Automatic manipulation system and method

• US 5,017,084 A
• Filed: 09/23/1988
• Issued: 05/21/1991
• Est. Priority Date: 07/28/1954
• Status: Expired due to Term

• Current Assignee: Jerome H. Lemelson
• Original Assignee: Jerome H. Lemelson
• Inventors: Lemelson, Jerome H.
• Primary Examiner(s): Valenza, Joseph E.
• Application Number:
  US07/249,404
• Time in Patent Office: 970 Days
• Field of Search: 414/4, 414/730, 414/744.3, 414/744.6, 414/744.8, 901/1, 901/9, 901/17, 901/22, 901/28, 901/29, 901/41, 901/32, 29/26 A, 29/567, 29/563, 409/218, 114/268
• US Class Current: 483/1
• CPC Class Codes: B25J 15/0491 comprising end-effector racks
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/041 Cylindrical coordinate type
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/33192 Radio link, wireless
• CPC Class Codes: G05B 2219/33207 Physical means, radio, infra red, ultrasonic, inductive link
• CPC Class Codes: G05B 2219/36395 Load local computer program from host, data transfer ram to rom, BTR
• CPC Class Codes: G05B 2219/36511 Select by a detector
• CPC Class Codes: G05B 2219/36513 Select out of a plurality of programs, patterns
• CPC Class Codes: G05B 2219/37553 Two cameras one for coarse scanning, other for fine scanning
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/40283 Reservoir with additional material on vehicle with manipulator
• CPC Class Codes: G05B 2219/40284 Toolrack on vehicle with manipulator, toolchanger
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/41249 Several slides along one axis
• CPC Class Codes: G05B 2219/45045 Maintenance, automatic storage and retrieval system
• CPC Class Codes: G05B 2219/45051 Transfer line
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• CPC Class Codes: G05B 2219/45213 Integrated manufacturing system ims, transfer line, machining center
• CPC Class Codes: G05B 2219/49395 : Repeating same operations for other coordinates
• CPC Class Codes: G07D 7/12 : Visible light, infrared or ultraviolet radiation
• CPC Class Codes: Y10T 29/5107 : Drilling and other
• CPC Class Codes: Y10T 483/10 : Process
• CPC Class Codes: Y10T 483/1793 : Spindle comprises tool changer

Abstract

An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automatically changed and received either from storage on the manipulator or adjacent the manipulator. In a fourth form, the tool head is composed of a turret containing a plurality of different tools and manipulating devices, which turret is automatically operated to bring a selected tool or fixture into an operative location on the manipulator.

Claims

1. An automatic manipulator comprising in combination:

a) first support means,

b) a manipulator arm assembly carried by said first support means for multi-axis movement,

c) an operating head operatively connected to and supported by said arm assembly,

d) a plurality of power-operated tools for performing different functions with respect to work, each of said tools having a coupling means which is operable to releasably electrically and mechanically connect each tool to said operating head,

e) first and second motor means located on said first support means for driving said arm assembly in said multiaxis movement to carry said operating head connected to a tool through a multitude of paths adjacent first said support means for performing a multitude of operations with respect to work disposed adjacent said first support means,

f) means located within the operating range of said arm assembly for positioning said plurality of tools for use with said operating head,

g) master control means including means for automatically controlling the operation of said first and second motor means to cause said manipulator arm assembly to position said operation head in operable alignment with a selected tool disposed on said positioning means and means for controllably moving said head in a path such as to effect the operative connection between the coupling means of said select tool and the operating head,

h) said master control means being also operable to control said first and second motor means to drive said arm assembly to cause it to automatically remove said selected tool from said tool positioning means and to predeterminately move thereafter and control the operation of said tool so as to cause said selected tool to perform a first predetermined operation with respect to work located adjacent said first support means, and

i) when it is required to perform another operation with respect to work with another took, said operation controlling means for the first and second motor means is effective to position said operating head in alignment with a select location of said tool positioning means,

j) means for disconnecting the tool coupling means from the operating head at said tool positioning means, and

k) said operation controlling means being effective to thereafter control said first and second motor means to move said operating head in a manner to effect the positioning of said operating head in alignment with the coupling means of a second select tool to effect the operable electrical and mechanical connecting of said second tool with said operating head and to thereafter move and control the operation of said second tool to cause said second tool to perform a further predetermined operation with respect to work adjacent said first support means.

4. An automatic manipulator in accordance with claim 1 wherein

said tool positioning means for said plurality of different tools comprises a tool holding fixture having a plurality of tool holding locations disposed within the operating range of said operating head but is free of said first support means, and

said master control means is operable to control said motor means to cause said arm assembly to move said operating head into alignment with selected of the tool holding locations so as to effect select coupling and uncoupling operations with respect to the coupling means of the tool holding means of the selected tools.

5. An automatic manipulator in accordance with claim 1 wherein

said tools disposed at said tool positioning means include a plurality of tools for holding work at the end of said arm assembly.

6. An automatic manipulator in accordance with claim 1 wherein

said tools supported by said tool positioning means include a plurality of power operating tools for cutting work material.

7. An automatic manipulator in accordance with claim 1 wherein

said tools supported by said tool positioning means include a plurality of tools operable to inspect work.

8. An automatic manipulator in accordance with claim 1 wherein

at least one of said tools supported by said tool positioning means is operable for seizing and releasing work to permit such work to be securely carried by said operating head,

further including power operated means for operating said seizing means to hold and release work,

said master control means being operable to control said latter power operated means to cause it to grip and release work aligned therewith.

