The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 07, 1981
Filed:
Mar. 23, 1979
Applicant:
Inventors:
Robert A Frosch, , US;
Antal K Bejczy, Pasadena, CA (US);
Assignee:
Other;
Primary Examiner:
Int. Cl.
CPC ...
B66C / ; B64G / ;
U.S. Cl.
CPC ...
294 / ; 244161 ; 318640 ; 356152 ; 414730 ;
Abstract
A system is described for guiding a claw to the proper distance and into the proper orientation in yaw and pitch, to engage a grappling fixture. The system includes four proximity sensors on the claw, that are arranged at the corners of an imaginary square, which sense the distance to the top surface of the grappling fixture. If a pair of sensors at opposite corners of the square sense a different distance to the top surface of the grappling fixture, then it is known that the claw is rotated about a corresponding axis with respect to the plane of the grappling fixture.