Method for changing the tooling in a robot-based system and system utilizing same

• US 4,679,297 A
• Filed: 05/15/1986
• Issued: 07/14/1987
• Est. Priority Date: 05/15/1986
• Status: Expired due to Fees

• Current Assignee: Fanuc Robotics North America Inc (Fanuc Corporation)
• Original Assignee: GMF Robotics Corporation (Fanuc Corporation)
• Inventors: Murray, James R., Zald, Roberta L., Hansen, Robert E. Jr.
• Primary Examiner(s): Weidenfeld, Gil
• Assistant Examiner(s): Bishop, Steven C.
• Application Number:
  US06/863,333
• Time in Patent Office: 425 Days
• Field of Search: 29/568, 901/6, 901/7, 901/30, 901/31, 901/39, 901/40, 901/8, 82/2.5, 82/2.7, 414/222, 414/225, 414/226, 414/786
• US Class Current: 483/1
• CPC Class Codes: B23Q 7/046 Handling workpieces or tools
• CPC Class Codes: Y10S 483/901 Robot end effectors
• CPC Class Codes: Y10T 483/10 Process
• CPC Class Codes: Y10T 483/16 with means to transfer work

Abstract

A method for changing the tooling in a robot-based material transfer system is disclosed as well as a system utilizing the method. The tooling is changed to accommodate the transfer of material such as automotive parts having different configurations within the system. Initially, end effectors of gantry robots and/or transfer beds of the system are placed in at least one container which is indexed through the work envelopes of the robots. Then, at least one specially designed container containing new tooling is indexed into the work envelopes. The robots are controlled to remove the new tooling from the containers and to place the new tooling in operative positions in the system. In the disclosed embodiment, one of the robots utilizes a special transfer bed gripper to replace the old transfer beds with new transfer beds. Preferably, an automatic guided vehicle system (AGVS) moves containers to and from loading and unloading stations in the material handling system.

Claims

1. A method for automatically changing tooling of a robot-based system, the method comprising:

indexing a first container into a work envelope of a robot having a first end effector connected to a distal end of an arm;

conveying at least one fixture adapted to support a first part in a desired position and orientation into the work envelope;

controlling the robot so that the robot removes the fixture from an operative position and places the fixture in the first container;

moving the first container out of the work envelope;

indexing a second container having a second fixture adapted to support a second part in a desired position and orientation into the work envelope;

controlling the robot so that the robot picks up and places the second fixture in an operative position in preparation for conveyance of the second part; and

moving the second container out of the work envelope.

2. The method of claim 1 wherein the first end effector comprises a gripper and wherein the method further comprises:

indexing a third container into the work envelope;

controlling the robot so that the robot places the first end effector in the third container;

moving the third container out of the work envelope;

indexing a fourth container having a second end effector into the work envelope; and

controlling the robot so that the second end effector is connected to the distal end of the robot arm.

6. The method of claim 1 or claim 2 or claim 3 or claim 4 or claim 5 further comprising the step of queuing the containers.

3. A method for automatically changing tooling of a robot-based system, the method comprising:

indexing a first container into a work envelope of a robot having a first end effector connected to a distal end of an arm;

controlling the robot so that the robot places the first end effector in the first container;

moving the first container out of the work envelope;

indexing a second container having a second end effector into the work envelope;

controlling the robot so that the second end effector is connected to the distal end of the robot arm; and

moving the second container out of the work envelope.

4. The method of claim 3 wherein the first and second end effectors comprise grippers adapted to pick up and place respective first and second parts in part containers, wherein the method further comprises:

indexing a third container into the work envelope;

conveying at least one fixture adapted to support the first part in a desired position and orientation into the work envelope;

controlling the robot so that the robot picks up and places the fixture in the third container; and

moving the third container out of the work envelope.

5. The method of claim 4 further comprising the steps of:

indexing a fourth container having a second fixture adapted to support the second part in a desired position and orientation into the work envelope; and

controlling the robot so that the robot picks up and places the second fixture in an operative position in preparation for conveyance of the second part.

7. A method for automatically changing tooling of a robot-based system, the method comprising:

indexing a first container into a work envelope of a first robot having a first end effector connected to a distal end of an arm;

controlling the first robot so that the first robot places the first end effector in a first predetermined position in the first container;

indexing the first container out of the work envelope of the first robot and into a work envelope of a second robot having a second end effector connected to a distal end of an arm;

controlling the second robot so that the second robot places the second end effector in a second predetermined position in the first container;

serially indexing a second container having third and fourth end effectors into the work envelopes of the first and second robots; and

serially controlling the robots so that the third and fourth end effectors are connected to the distal ends of the first and second robots, respectively.