12. An automatic manipulator in accordance with claim 1 including

a source of power connected to said manipulator for power-operating said tools, means supported by said manipulator for conducting power from said source along said arm assembly to said first coupling means,

said coupling means including means for releasably connecting power received from said power conducting means to a tool which is operatively connected to said operating head.

2. An automatic manipulator comprising in combination:

a) first support means,

b) a manipulator arm assembly carried by said first support means for multi-axis movement,

c) an operating head operatively connected to and supported by said arm assembly,

d) a plurality of power-operated tools for performing different functions with respect to work, each of said tools having a coupling means which is operable to be releasably connected to said operating head,

e) first and second motor means located on said first support means for driving said arm assembly in said multi-axis movement to carry said operating head connected to a tool through a multitude of paths adjacent first said support means for performing a multitude of operations with respect to work disposed adjacent said first support means,

f) means located within the operating range of said arm assembly for positioning a plurality of tools for use with said operating head,

g) master control means including means for automatically controlling the operation of said first and second motor means to cause said manipuator arm assembly to position said operation head in operable alignment with a selected tool disposed on said positioning means and means for controllably moving said head in a path such as to effect the operative connection between the coupling means of said select tool and the operating head,

h) said master control means being also operable to control said first and second motor means to drive said arm assembly to cause it to automatically remove said selected tool from said tool positioning means and to predeterminately move thereafter and control the operation of said tool so as to cause said selected tool to perform a first predetermined operation with respect to work located adjacent said first support means, and

i) when it is required to perform another operation with respect to work with another took, said operation controlling means for the first and second motor means is effective to position said operating head in alignment with a select location of said tool positioning means,

j) means for disconnecting the tool coupling means from the operating head at said tool positioning means, and

k) said operation controlling means being effective to thereafter control said first and second motor means to move said operating head in a manner to effect the positioning of said operating head in alignment with the coupling means of a second select tool to effect the operable connecting of said second tool with said operating head and to thereafter move and control the operation of said second toolto cause second tool to perform a further predetermined operation with respect to work adjacent said first support means,

l) said first support means including means for supporting said arm assembly for rotation about a substantially vertical axis,

m) said tool positioning means comprising a turret supported by said first support means for rotation about said substantially vertical axis.

3. An automatic manipulator in accordance with claim 2 wherein

said first support means includes a carriage having means for effecting multi-axis free travel across an operating surface,

said master control means includes a computer operable to control the travel of said carriage across said surface to selectively position said support means with respect to work and to permit the operating head and tool supported thereby to perform selected operations with respect to said work,

said computer being operable to control said first and second motor means and said tool in predeterminately performing operations with respect to said work.

9. A method of changing tools for an automatic machine tool having a tool storage rack and movable tool head which tool head contains tool holding and gripping means and means for releasing held tools and wherein said automatic machine tool includes master controller means and an automatic manipulation means capable of multi-axis movement for moving said tool head through a given spatial volume to a plurality of different storage rack locations, said method comprising the steps of:

a) automatically controlling the operation of said automatic manipulation means tomove said tool head into operative alignment with respect to a selected of said plurality of storage locations containing a selected first tool,

b) automatically operating said tool gripping means and aid automatic manipulation means to cause said gripping means to grip, hold and electrically connect the first tool at said selected location,

c) thereafter automatically controlling said automatic manipulation means to cause the first tool held thereby to execute at least one programmed operation with respect to work disposed adjacent said automatic machine tool,

d) upon completion of the programmed operation with the first tool, automatically controlling said manipulation means to bring the first tool held by said tool head into operative alignment with a select empty storage rack location of said tool storage rack,

e) thereafter effecting the automatic transfer of the first tool held by said tool head to said selected empty storage rack location,

f) automatically controlling the operation of said automatic manipulation means to move said tool head into operative alignment with respect to a selected of said plurality of storage locations containing a selected second tool,

g) automatically operating said tool gripping means and said automatic manipulation means to cause said gripping means to grip, hold and electrically connect the second tool at said selected location,

h) thereafter automatically controlling said automatic manipulation means to cause the second tool held thereby to execute at least one programmed operation with respect to work disposed adjacent said automatic machine tool,

i) upon completion of the programmed operation with the second tool, automatically controlling said manipulation means to bring the second tool h eld by said tool head into operative alignment with a select empty storage rack location of said tool storage rack,

j) thereafter effecting the automatic transfer of the second tool held by said tool head to said selected empty storage rack location,

k) repeating the automatic controlling of said manipulation means and tool, gripping means as necessary in the operation of said machine tool, and

l) generating command control signals from said master controller means to effect said automatically controlling, operating and transfer steps withthe first and second tools.

10. A method in accordance with claim 9 wherein

said tool storage rack is also controllably movable with respect to said machine tool,

further automatically controlling movement of said tool storage rack as well as said automatic manipulation means to bring said tool head and a select storage location of said storage rack into operative alignment with each other.

11. A method in accordance with claim 9 wherein

said tool storage rack is rotationally supported, and

said method includes selectively rotating said tool storage rack a degree such that, when said manipulation means is automatically controlled to control the movement of the tool head supported thereby, the tool head will be predeterminately aligned with a selected storage location of said storage rack.

13. A method in accordance with claim 9 wherein

said command control signals are originally derived from a remote computer and transmitted to said master controller means supported by said manipulation means.

14. A method in accordance with claim 9 wherein

the manipulation means controlling step includes operating the manipulation means in multi-axis movement to effect said operative alignment of the various tools with respect to selected of said plurality of storage rack locations.