Vision target based assembly
First Claim
1. An assembly arrangement wherein a work piece is to be connected to a structure, comprising:
- means for determining a position in which said work piece should be connected relative to said structure using pre-recorded data which relates to the design of said structure;
means for supporting and moving said work piece into its determined position relative to said structure;
means for determining a correct position for each of a plurality of reference points defined on said work piece using said pre-recorded structure design data;
means for determining the deviation between the actual position and the correct position for each of said reference points while said work piece is supported in situ, memory bank means containing said pre-recorded data;
means for controlling said work support means, said control means utilizing said pre-recorded data to position said work piece such that deviations are within predetermined tolerances; and
means for fixing said work piece to said structure when the deviations between the correct and actual positions of said reference points are within said predetermined tolerances.
2 Assignments
0 Petitions
Accused Products
Abstract
Methods for assembling, handling, and fabricating are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assembling process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.
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Citations
38 Claims
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1. An assembly arrangement wherein a work piece is to be connected to a structure, comprising:
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means for determining a position in which said work piece should be connected relative to said structure using pre-recorded data which relates to the design of said structure;
means for supporting and moving said work piece into its determined position relative to said structure;
means for determining a correct position for each of a plurality of reference points defined on said work piece using said pre-recorded structure design data;
means for determining the deviation between the actual position and the correct position for each of said reference points while said work piece is supported in situ, memory bank means containing said pre-recorded data;
means for controlling said work support means, said control means utilizing said pre-recorded data to position said work piece such that deviations are within predetermined tolerances; and
means for fixing said work piece to said structure when the deviations between the correct and actual positions of said reference points are within said predetermined tolerances. - View Dependent Claims (2, 3, 4, 5)
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6. In a method of assembling a structure wherein a work piece is connected to a structure, the steps of:
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determining a position in which said work piece should be disposed relative to said structure using pre-recorded data which relates to the design of said structure;
using work support means to support and move said work piece into the determined position relative to said structure;
determining a correct position for each of a plurality of reference points defined on said work pieces, using said pre-recorded data;
determining an actual position for each of said plurality of reference points;
determining the deviation between each of the actual positions and the correct positions of each of said reference points after said work piece has been moved into said determined position;
using said pre-recorded data to position said work piece such that deviations are within predetermined tolerances; and
fixing said work piece to said structure when the deviations between the correct and actual reference points are within said predetermined tolerances. - View Dependent Claims (7, 8, 9, 10)
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11. An assembly system comprising:
- a work support robot for supporting a work piece, said work support robot including a gripper which can be changed to assume the configuration of a portion of said work piece, said portion being intended to be gripped by said gripper, said work piece support robot being arranged to move said work piece into a predetermined position relative to a body to which the work piece is to be connected;
a securing robot for securing the work piece to the body;
measuring means for determining the disposition of said work piece on said body and for producing data from which the disposition can be determined;
control means responsive to said work piece position data means for controlling the operation of said work piece supporting robot, said control means including;
a memory in which design and assembly data is stored, processing means for using said design and assembly data for interpreting the data from said measuring means and for producing control signals to control said work piece support and securing robots and said measuring means, said control means being arranged to;
move said work support robot to a position wherein the work piece is supported in said predetermined position, induce the measuring means to determine the position of a predetermined reference point on the work piece, compare the actual position of the reference point with that derived from the design data and determine if there is a deviation between the two positions, produce correction values which are used to adjust said work piece support robot in a manner which tends to eliminate any deviation, and induce the securing robot to secure the work piece to said body. - View Dependent Claims (12, 13, 14, 15)
- a work support robot for supporting a work piece, said work support robot including a gripper which can be changed to assume the configuration of a portion of said work piece, said portion being intended to be gripped by said gripper, said work piece support robot being arranged to move said work piece into a predetermined position relative to a body to which the work piece is to be connected;
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16. A method of assembly comprising:
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supporting a work piece on a support robot, said work piece support robot having a gripper which can be changed to assume the configuration of a portion of said work piece, said portion to be gripped by said gripper;
moving said work piece into a predetermined position relative to a body to which the work piece is to be connected;
using measuring means, determining the position of said work piece while the work piece is supported by said support robot and producing data by which said position can be determined;
providing control means responsive to said work piece position data for controlling the operation of said work piece supporting robot, said control means including a memory in which said design and assembly data is stored, and processing means for using said design and assembly data for interpreting the data from said measuring means and for producing control signals to control said work piece support robot and said securing robot and said measuring means, said control means being arranged to;
move said supporting robot to a position wherein the work piece is supported in said predetermined position;
induce the measuring means to determine the position of a predetermined reference point on the work piece;
compare the actual position of the reference point with that derived from the design data and to determine if there is a deviation between the two positions;
produce correction values which are used to adjust said work piece support robot in a manner which tends to eliminate said deviation; and
induce the securing robot to secure the work piece to said body. - View Dependent Claims (17, 18, 19, 20)
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21. A method for flexibly assembling components to form an assembly of components at an assembly station, wherein (a) each of the components has at least one critical positioning feature, (b) the assembly station includes a plurality of spaced programmable locators, and (c) each of the programmable locators is controlled by a control device having a control program, said method comprising the steps of:
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supporting at least one of the components by at least one of the plurality of spaced programmable locators;
independently moving the programmable locator or locators under program control of the control device to adjust the support location of at least one of the plurality of components;
joining the components to obtain an assembly of the components, and determining the location of at least one point on the components or the assembly of components. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29)
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30. An apparatus for flexibly assembling components to form an assembly of components at an assembly station, wherein each of the components has at least one critical positioning feature, said apparatus comprising:
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a plurality of spaced programmable locators provided at the assembly station;
a control device having a control program which controls each of the programmable locators;
a supporting means for supporting at least one of the components by at least one of the plurality of spaced programmable locators;
a moving means for independently moving the programmable locator or locators under program control of the control device to adjust the support location of at least one of the plurality of components;
a joining means for joining the components to obtain an assembly of the components, and a determining means for determining the location of at least one point on the components or the assembly of components. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38)
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Specification