Automatic manipulator with reservoir and methods

• US 5,281,079 A
• Filed: 06/29/1993
• Issued: 01/25/1994
• 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:
  US08/084,507
• Time in Patent Office: 210 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, 901/32, 901/41, 29/26 A, 29/563, 409/218
• US Class Current: 414/744.3
• CPC Class Codes: B23Q 11/1076 with a cutting liquid nozzle specially adaptable to different kinds of machining operations
• CPC Class Codes: B23Q 41/00 Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24 B23Q37/00, B23Q39/00 take precedence; features relating to operations performed, if the different metal-working operations are of the same kind, see the subclass for the kind of operation, e.g. punching B21D, welding B23K, grinding B24B; features relating to technically specified combinations of different metal-working operations B23P23/00
• CPC Class Codes: B25J 15/0491 comprising end-effector racks
• CPC Class Codes: B25J 19/021 Optical sensing devices
• 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 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/041 Cylindrical coordinate type
• CPC Class Codes: B25J 9/1015 using additional, e.g. microadjustment of the end effector
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/14 using punched cards or tapes G05B19/128 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 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: G06K 13/26 : Winding-up or unwinding of record carriers; Driving of record carriers
• CPC Class Codes: G06K 7/04 : by mechanical means, e.g. by pins operating electric contacts
• CPC Class Codes: G11B 15/1883 : for record carriers inside containers
• CPC Class Codes: G11B 15/58 : with vacuum column
• CPC Class Codes: G11B 27/102 : Programmed access in sequence to addressed parts of tracks of operating record carriers access by moving the head G11B3/08, G11B5/54, G11B7/085, G11B21/022; by moving the record carrier G11B15/005, G11B17/005, by driving of both record carrier and head G11B15/1816
• CPC Class Codes: G11B 27/28 : by using information signals recorded by the same method as the main recording G11B27/22 takes precedence
• CPC Class Codes: H03D 13/005 : in which one of the oscillations is, or is converted into, a signal having a special waveform, e.g. triangular
• CPC Class Codes: H04L 27/16 : Frequency regulation arrangements
• CPC Class Codes: Y02P 90/02 : Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 29/5107 : Drilling and other
• CPC Class Codes: Y10T 29/5124 : with means to feed work intermittently from one tool station to another

Abstract

An automatic, moveable manipulator includes an arm supported on a carriage and holding at least one tool. Both the arm and the carriage can be moved under the control of signals transmitted from a remote location, such as a central controller, which signal is stored in a storage device. The manipulator further supports a reservoir for holding materials that can be used by the tool, for example to apply to the workpieces, such as fluids, fasteners, expendable materials, and the like. An automatic resupply system permits the manipulator to re-fill the reservoir, such as when it is emptied.

Claims

1. An automatic, moveable manipulator comprising:

(a) a carriage;

(b) drive means for moving the carriage in a plurality of directions;

(c) at least one manipulator arm supported by the carriage;

(d) at least one tool supported by the arm;

(e) motor means for moving the arm with the tool;

(f) means supported by the carriage for receiving a wireless transmission of control signals from a remote location;

(g) storage means for storing information defined by the signals received by the receiving means;

(h) means for reproducing the stored signals from the storage means, for processing the reproduced signals to generate command control signals, and for applying the command control signals to control the operation of the manipulator;

(i) a reservoir supported by the carriage; and

(j) an outlet means for receiving materials from the reservoir and applying same to work on which the tool operates.

2. A manipulator in accordance with claim 1 further comprising:

(a) detecting means for generating a sensing signal when the material in the reservoir is depleted; and

(b) means for receiving the sensing signal and for applying it to alter the operation of the manipulator when the sensing signal is received.

3. A manipulator in accordance with claim 2 wherein the signal application means includes means for causing the manipulator to move to a resupply means for storing material and to replenish the supply of material in the reservoir.

