Method for automatically handling, assembling and working on objects

• US 4,654,949 A
• Filed: 03/19/1985
• Issued: 04/07/1987
• Est. Priority Date: 02/16/1982
• Status: Expired due to Term

• Current Assignee: LMI Technologies Inc.
• Original Assignee: Diffracto, Ltd. (LMI Technologies Inc.)
• Inventors: Pryor, Timothy R.
• Primary Examiner(s): ROSENBAUM, MARK
• Assistant Examiner(s): Nichols, Steven
• Application Number:
  US06/716,592
• Time in Patent Office: 749 Days
• Field of Search: 29/407, 29/700-709
• US Class Current: 29/407.04
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: F02F 2007/0063 Head bolts; Arrangements of cylinder head bolts
• CPC Class Codes: F02F 7/006 Camshaft or pushrod housings
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/34033 Control processor and signal processor cooperate
• CPC Class Codes: G05B 2219/39393 Camera detects projected image, compare with reference image, position end effector
• CPC Class Codes: G05B 2219/45064 Assembly robot
• CPC Class Codes: Y10T 29/49769 Using optical instrument [excludes mere human eyeballing]
• CPC Class Codes: Y10T 29/53009 with comparator
• CPC Class Codes: Y10T 29/53039 with control means energized in response to activator stimulated by condition sensor

Abstract

Method and apparatus are disclosed for determining the position and attitude of objects, together with robotic systems employing same, and methods of targeting objects for such purposes.

Particularly of interest is the application to continuous conveyors, particularly in the process of automobile manufacture.

Claims

1. A method of assembling doors or other panels into openings in objects comprising the steps of:

providing a robot with electro-optical sensors on the tooling used to grasp said panel,

with said sensors, sensing the location of said object and said opening in said object,

positioning said panel in said opening with said robot using said sensors to feed back data to the control system of said robot,

from said data, adjusting said position in said opening to equalize the gap between said panel and said opening so as to align said panel with said opening.

2. A method according to claim 1 wherein said sensors are further used to guide the robot to position said tooling in correct relationship to said panel before grasping said panel.

3. A method according to claim 1 further incorporating the step of electro-optically sensing targets on said object containing said opening to rough control the position of the robot to said object.

4. A method according to claim 1 including the further step of constraining at least one axis of said object motion to limit displacement or velocity.

5. A method according to claim 1 wherein said electro-optical sensor is a photodetector array camera.