Mobile gantry tool and method

• US 5,836,068 A
• Filed: 04/14/1997
• Issued: 11/17/1998
• Est. Priority Date: 04/14/1997
• Status: Expired due to Term

• Current Assignee: Northrop Grumman Systems Corporation (Northrop Grumman Corporation)
• Original Assignee: Northrop Grumman Corporation
• Inventors: Bullen, Nicholas George, Chang, Frank R.
• Primary Examiner(s): Briggs, William R.
• Application Number:
  US08/834,148
• Time in Patent Office: 582 Days
• Field of Search: 29/33 K, 29/34 B, 29/33 P, 29/711, 29/783, 29/791, 29/792, 29/56.6, 29/430, 409/202, 409/212, 409/224, 409/137, 901/41-47, 74/608, 414/9, 364/167.01
• US Class Current: 29/430
• CPC Class Codes: B23Q 11/06 Safety devices for circular cutters
• CPC Class Codes: B23Q 17/24 using optics or electromagnetic waves
• CPC Class Codes: B25J 9/026 Gantry-type
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: Y10T 29/49829 Advancing work to successive stations [i.e., assembly line]
• CPC Class Codes: Y10T 29/5118 Riveting
• CPC Class Codes: Y10T 29/5191 Assembly
• CPC Class Codes: Y10T 29/53048 Multiple station assembly or disassembly apparatus

Abstract

The present invention is a mobile tool positioning system including a support assembly, a mobile multi-axis, numerically controlled robotic tool, and a multi-movement control device coupled to the mobile multi-axis tool. The support assembly is located adjacent a workpiece and has a plurality of engagers. The mobile multi-axis, numerically controlled robotic tool has proximity sensors removably attached to the engagers. The mobile tool can therefore be detachably coupled to the support assembly. The proximity sensors precisely locate and align the mobile tool with the support assembly before being coupled. In addition, the mobile tool can have a self leveling system with a configurable memory. As such, precision tooling operations can be performed on the workpiece.

Claims

1. A mobile tool positioning system, comprising:

at least one support assembly located adjacent a workpiece, said at least one support assembly including at least one engager;

a mobile multi-axis numerical controlled robotic tool having at least one proximity sensor removably engaged to said at least one engager, wherein said mobile tool is detachably coupled to said at least one support assembly and transportable between at least one support assembly and another support assembly with another workpiece for performing tooling operations on each respective workpiece; and

a multi-movement control device coupled to said mobile tool;

wherein at least one of the support assembly and the mobile tool includes a self leveler.

2. The system of claim 1, wherein said at least one support assembly further includes a self leveler.

3. The system of claim 1, wherein said mobile tool includes a self leveler.

4. The system of claim 2, wherein said self leveler is a horizon leveling system.

5. The system of claim 3, wherein said self leveler is a horizon leveling system.

6. The system of claim 1, wherein said mobile tool further includes a self leveling system coupled to said proximity sensors for properly aligning and engaging said mobile tool with said at least one support assembly.

7. The system of claim 6, wherein said self leveling system has a configurable memory for storing an engaging location for said at least one support assembly and other support assemblies.

8. The system of claim 1, wherein said at least one proximity sensor is a 4-point male cone sensor and said at least one engager is a 4-point female cone sensor.

11. The system of claim 6, wherein said self leveling system is 6-point caster wheel jack leveling system with N-position configurable memory for storing locations and positions for said at least one support assembly to facilitate aligned engagement between said mobile tool and said respective support assembly.

12. The system of claim 6, wherein said at least one engager has an automatic lock triggered by proper engaged position of said mobile tool.

13. The system of claim 12, wherein said lock is manual.

9. A mobile tool positioning system, comprising:

at least one support assembly located adjacent a workpiece, said at least one support assembly including at least one engager;

a mobile multi-axis numerical controlled robotic tool having at least one proximity sensor removably engaged to said at least one engager, wherein said mobile tool is detachably coupled to said at least one support assembly and transportable between at least one support assembly and another support assembly with another workpiece for performing tooling operations on each respective workpiece;

a multi-movement control device coupled to said mobile tool, and

a safety curtain located on said mobile tool.