4. An automatic manipulator and control system therefor comprising:

(a) at least one manipulator, including;

i) a carriage,

ii) drive means for moving the carriage in a plurality of directions along a surface,

iii) a manipulator arm assembly supported by the carriage,

iv) a tool rack containing a plurality of tools,

v) means for removing a selected one of the tools from the tool rack, for connecting the selected tool to the arm assembly, for supporting the selected tool with the arm assembly, for operating the selected tool while it is supported by the arm assembly, and for controllably releasing tools from the arm assembly,

vi) motor means for moving the arm assembly through three-dimensional space,

vii) means on the manipulator for receiving command signals,

viii) means on the manipulator for storing the command control signals,

ix) means for reproducing signals from the storage means, for generating the reproduced signals as a sequence of commands, and for applying the commands to control the movement and operation of the manipulator, and

x) at least one reservoir and means for transferring material from the reservoir to the work on which the tool operates;

(b) a remote computer, including;

i) means for storing a plurality of control programs as signals controlling the manipulator to cause it to perform a preselected sequence of operations involving the programmed operation of the drive means, the motor means, and the tool-connecting means,

ii) means for selectively reproducing the control programs from the storage means, and

iii) means for transmitting trains of signals defining the selected control programs to the receiving means of the manipulator;

(c) means for sensing at least one characteristic of the external environment of the manipulator and for generating output signals that vary in accordance with variations in the sensed characteristic; and

(d) signal processing means for digitizing the output signal from the sensing means, for computer analyzing the digitized signals, and for using the results of the analysis to modify the operation of the manipulator.

5. An automatic, moveable manipulator comprising:

(a) a base;

(b) a power drive controllable to move the base in a plurality of directions;

(c) at least one manipulator arm coupled to and supported by the base;

(d) a tool head coupled to the arm that is configured to hold and operate at least one tool;

(e) a motor drive assembly controllable to move the arm to cause the tool head to execute multi-axis travel; and

(f) a reservoir supported at least indirectly by the base and configured to contain a quantity of expendable material.

6. A manipulator in accordance with claim 5 further comprising a local controller having an electronic storage device that stores control signals that the local controller applies to controllably operate the motor drive system and the tool head to perform at least one operation on work aligned with a tool held by the tool head.

7. A manipulator in accordance with claim 6 wherein the local controller further applies signals to control the power drive to cause the base to move.

8. A manipulator in accordance with claim 5 further comprising a remote controller including:

(a) an electronic storage device that stores a plurality of command signals;

(b) a transducer located so as to reproduce from the storage device selected command signals; and

(c) a communications system coupled to the transducer and controllable to transmit reproduced command signals to the storage device associated with the local controller.

9. A manipulator in accordance with claim 5 further comprising:

(a) an outlet coupled to the tool head and supported in position to permit at least one tool connected to the tool head to use materials passing through the outlet as the tool operates on work; and

(b) a conduit coupling the reservoir and the outlet and configured to permit passage of selected materials contained in the reservoir.

10. A manipulator in accordance with claim 5 wherein the reservoir is coupled to the base.

11. A manipulator in accordance with claim 5 wherein the power drive is controllable to move the base in a multitude of directions along a surface.

12. A manipulator in accordance with claim 5 wherein the power drive includes at least two power-driven tracks.

13. A manipulator in accordance with claim 5 wherein the motor drive is controllable to move the tool head in three dimensions.

14. A manipulator in accordance with claim 13 wherein the manipulator arm and motor drive assembly comprise:

(a) a vertical guideway supported by the base;

(b) a carriage supported on the guideway;

(c) a first motor controllable to move the carriage vertically along the guideway;

(d) a second motor controllable to rotate the carriage horizontally around the guideway;

(e) a shaft extending horizontally from the carriage; and

(f) a third motor controllable to project and retract the shaft with respect to the carriage.

15. A manipulator in accordance with claim 14 further comprising at least one television camera supported at the top of the vertical guideway.

16. A manipulator in accordance with claim 5 further comprising a tool rack containing a plurality of tools supported within reach of the tool head, and wherein the tool head includes (a) a mechanical connector that connects to and releases from the tool head a selected one of the tools, and (b) an electrical connector that passes electrical power to permit operation of the selected tool while it is mechanically connected to the tool head.

17. A manipulator in accordance with claim 5 further comprising at least one sensor supported by the base that generates output signals that vary in accordance with variations in at least one characteristic of the external environment of the manipulator.

18. A manipulator in accordance with claim 17 wherein the sensor comprises a television camera.

19. A manipulator in accordance with claim 7 further comprising:

(a) at least one sensor supported by the base that generates output signals that vary in accordance with variations in at least one characteristic of the external environment of the manipulator; and

(b) a signal-processing system that digitizes the output signal from the sensor, computer-analyzes the digitized signals, and applies the results of the analysis to cause the local controller to modify the operation of the manipulator.

20. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain a fluid.

21. A manipulator in accordance with claim 20 wherein the reservoir is configured to contain a cutting fluid.

22. A manipulator in accordance with claim 20 wherein the reservoir is configured to contain a cooling fluid.

23. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain a coating material.

24. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain a welding material.

25. A manipulator in accordance with claim 24 wherein the reservoir is configured to contain a welding fuel.

26. A manipulator in accordance with claim 24 wherein the reservoir is configured to contain welding flux.

27. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain an adhesive.

28. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain fasteners.

29. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain rivets.

30. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain articles to be assembled automatically.

31. A manipulator in accordance with claim 5 wherein the reservoir is configured to contain a fuel.

32. A manipulator in accordance with claim 5 further comprising a detector that generates a signal when the material in the reservoir is depleted.

33. A manipulator in accordance with claim 7 further comprising a detector that generates a signal when the material in the reservoir is depleted and that is coupled to the local controller, and wherein the local controller includes a system that applies the signal to alter the operation of the manipulator.

34. A manipulator in accordance with claim 33 wherein the signal-application system causes the manipulator to move to a resupply bin to replenish the supply of material in the reservoir.

35. A manipulator system in accordance with claim 34 further comprising:

(a) a resupply bin located remote from the manipulator; and

(b) a homing system for locating the resupply bin.

36. A system in accordance with claim 35 wherein the homing system comprises:

(a) a radiation generator coupled to the resupply bin; and

(b) a radiation detector coupled to the manipulator.

37. A system in accordance with claim 5 wherein the reservoir is supported by the arm and further comprising a resupply bin coupled to the base.

38. A manipulator in accordance with claim 33 wherein the reservoir is supported by the arm, further comprising a resupply bin supported by the base, and wherein the signal-application system causes the arm to position the reservoir in a predetermined position relative to the resupply bin.

39. A manipulator in accordance with claim 14:

(a) further comprising a tool rack containing a plurality of tools supported within reach of the tool head;

(b) wherein the tool head includes (i) a mechanical connector that connects to and releases from the tool head a selected one of the tools, and (ii) an electrical connector that passes electrical power to permit operation of the selected tool while it is mechanically connected to the tool head; and

(c) wherein the tool rack is supported by the vertical guideway.

40. A method of operating an automatic manipulator having (i) a base, (ii) a power drive controllable to move the base in a plurality of directions, (iii) at least one manipulator arm coupled to and supported by the base, (iv) a tool head coupled to the arm, (v) at least one tool connected to the tool head, (vi) a motor drive assembly controllable to move the arm to cause the tool head to execute multi-axis travel, and (vii) a reservoir supported at least indirectly by the base and holding a quantity of replenishable material, the method comprising:

(a) generating a plurality of control signals;

(b) storing the control signals in a storage device; and

(c) causing the tool to perform a selected operation on work by selectively reproducing control signals from the storage device and applying the selected signals to cause;

i) the power drive to move the manipulator,

ii) the motor drive to move the tool head,

iii) the tool head to operate a tool connected thereto, and

iv) the tool to use some of the material in the reservoir.

41. A method in accordance with claim 40 further comprising applying selected signals to cause the tool head to operate a second tool connected thereto.

42. A method in accordance with claim 41 further comprising applying selected signals to detach the first tool from the tool head and replace the detached tool with the second tool.

43. A method in accordance with claim 40 further comprising detecting when the material in the reservoir is depleted and generating a signal.

44. A method in accordance with claim 43 further comprising applying the signal to alter the operation of the manipulator.

45. A method in accordance with claim 44 wherein the operation of applying the signal comprises causing the manipulator to replenish the supply of material in the reservoir from a resupply bin.

46. A method in accordance with claim 45 wherein the operation of causing the manipulator to replenish the supply of material in the reservoir includes causing the manipulator (i) to detect a homing signal to locate a remote resupply bin, and (ii) to move to the detected resupply bin.

47. A method in accordance with claim 45 wherein the operation of causing the manipulator to replenish the supply of material in the reservoir includes moving a reservoir that is supported by the manipulator arm to a predetermined position relative to a resupply bin coupled to the base and opening the resupply bin to permit material therein to pass into the reservoir.