Method and apparatus for automatically controlling pressure in fluid-actuated systems

• US 4,783,106 A
• Filed: 08/04/1986
• Issued: 11/08/1988
• Est. Priority Date: 08/04/1986
• Status: Expired due to Term

• Current Assignee: Ralph E. Nutter
• Original Assignee: Ralph E. Nutter
• Inventors: Nutter, Ralph E.
• Primary Examiner(s): Cherry, Johnny D.
• Application Number:
  US06/892,252
• Time in Patent Office: 827 Days
• Field of Search: 294/88, 91/19, 91/28, 91/29, 91/32, 91/33, 414/621, 414/626, 414/730, 414/911, 901/32, 901/37
• US Class Current: 294/207
• CPC Class Codes: B25J 13/082 Grasping-force detectors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 15/0253 comprising parallel grippers
• CPC Class Codes: B25J 9/14 fluid
• CPC Class Codes: B66F 9/183 Coplanar side clamps

Abstract

The invention provides a method and apparatus for controlling the level of clamping pressure applied by a clamp to a load. A pump, whose output is controlled by a normally open valve, establishes an initial level of clamping pressure. Through the use of a number of controllable fluid discharge systems, this pressure is automatically increased in increments depending upon the resistance of the load to the clamping pressure exerted. In a preferred embodiment, the controllable fluid discharge systems include discharge cylinders that contain predetermined volumes of fluid dischargeable by free-floating pistons residing therein. The outputs of the discharge cylinders are controlled by pressure-responsive valves to produce the desired relationship between clamp pressure and load rigidity.

Claims

1. An apparatus, for automatically controlling the pressure applied by a clamp to a load, said clamp being closably actuated by the introduction of a fluid into a clamp actuator cylinder operatively coupled to said clamp, said apparatus comprising:

initial pressure establishment means, connected to said actuator cylinder, for producing an initial predetermined pressure in said actuator cylinder; and

first controllable fluid discharge means, connected to said actuator cylinder, for discharging a first predetermined volume of said fluid to said actuator cylinder when said initial predetermined pressure in said actuator cylinder is reached.

2. The apparatus of claim 1, further comprising second controllable fluid discharge means, connected to said actuator cylinder, for discharging a second predetermined volume of said fluid to said actuator cylinder when the discharge of said first volume of fluid to said actuator cylinder increases the pressure in said actuator cylinder by a predetermined amount.

3. The apparatus of claim 2, further comprising at least one additional controllable fluid discharge means, connected to said actuator cylinder, for discharging an additional predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said additional fluid discharge means employed.

4. The apparatus of claim 2, wherein said clamp is closably actuated by a pair of clamp actuator cylinders connected to said first and second means.

5. The apparatus of claim 2, further comprising a pressure-relief valve for allowing said fluid in said actuator cylinder to escape if the pressure in said actuator cylinder exceeds a predetermined relief pressure.

6. An apparatus for automatically controlling the pressure applied by a clamp to a load, said clamp being closably actuated by the introduction of a fluid into a clamp actuator cylinder operatively coupled to said clamp, said apparatus comprising:

pressure establishment means for transferring fluid to said actuator cylinder;

an initial conduit connecting said pressure establishment means to said actuator cylinder;

valve means for interrupting the flow of fluid in said initial conduit between said pressure establishment means and said actuator cylinder, said valve means interrupting the flow of fluid when an initial pressure in said actuator cylinder is reached;

first controllable fluid discharge means, connected to said actuator cylinder, for discharging a first predetermined volume of said fluid to said actuator cylinder when said initial predetermined pressure in said actuator cylinder is reached; and

second controllable fluid discharge means, connected to said actuator cylinder, for discharging a second predetermined volume of said fluid to said actuator cylinder when the discharge of said first volume of fluid to said actuator cylinder increases the pressure in said actuator cylinder by a predetermined amount.

7. The apparatus of claim 6, wherein said valve means comprises a normally open valve and wherein said first fluid discharge means comprises:

a first conduit, connected in parallel to said normally open valve; and

a first discharge cylinder interrupting said first conduit between said pressure establishment means and said actuator cylinder, said first cylinder including a first freefloating piston disposed between a pressure establishment means-end of said first cylinder and an actuator end, said pressure establishment means introducing fluid into said pressure establishment means-end of said first cylinder and forcing said first piston toward said actuator end of said first cylinder when said normally open valve closes, discharging said first volume of said fluid to said actuator cylinder.

8. The apparatus of claim 7, wherein said second fluid discharge means comprises:

a second conduit, connected in parallel to said normally open valve;

a second discharge cylinder interrupting said second conduit between said pressure establishment means and said actuator cylinder, said second cylinder including a second free-floating piston disposed between a pressure establishment means-end of said second cylinder and an actuator end; and

a normally closed valve interrupting said second conduit between said second discharge cylinder and said actuator cylinder, said pressure establishment means introducing fluid into said pressure establishment means-end and forcing said second piston toward said actuator end of said second cylinder when said normally closed valve opens, discharging said second volume of said fluid to said actuator cylinder, said normally closed valve opening when the pressure in said actuator cylinder increases by said predetermined amount.

9. The apparatus of claim 8, further comprising at least one additional controllable fluid discharge means, connected to said actuator cylinder, for discharging an additional predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said additional fluid discharge means employed.

