Tool positioning system

• US 20030108395A1
• Filed: 01/21/2003
• Published: 06/12/2003
• Est. Priority Date: 07/19/2000
• Status: Active Grant

• Current Assignee: BAE Systems Plc
• Original Assignee: BAE Systems Plc
• Inventors: Douglas, Anthony J, Abbott, Carl J
• Granted Patent: US 7,387,475 B2
• Time in Patent Office: Days
• US Class Current: 408/76
• CPC Class Codes: B23Q 15/14 Control or regulation of the orientation of the tool with respect to the work
• CPC Class Codes: B23Q 9/02 for securing machines or apparatus to workpieces, or other parts, of particular shape, e.g. to beams of particular cross-section
• CPC Class Codes: G05B 2219/37404 Orientation of workpiece or tool, surface sensor
• CPC Class Codes: G05B 2219/45071 Aircraft, airplane, ship cleaning manipulator, paint stripping
• CPC Class Codes: Y10T 408/175 to control relative positioning of Tool and work
• CPC Class Codes: Y10T 408/554 Magnetic or suction means
• CPC Class Codes: Y10T 408/556 Tool supporting wheel

Abstract

Apparatus for positioning and holding a tool (3) relative to a workpiece (35) comprising a carriage (1) for conveying the tool over the surface of the workpiece (35) and means (7,9, 11, 13) for holding the carriage (1) onto the surface of the workpiece (35), the holding means being selectively switchable between a low grip state in which the carriage (1) is held against the workpiece surface whilst remaining capable of movement relative thereto and a high grip state in which the carriage (1) is held substantially fixedly to the workpiece surface for the tool (3) in use to operate thereon. Such an arrangement provides a robot capable of “crawling” over a workpiece (35) and carrying out precise manufacturing operations thereon.

Claims

1. Apparatus for positioning and holding a tool relative to a workpiece comprising a carriage for conveying the tool over the surface of the workpiece and means for holding the carriage onto the surface of the workpiece, the holding means being selectively switchable between a low grip state in which the carriage is held against the workpiece surface whilst remaining capable of movement relative thereto and a high grip state in which the carriage is held substantially fixedly to the workpiece surface for the tool in use to operate thereon.

2. Apparatus according to claim 1 wherein the carriage comprises one or more elements held in frictional contact with the workpiece surface by the holding means and adapted, when the holding means is in the low grip state, to move the carriage over the workpiece surface.

3. Apparatus according to claim 1 or 2 wherein the holding means and/or the carriage is/are adapted to conform to the surface configuration of the workpiece immediately adjacent thereto when the holding means is in the low grip state.

4. Apparatus according to claim 1, 2 or 3 wherein the holding means and/or the carriage is/are adapted to conform to the surface configuration of the workpiece immediately adjacent thereto when the holding means is in the high grip state.

5. Apparatus according to any preceding claim comprising means for sensing the position of the carriage and/or the tool relative to the workpiece, and directing means adapted to control the carriage in order to move the carriage over the workpiece surface between predetermined positions thereon.

6. Apparatus according to any preceding claim comprising means for sensing the position of the tool relative to the workpiece surface and means for moving at least part of the tool relative to the carriage along at least two orthogonal axes.

7. Apparatus according to any preceding claim comprising means for sensing the angular orientation of at least part of the tool relative to the workpiece surface and means for rotating at least part of the tool about at least one axis to adjust said angular orientation.

8. Apparatus according to claim 6 or claim 7, when dependent on claim 5, wherein the directing means is adapted to control movement and rotation effected by the moving means and the rotating means, respectively, such that the tool reaches a predetermined position and/or orientation relative to the surface of the workpiece, and to actuate the tool.

9. Apparatus according to claim 8 comprising a programmable controller adapted to control the directing means and to switch the holding means between the low and high grip states in order automatically to convey the carriage and to position and orient the tool between predetermined locations and orientations relative to the workpiece surface, and to actuate the tool in order to carry out one or more predetermined tool operations on the workpiece.

10. Apparatus according to claim 9 wherein the, controller is programmable so as automatically to carry out different sequences of predetermined tool operations on a workpiece and/or to carry out different sequences of predetermined tool operations on a variety of different workpieces.

11. Apparatus for positioning and holding a tool relative to a workpiece substantially as hereinbefore described and with reference to the accompanying drawings.