Apparatus and methods for performing operations on an object

• US 20050055127A1
• Filed: 10/12/2004
• Published: 03/10/2005
• Est. Priority Date: 12/26/2001
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Hooke, David A., Swain, Matthew G.
• Granted Patent: US 7,233,837 B2
• Time in Patent Office: Days
• US Class Current: 700/186
• CPC Class Codes: B23Q 17/2233 for adjusting the tool relative to the workpiece
• CPC Class Codes: B23Q 17/24 using optics or electromagnetic waves
• CPC Class Codes: B23Q 9/00 Arrangements for supporting or guiding portable metal-working machines or apparatus turning machine for reconditioning wheel sets without removing same from vehicle B23B5/32; for tapping pipes B23B41/00, F16L41/04; specially designed for drilling B23B45/00, B25H1/0021
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/40623 Track position of end effector by laser beam

Abstract

An apparatus for performing machining operations on an object includes a carriage, a movable head configurable with an operating attachment to perform the machining operations on the object, and a position determination system operable to determine the spatial relationship of the carriage and the object and provide a first signal representative thereof. The position determination system periodically determines the spatial relationship of the head to the object during machining operations on the object and provides a second signal representative thereof. The second signal is used to re-position the head to a desired position during the machining operations.

Claims

1. An apparatus for performing machining operations on an object comprising:

a carriage;

a movable head configurable with an operating attachment to perform the machining operations on the object; and

a position determination system operable to determine the spatial relationship of the work-piece during the machining operations, determine the spatial relationship of the carriage and the object and provide a first signal representative thereof, and to further periodically determine the spatial relationship of the head to the object during machining operations on the object and to provide a second signal representative thereof, wherein the second signal is used to re-position the head to a desired position during the machining operations.

2. The apparatus as set forth in claim 1, further comprising a computer processor operable to:

receive the first and second signals,

provide a third signal to the movable head based on the spatial relationship between the carriage and the object, and

adjust the third signal based on the spatial relationship between the carriage and the object, and the head and the object.

3. The apparatus as set forth in claim 1, further comprising a robotic arm mounted on the carriage, and a movable head mounted on the robotic arm.

4. The apparatus as set forth in claim 1, wherein the carriage is portable.

5. The apparatus as set forth in claim 1, wherein the position determination system includes:

a tracking system;

at least one first target mounted on the carriage;

at least one second target mounted on the object; and

at least one third target mounted on the head.

6. The apparatus as set forth in claim 1, wherein the position determination system includes a Global Positioning System (GPS).

7. The apparatus as set forth in claim 1, wherein the position determination system includes a radio frequency identification (RFID) system.

8. The apparatus as set forth in claim 1, wherein the position determination system includes a radio direction finding system (RDFS).

9. The apparatus as set forth in claim 1, wherein the position determination system includes a laser measurement system.

10. The apparatus as set forth in claim 5, further comprising logic instructions operable to:

receive the first and second signals,

provide a third signal to the movable head based on the spatial relationship between the carriage and the object, and

adjust the third signal based on the spatial relationship between the carriage and the object, and the head and the object.

11. The apparatus as set forth in claim 4 wherein the carriage includes a mechanical system operable to lock the apparatus in a position in proximity to the object.

12. The apparatus as set forth in claim 1 wherein the position determination system comprises:

a first transceiver assembly operable to track a first target mounted on the carriage; and

a second transceiver assembly operable to track a second target mounted on the object.

13. The apparatus as set forth in claim 12 wherein the position determination system comprises:

a first transceiver assembly for tracking the first target;

a second transceiver assembly for tracking the second target; and

a third transceiver assembly for tracking a third target mounted on the head.

14. The apparatus as set forth in claim 1, wherein the head is configurable to detect information from a tag on the object, and to supply the detected information to at least one of an inventory tracking system, a scheduling system, and the position determination system.

15. The apparatus as set forth in claim 1, wherein the head is configurable to inspect the object, and the inspection information is used to determine whether the machining operations are complete.

16. A system comprising:

a carriage including a movable head for performing machining operations on an object;

a position determination system operable to determine a spatial relationship between the carriage and the object, and provide a first signal representative thereof, and to continuously determine a spatial relationship of the head to the object during actual operations and provide a second signal indicative thereof; and

computerized logic instructions operable to provide signals to move the head to specific spatial relationships with the object.

17. The system as set forth in claim 16 wherein the carriage is portable, the system further comprising a lock to maintain the carriage in a desired position in relation to the object.

18. The system as set forth in claim 16 wherein the position determination system includes:

a tracking system;

at least one target mounted on the apparatus;

at least one target mounted on the object; and

at least one target is mounted on the head.

19. The system as set forth in claim 16 wherein the position determination system includes at least one of a Global Positioning System (GPS), a radio frequency identification (RFID), a radio direction finding system (RDFS), and a laser measurement system.

21. The method as set forth in claim 17, further comprising:

determining the spatial relationship between the carriage and the object during operations and providing a third signal representative thereof; and

adjusting the first signal based on the difference between the first and third signals such that the head remains in the computed spatial relationship to the object.

22. The method as set forth in claim 17, further comprising inspecting the object to determine whether the machining operations are complete and repeating machining operations until the object passes inspection.

23. The method as set forth in claim 17, further comprising detecting information from a tag on the object, and supplying the detected information to at least one of an inventory tracking system and a scheduling system.

20. A method of performing machining operations on an object comprising:

determining the spatial relationship between a carriage and the object and providing a first signal representative thereof;

determining a spatial relationship between a head and the object periodically during the machining operations and providing a second signal indicative of the actual spatial relationship there between, wherein the head is mounted on the carriage; and

adjusting the position of the head periodically before and during the machining operations based on the difference between the first and second signal.