Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-07-07
2001-07-10
Lee, Thomas (Department: 2182)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S180000, C700S264000
Reexamination Certificate
active
06259968
ABSTRACT:
FIELD OF INVENTION
The present invention relates generally to vehicle assembly, and more particularly to tools for holding vehicle parts in work positions during assembly.
BACKGROUND OF THE INVENTION
Vehicle assembly lines typically include robotic welders for welding parts of vehicles together to effect assembly. Ordinarily, the parts to be welded are first mounted in a frame in juxtaposition with each other, and then the frame is transported past the welders to assemble the parts.
To enable the robotic welders to weld parts together, end effectors having six degrees of freedom are associated with the welders. Consequently, the end effectors of the welders can move in accordance with a computer-controller program in six degrees of freedom, as required to undertake vehicle assembly. Representative of such assembly line systems is the “Robogate” system marketed by Comau of Italy.
While effective, such systems require several assembly lines, and the assembly lines generally require significant modifications to change the model of vehicle being assembled. As recognized by the present invention, however, it is possible to augment the versatility of a vehicle assembly line by essentially establishing a seventh degree of freedom during assembly.
Moreover, assembly line workers are required to load the parts to be assembled into their respective frames, prior to processing by the robotic welders. It will be appreciated that a frame which can be conveniently and ergonomically loaded by one person, however, may not facilitate easy and ergonomic loading by another person. Unfortunately, existing assembly frames do not provide for selectively establishing a load orientation that can be tailored to more than one person.
Accordingly, it is an object of the present invention to provide a vehicle assembly system which is adaptable to more than one model and versatile. Another object of the present invention is to provide a vehicle assembly system which can be used in conjunction with robotic welders having six degrees of freedom, to essentially establish a seventh degree of freedom. Still another object of the present invention is to provide a vehicle assembly system in which a plurality of user-selectable vehicle part loading positions can be established. Yet another object of the present invention is to provide a vehicle assembly system which is easy to use and cost-effective.
SUMMARY OF THE INVENTION
A computer program device having a computer readable memory is used to direct a digital processing apparatus to perform the inventive method steps disclosed herein. In other words, the program device is readable by the digital processing apparatus, and the program device tangibly embodies a program of instructions executable by the digital processing apparatus to perform the inventive steps disclosed below. Indeed, a digital processing apparatus itself is disclosed herein whose actions are directed by the computer program device to perform specific operational steps set forth by the computer program device. As intended by the present invention, the program device is realized in a critical machine component that causes the digital processing apparatus to perform method steps for establishing a plurality of preselected work positions for a vehicle assembly apparatus having a base and a frame movably engaged with the base, such that the frame can be moved to establish a seventh degree of freedom in a system that includes robotic welders having six degrees of freedom.
As intended by the present invention, the method steps include moving the frame to a desired work orientation relative to the base, and then generating a set signal when the frame is in the desired work orientation. Next, a position signal is generated that is representative of the work orientation. The position signal is then correlated to a preselected work orientation. A plurality of work positions can be established and programmed as necessary to establish a seventh degree of freedom during part processing.
In the preferred embodiment, the program product is used in combination with the frame and a motor coupled to the frame. It is further used in combination with a position sensor associated with the frame for generating the position signal. Still further, a data entry device can be included for generating the set signal.
In another aspect of the present invention, a computer-implemented method is disclosed for establishing a plurality of preselected work positions for a vehicle assembly apparatus having a base and a frame movably engaged with the base, such that parts of the vehicle can be oriented at a plurality of orientations relative to a robotic welder during processing. The method includes the steps mentioned above.
In yet another aspect of the present invention, a versatile system is disclosed for promoting vehicle part processing that is adaptable to various vehicle models without requiring changes to the processing hardware. The systems includes a plurality of robotic welders, each having a plurality of degrees of freedom, and a base is juxtaposed with the welders. A frame is movably coupled to the base, and a means for moving the frame relative to the base is provided. Also, a controller is electrically connected to the moving means. Likewise, a position sensor is electrically connected to the controller for generating a position signal representative of the orientation of the frame relative to the base, and a data input device is also electrically connected to the controller for generating a set signal.
In accordance with the present invention, computer code elements are accessible to the controller. These code elements and embody machine-readable instructions for executing method steps including receiving the position signal and recording the orientation of the frame upon receipt of the set signal, based on the position signal.
The details of the present invention, both as to its structure and operation, can best be understood in reference to the accompanying drawings, in which like reference numerals refer to like parts, and in which:
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Calcaterra Mark P.
DaimlerChrysler Corporation
Lee Thomas
Mai Ri Jue
LandOfFree
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