Automated installation for processing large objects

• US 4,697,239 A
• Filed: 01/04/1985
• Issued: 09/29/1987
• Est. Priority Date: 12/27/1984
• Status: Expired due to Fees

• Current Assignee: Institut de Recherches de La Construction Navale
• Original Assignee: Institut de Recherches de La Construction Navale
• Inventors: Kroczynski, Patrice, Gallard, Herve, Mars, Denis, Sicard, Claude, Devos, Michel
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US06/688,890
• Time in Patent Office: 998 Days
• Field of Search: 364/468, 364/474, 364/475, 364/512, 364/513, 364/191-193, 414/730, 901/1, 29/568
• US Class Current: 700/113
• CPC Class Codes: G05B 19/4097 characterised by using design data to control NC machines, e.g. CAD/CAM G05B19/4093 takes precedence
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 2219/33205 Coax or optical fiber or twisted pair
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

An automated mobile workshop composed of a workstation equipped with at least one tool for performing work, a transporter for moving the mobile workstation from one location to another, sensors for detecting the location of the workstation with respect to the site on which work is to be performed, and a programming center for receiving and storing information relating to the objects on which work is to be performed, as well as technical specifications of the tools available to perform the work.

Claims

1. An automated mobile workshop comprising:

(a) a workstation equipped with at least one tool for performing work;

(b) means for transporting said workstation from one location to another location operably connected to said workstation;

(c) means for sensing the environment of said workstation in operable communication with said workstation for detecting the location of said workstation;

(d) a programming center for receiving and storing information relating to objects on which work is to be performed and descriptions of the capabilities of tools available to perform the work, said programming center being in electronic communication with said workstation and including;

(i) a database for receiving and storing data relating to objects on which work is to be performed;

(ii) a database provided with technical specifications for said at least one tool; and

(iii) a database containing standards for work to be performed;

(e) a supervisory station electronically connected to said programming center, said means for transporting, and said means for sensing for receiving programmed information from said programming center, detecting the presence of said at least one tool, and for communicating instructions to said means for transporting based on said programmed information;

(f) a work preparation station electronically connected to said programming center for preparing a work sequence corresponding to data relating to objects on which work is to be performed, said work preparation station including;

(i) visual simulation facilities for depicting said objects; and

(ii) a database for receiving and storing data regarding said work sequence;

(g) a database electronically connected to said supervisory station and said database for receiving and storing data regarding said work sequence for receiving and transmitting said data regarding said work sequence to said supervisory station;

(h) a statistical control database electronically connected to said database for receiving and storing data regarding said work sequence and to said work preparation station.

2. The automated mobile workshop in accordance with claim 1, wherein said objects include a ship composed of at least one block including a plurality of chambers.

3. The automated mobile workshop in accordance with claim 1, wherein said programming center includes a master microcomputer and said supervisory station comprises a slave microcomputer linked to said master microcomputer.

4. The automated mobile workshop in accordance with claim 3, wherein said workstation includes a robot comprising an articulated arm having a plurality of axes of rotation provided with drive means, said arm having one end fitted to said at least one tool, and another end fixed to a carrier equipped with means for attaching to said object;

and wherein said means for transporting includes a crane, said carrier and said crane being interconnected by a means for linking said carrier to said crane, so as to enable said carrier with said arm to be moved from one location to another location.

5. The automated moble workshop in accordance with claim 4, further comprising means for controlling and supplying power to said drive means and said tool.

6. The automated mobile workshop in accordance with claim 4, wherein said carrier comprises an arch having uprights positioned on either side of said arm.

7. The automated mobile workshop in accordance with claim 6, wherein said carrier further comprises a rotatable base on which said arch is mounted.

8. The automated mobile workshop in accordance with claim 7, wherein said carrier further comprises a plate having an upper surface on which said base is rotatably mounted and a lower surface connected to said means for attaching.

9. The automated mobile workshop in accordance with claim 8, wherein said carrier further comprises means for protecting said arm positioned adjacent said arm.

10. The automated mobile workshop in accordance with claim 8, wherein said means for protecting includes a bell-shaped member adapted to cover said carrier and said robot including said arm.

11. The automated mobile workshop in accordance with claim 10, wherein said means for linking includes a vertically rotatable holder connected to a carriage associated with said crane, to which said bell-shaped member is fastened.

12. The automated mobile workshop in accordance with claim 11, wherein said holder is provided with a stabilizer composed of a horizontal axis gyroscope and means for rotating said holder about a vertical axis relative to said stabilizer so as to orient said holder.

13. The automated mobile workshop in accordance with claim 12, wherein said holder further includes disconnectable means for connecting to a winder for supporting the connecting means linking said means for controlling and supplying power to the tool of the robot arm.

14. The automated mobile workshop in accordance with claim 13, wherein said carrier is composed of two parts, one adapted to be fixed relative to said object and the other adapted to move along the former.

15. The automated mobile workshop in accordance with claim 14, wherein said holder moves in small steps which are compensated by appropriate movement of said arm.

16. The automated mobile workshop in accordance with claim 15, wherein the supervisory station comprises means for controlling and storing computer programs and said means for controlling and storing computer programs of said supervisory station and the workshop are provided by a single common processor colocated with said means for controlling and storing, the robot arm and its carrier comprising coders-decoders, with the necessary electrical and mechanical means and their direct power control lines being connected to said coders-decoders.