10. The apparatus of claim 9, wherein said additional fluid discharge means comprises:

an additional conduit, connected in parallel to said normally open valve;

an additional discharge cylinder interrupting said additional conduit between said pressure establishment means and said actuator cylinder, said additional cylinder including an additional free-floating piston disposed between a pressure establishment means-end of said additional cylinder and an actuator end; and

an additional normally closed valve interrupting said additional conduit between said additional discharge cylinder and said actuator cylinder, said pressure establishment means introducing fluid into said pressure establishment means-end and forcing said additional piston toward said actuator end of said additional cylinder when said additional normally closed valve opens, discharging said additional volume of said fluid to said actuator cylinder, said additional normally closed valve opening when the pressure in said actuator cylinder exceeds said additional pressure.

11. The apparatus of claim 10, further comprising a pressure-relief valve for allowing said fluid in said actuator cylinder to return to said reservoir if the pressure in said actuator cylinder exceeds a predetermined relief pressure.

12. An apparatus, for controlling the pressure developed by the introduction of a fluid into an actuator cylinder, said fluid stored initially in a reservoir and withdrawn from said reservoir by a pump, said apparatus comprising:

first controllable fluid discharge means, connected to said actuator cylinder, for discharging a first predetermined volume of said fluid to said actuator cylinder; and

second controllable fluid discharge means, connected to said actuator cylinder, for discharging a second predetermined volume of said fluid to said actuator cylinder when the discharge of said first volume of fluid to said actuator cylinder increases the pressure in said actuator cylinder by a predetermined amount.

13. An apparatus for controlling the pressure developed by the introduction of a fluid into an actuator cylinder from a fluid source, said apparatus comprising:

first controllable fluid discharge means for discharging a first predetermined volume of said fluid to said actuator cylinder, said first fluid discharge means comprising a first discharge cylinder having a first free-floating piston disposed between a source-end of said first cylinder and an actuator end, said source being for introducing fluid into said source-end and forcing said first piston toward said actuator end of said first cylinder when said pressure in said actuator cylinder exceeds a first predetermined pressure, discharging said first volume of fluid to said actuator cylinder; and

second controllable fluid discharge means, connected to said actuator cylinder, for discharging a second predetermined volume of said fluid to said actuator cylinder when the discharge of said first volume of fluid to said actuator cylinder increases the pressure in said actuator cylinder by a predetermined amount.

14. The apparatus of claim 13, wherein said second fluid discharge means comprises:

a second discharge cylinder having a second free-floating piston disposed between a source-end of said second cylinder and an actuator end; and

a normally closed valve controlling the discharge of said second volume of fluid from said second cylinder, said source being for introducing fluid into said source-end and forcing said second piston toward said actuator end of said second cylinder when said normally closed valve opens, discharging said second volume of fluid to said actuator cylinder, said normally closed valve opening when the pressure in said actuator cylinder increases by said predetermined amount.

15. The apparatus of claim 14, further comprising at least one additional controllable fluid discharge means, connected to said actuator cylinder, for discharging an additional predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said additional means employed.

16. The apparatus of claim 15, wherein said additional fluid discharge means comprises:

an additional discharge cylinder having an additional free-floating piston disposed between a source-end of said additional cylinder and an actuator end; and

an additional normally closed valve controlling the discharge of said additional volume of fluid from said additional cylinder, said source being for introducing fluid into said source-end and forcing said additional piston toward said actuator end of said additional cylinder when said additional normally closed valve opens, discharging said additional volume of fluid to said actuator cylinder, said additional normally closed valve opening when the pressure in said actuator cylinder exceeds said additional pressure.

17. The apparatus of claim 16, further comprising a pressure-relief valve for allowing said fluid in said actuator cylinder to return to said source if the pressure in said actuator cylinder exceeds a predetermined relief pressure.

18. The apparatus of claim 13, further comprising at least one additional controllable fluid discharge means, connected to said actuator cylinder, for discharging an additional predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said additional means employed.

19. The apparatus of claim 13, further comprising a pressure-relief valve for allowing said fluid in said actuator cylinder to return to said source if the pressure in said actuator cylinder exceeds a predetermined relief pressure.

20. A method for controlling the pressure developed by the introduction of a fluid into an actuator cylinder, said method comprising the steps of:

discharging a first, predetermined volume of fluid to said actuator cylinder; and

discharging a second, predetermined volume of fluid to said actuator cylinder when said step of discharging said first volume of fluid to said actuator cylinder increases said pressure in said actuator cylinder by a predetermined amount.

21. The method of claim 20, further comprising the step of producing an initial predetermined pressure in said actuator cylinder before said step of discharging said first volume of fluid to said actuator cylinder.

22. The method of claim 21, further comprising the step of discharging at least one additional, predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional, predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said step of discharging an additional volume of fluid.

23. The method of claim 22, further comprising the step of relieving the pressure in said actuator cylinder when said pressure in said actuator cylinder exceeds a predetermined relief pressure.

24. The method of claim 20, further comprising the step of discharging at least one additional, predetermined volume of fluid to said actuator cylinder when the pressure in said actuator cylinder exceeds an additional, predetermined pressure, said additional volume of fluid and said additional pressure being separately determined for each said step of discharging said additional volume of fluid.