Computer controlled reconfigurable part fixture mechanism
First Claim
1. A computer controlled reconfigurable fixture mechanism operative to be reconfigured to hold parts in desired locations and orientations, comprising:
- a base;
a plurality of reconfigurable linkages, each linkage of said plurality of reconfigurable linkages having a base end attached to said base and a free end;
an end effector attached to said free end of each linkage to engage a part; and
a control computer for generating position signals based on data identifying the part, a desired orientation of the part and preselected locations on said part to be engaged by said end effectors, said position signal activating said plurality of reconfigurable linkages to move said free end of each linkage to a location that will permit respective ones of said end effectors to support said part at respective ones of said preselected locations, whereby said linkages cooperate to support the part in a desired location and orientation.
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Accused Products
Abstract
A computer controlled reconfigurable fixture mechanism having a base, rotatively and pivotably supporting a plurality of fixture linkages. Each linkage has at least two arms connected by a wrist assembly. The wrist assemblies are motor-driven and permit the arms to be rotated and pivoted relative to each other and to the base. A control computer includes a keyboard. Using a keyboard an operator can individually move the arms to a desired location and orientation. Angle sensors associated with each wrist assembly generate feedback signals indicative of the current configuration of the linkages which can be stored in the control computer. The computer can generate position signals for each linkage to return them to the stored configuration. The control computer may also use the physical data of the part generated by a CAD system to configure the linkages to hold the part at the desired location and orientation.
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Citations
10 Claims
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1. A computer controlled reconfigurable fixture mechanism operative to be reconfigured to hold parts in desired locations and orientations, comprising:
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a base; a plurality of reconfigurable linkages, each linkage of said plurality of reconfigurable linkages having a base end attached to said base and a free end; an end effector attached to said free end of each linkage to engage a part; and a control computer for generating position signals based on data identifying the part, a desired orientation of the part and preselected locations on said part to be engaged by said end effectors, said position signal activating said plurality of reconfigurable linkages to move said free end of each linkage to a location that will permit respective ones of said end effectors to support said part at respective ones of said preselected locations, whereby said linkages cooperate to support the part in a desired location and orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer controlled reconfigurable fixture mechanism operative to be reconfigured to hold parts in selected locations and orientations, comprising:
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a base; a plurality of reconfigurable linkages, each linkage of said plurality of linkages having a base end movably connected to said base, a free end, and encoders generating feedback signals having values corresponding to an orientation of the linkage relative to fixed orientation; an end effector attached to said free end of each linkage to engage a part to be held; and a control computer for processing said feedback signals and data identifying the part, a desired orientation of the part and preselected locations on the part to be engaged by said end effectors to generate position signals associated with each linkage, said position signals activating the associated linkage to move said free end to a location determined to engage said end effectors with said part at said preselected locations, said control computer including a keyboard permitting an operator to electronically move said linkages to positions that will permit said end effectors to support said part at the preselected locations, means for storing the location of each linkage in response to said feedback signals, and means for generating said position signals in response to a command entered via said keyboard.
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Specification