| 摘要 |
<p>MECHANICAL HANDLING APPARATUS A mechanical handling apparatus for point to point movement has utilisation grippers 25 driven from point to point by an arm assembly comprising a piston 22 and cylinder 21 arrangement in which the piston is in force balance until activated by a microprocessor 80. The microprocessor 80 controls the energisation of an electrical solenoid of each of valves 63, 65, 70, 71, 72 and 77. The grippers 25 are carried by a load beam 26, supported by bearings 28 and a selectively energisable brake 29 for resisting motion of the load beam is mounted on a lead screw 46. The lead screw 46 is driven by a stepper motor 49, but is connected with the microprocessor 80 and the position of the load beam 26 and of the brake 29 is determined by a transducer 53. In operation, the microprocessor permits energisation of the piston 22 to rapidly drive the load beam and hence grippers 25 toward a desired point within the capture range of the lead screw 46. The brake 29 is applied to stop the load beam and final, accurate, positioning of the grippers 25 is performed by energising the stepper motor 49.</p> |
