagle Picher Ind Inc Positioning device

Also Published As

Publication number Publication date
NL7308529A (enExample) 1973-12-27
NL158951B (nl) 1978-12-15
FR2190288A5 (enExample) 1974-01-25
GB1434133A (en) 1976-05-05
DE2331578A1 (de) 1974-01-10

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