10. The system of claim 9, wherein said safety curtain is an infrared curtain.

14. A mobile tool positioning system, comprising:

at least one support assembly located adjacent a workpiece, said at least one support assembly including at least one engager;

a mobile multi-axis numerically controlled tool having a machine tool and at least one proximity sensor detachably engaged to said at least one engager, wherein said mobile tool is detachably coupled to each of said support assemblies and transportable between said support assemblies for performing tooling operations with said machine tool on each respective workpiece, wherein said mobile tool comprises,

a plurality of translation modules having longitudinal sliding pads and a longitudinal movement device;

a transverse translation module removably mounted to said longitudinal sliding pads in a generally perpendicular orientation to said longitudinal modules and having transverse sliding pads and a transverse movement device; and

a vertical translation module affixed to said transverse sliding pads in a generally perpendicular orientation to said longitudinal and transverse translation modules and having vertical sliding pads and a vertical movement device, said vertical translation module comprising a mounting device for said machine tool and a rotator to rotate said machine tool about a rotational axis and a pivotor to pivot said machine tool about any pivot axis orthogonal to said rotational axis; and

a multi-movement control device coupled to said portable multi-axis tool.

15. The system of claim 14 wherein each of said translation modules further comprises:

a rail supporting each of said respective sliding pads; and

a linear ballscrew threadedly engaged with each of said respective sliding pads.

16. The system of claim 14 wherein each of said movement device of each of said translation modules further comprises:

a motor connected to each of said respective translation module for moving each of said respective sliding pads along each of said respective module.

17. The system of claim 16 further comprising:

a belt reduction drive connecting said motor to each of said respective translation module.

18. The system of claim 14 wherein said vertical translation module further comprises:

a secondary vertical translation module aligned parallel to said vertical translation module and having secondary vertical sliding pads and connected to said vertical movement device.

19. The system of claim 14 wherein said control device comprises:

a controller for storing control signals for each of said respective movement device and for said machine tool, and sending said control signals to each of said respective movement device and said machine tool at predetermined intervals.

20. The system of claim 19 wherein said control signals for each of said respective movement device further comprise:

a set of Cartesian coordinates for each of said respective movement devices; and

a set of angles for each of said rotator and pivotor.

21. The system of claim 20 wherein said control signals for said machine tool further comprise:

a set of machine tool operation instructions.

22. The system of claim 14 wherein:

each of said translation modules, rotator, and pivotor further comprises a sensor for measuring a position of each of said respective sliding pads on each of said respective translation modules and a position of said machine tool about said rotational axis and said pivot axis, and sending a position signal;

a controller for storing control signals for each of said respective movement device and for said machine tool, and sending said control signals; and

a control module for receiving each of said respective control signals, sending each of said respective control signals to each of said respective movement devices and to said machine tool, receiving each of said respective sensor position signals, and sending position correction signals to each of said respective movement devices.

23. The system of claim 14 further comprising:

a ballrail mounted parallel to said transverse translation module on a side opposite to said vertical translation module;

a sliding device connected to said transverse sliding pads and engaging said ballrail so as to constrain transverse movement of said transverse sliding pads and to prevent vertical movement of said transverse sliding pads.

24. The system of claim 23 wherein said sliding device comprises:

a support plate connected to one of said transverse sliding pads;

a semicircular aperture in said support plate having a cross section conforming to a cross section of said ballrail; and

a plurality of ball bearings rotatably engaged in said support plate and medial said support plate and said ballrail.

25. The system of claim 14 wherein said third translation module further comprises:

a duplicate vertical translation module aligned parallel to said third translation module and connected to said mounting device and to said vertical movement device.

26. A method of performing tooling operations on a plurality of workpieces located in a plurality of corresponding support assemblies, comprises the steps of:

a) self leveling said support assemblies with a reference point;

b) aligning a mobile multi-axis numerical controlled robotic tool with a first support assembly having a first workpiece;

c) engaging, in a detachable manner, said mobile tool with said first support assembly;

d) performing at least one tooling operation on said workpiece;

e) disengaging said mobile tool from said first supporting assembly;

f) transporting said mobile tool from said first support assembly to another support assembly; and

g) repeating steps (a)-(f) for the remaining support assemblies.

27. The method of claim 26, wherein said mobile tool is aligned and engaged with said support assemblies with a plurality of proximity sensor located on said mobile tool and a plurality of engagers located on each support assembly.

28. The method of claim 26, wherein said aligning and engaging steps are performed by a self leveling system.

29. The method of claim 26, wherein said steps (a)-(g) are facilitated by a multi-movement control device coupled to said mobile tool.

30. The method of claim 26, wherein said aligning step comprises sensing position and location of the first support assembly with respect to the mobile tool and adjusting the mobile tool accordingly.

31. The method of claim 26, further comprising, before step (a), the step of configuring and storing in memory an engaging location for each support assembly.

32. The method of claim 30, wherein said sensing position and location of the first support assembly with respect to the mobile tool and adjusting the mobile tool accordingly is accomplished electrically.

33. The method of claim 30, wherein said sensing position and location of the first support assembly with respect to the mobile tool and adjusting the mobile tool accordingly is accomplished mechanically.