10. The method of claim 8 or claim 9 or claim 7 further comprising the step of queuing the containers.

8. A method for automatically changing tooling of a robot-based system wherein the method comprises:

serially indexing a first container into work envelopes of first and second robots, each of the robots having an end effector connected to a distal end of an arm;

conveying first and second fixtures adapted to support respective parts in a desired position and orientation into the work envelope of at least one of the first and second robots, respectively;

controlling the one robot so that the one robot picks up and places the fixtures in respective first and second predetermined positions in the first container;

moving the first container out of the work envelope of the one robot;

indexing a second container having third and fourth fixtures each adapted to support a second part in a desired position and orientation into the work envelope of the one robot;

controlling the one robot so that the one robot serially picks up and places the third and fourth fixtures in operative position in preparation for conveyance of the second parts; and

moving the second container out of the work envelope of the one robot.

9. The method of claim 8 wherein the method further comprises:

indexing a third container into the work envelope of the first robot;

controlling the first robot so that the first robot places its end effector in a first predetermined position in the third container;

indexing the third container out of the work envelope of the first robot and into the work envelope of the second robot;

controlling the second robot so that the second robot places its end effector in a second predetermined position in the third container;

moving the third container out of the work envelope of the second robot;

serially indexing a fourth container having third and fourth end effectors into the work envelopes of the first and second robots; and

serially controlling the robots so that the third and fourth end effectors are connected to the distal ends of the first and second robots, respectively.

11. A system for automatically changing tooling of a robot-based system, the system comprising:

a robot having a first end effector connected to a distal end of an arm and capable of working within a work envelope;

indexing means for serially indexing first and second containers into the work envelope, the second container having a second end effector received and retained therein;

a robot controller for controlling the robot so that the robot first places the first end effector in the first container and then so that the second end effector is connected to the distal end of the arm; and

control means coupled to said indexing means and said controller for controlling the movement of end effectors in the system.

18. The system as claimed in claim 11, claim 12, claim 13 or claim 14 wherein said control means includes a host computer for coordinating operation of said indexing means and said robot controllers.

19. The system as claimed in claim 11 or claim 13 wherein each of the fixtures includes a transfer bed for supporting a part thereon in a fixed position.

12. A system for automatically changing tooling of a robot-based system, the system comprising:

a robot having an end effector connected to a distal end of an arm and capable of working within a work envelope;

conveying means for conveying a first fixture adapted to support a first part in a desired position and orientation into the work envelope;

indexing means for serially indexing first and second containers into the work envelope, the second container having a second fixture adapted to support a second part in a desired position and orientation received and retained therein;

a robot controller for controlling the robot so that the robot first picks up the first fixture from the conveying means and places the first fixture in the first container and then picks up the second fixture from the second container and places the second fixture in operative position on said conveying means in preparation for conveyance of the second part; and

control means coupled to said conveying and indexing means and to said controller for controlling flow of the fixtures in the system.

16. The system as claimed in claim 12 or claim 13 wherein each of said robots comprises a gantry robot and wherein said system further includes means for mounting said gantry robots in an overhead fashion.

17. The system as claimed in claim 12 or claim 13 wherein each of said end effectors comprises a vacuum gripper removably connected to the distal end of its robot arm.

13. A system for automatically changing tooling of a robot-based system, the system comprising:

first and second robots, each of said robots having a first end effector connected to a distal end of an arm and capable of working within a respective work envelope;

indexing means for serially indexing first and second containers into the work envelope of the first robot and subsequently serially indexing the containers into the work envelope of the second robot, the second container having a pair of second end effectors disposed in predetermined positions therein;

first and second robot controllers for controlling said first and second robots, respectively, so that the first and second robots first place their respective first end effectors in respective predetermined positions in the first container and so that the pair of second end effectors are then connected to the distal ends of their respective robot arms; and

control means coupled to the indexing means and to the controllers for controlling movement of the end effectors in the system.

15. The system as claimed in claim 14 or claim 13 further comprising queuing means for queuing the containers in a queue, said indexing means indexing the containers in the queue.

20. The system as claimed in claim 15 further comprising a plurality of automatic guided vehicles coupled to said control means for providing said containers to said queuing means and for receiving said containers therefrom.

14. A system for automatically changing tooling of a robot-based system, the system comprising:

first and second robots, each of said robots having an end effector and capable of working within a respective work envelope;

indexing means for serially indexing first and second containers into the work envelope of the first robot and subsequently serially indexing the containers into the work envelope of the second robot, the second container having a pair of first fixtures adapted to support first parts in desired positions and orientations in predetermined positions therein;

conveying means for serially conveying a pair of second fixtures adapted to support second parts in desired positions and orientations into the work envelopes of the first and second robots;

first and second robot controllers for controlling first and second robots respectively, so that at least one of the first and second robots picks up and places the pair of second fixtures in predetermined positions in the first container and picks up and places the pair of first fixtures from the second container in respective operative positions on said conveying means in preparation for conveying the first parts thereon; and

control means coupled to said indexing and conveying means and to said controllers for controlling flow of the fixtures in the system.