Geometrical instruments – Gauge – With calibration device or gauge for nuclear reactor element
Reexamination Certificate
2000-03-03
2001-11-20
Fulton, Christopher W. (Department: 2859)
Geometrical instruments
Gauge
With calibration device or gauge for nuclear reactor element
C073S001790
Reexamination Certificate
active
06317994
ABSTRACT:
BACKGROUND OF THE INVENTION
This invention relates to a robot alignment apparatus and method for using same.
During the use of robotic equipment, occasionally the equipment becomes misaligned. The misalignment may occur because of a programming error or it may occur because of an unplanned collision of the robotic equipment with the work piece.
In such situations it is necessary to check the alignment of the robot and the alignment of the tool that is mounted to the robot. Previous alignment tools included such things as dial indicators, sharp pointer levels, and scribe marks on the tools. Typically such methods required expensive tools and complicated procedures to check the alignment of both the robot and the tool with respect to the position of the work piece.
It is necessary to check both the alignment of the tool and the alignment of the robot because these two objects can be misaligned individually. For example, a collision might cause misalignment of the tool even though the robot remains in its originally programmed aligned position. Alternatively the tool may be properly aligned, but the program for the robot may cause it to be misaligned. Checking both of these alignments enables the operator to properly align the robot and the tool for use in operating on the work piece.
Therefore a primary object of the present invention is the provision of an improved robot alignment apparatus and method for using same.
A further object of the present invention is the provision of an improved robot alignment apparatus which can be used for checking both the alignment of the robot and the alignment of the tool held by the robot.
A further objective is the provisions of a robot alignment apparatus and method which utilize the same alignment equipment for aligning both the robot and the tool being carried by the robot.
A further object of the present invention is the provision of a robot alignment apparatus which can be quickly and easily mounted on the robot or on the tool for use in aligning the tool and the robot.
A further object of the present invention is the provision of an improved robot alignment apparatus which is simple in construction, economical in manufacture, and easy to use.
SUMMARY OF THE INVENTION
The foregoing objects may be achieved by a robot alignment apparatus having a stationary alignment tool mounted in a predetermined stationary position at an alignment station. The alignment tool comprises a fixed member and a movable member. The movable member is mounted for movement relative to the fixed member along a straight-line alignment axis from a first position to a second position.
The robot includes a robot member, and the robot is programmed to move the robot member to an alignment position adjacent the alignment station. An alignment pointer is detachably connected to the robot member for movement with the robot member to the alignment station.
The movable member maintains a fixed clearance distance from the alignment pointer during movement of the movable member from its first position to its second position to indicate desirable alignment of the robot in the alignment position.
The movable member moves a variable distance from the alignment pointer during movement of the movable member from its first to second positions to indicate an undesirable alignment of the robot in the alignment position.
According to one feature of the invention the robot alignment apparatus includes an elongated bore and the pointer protrudes within the elongated bore when the movable member is in its second position.
According to another feature of the invention the pointer includes a longitudinal axis and a side surface surrounding and facing away from the longitudinal axis. The fixed clearance distance comprises the distance between the side surfaces of the pointer and the bore walls of the bore.
According to a further feature of the invention the side surface of the pointer includes first and second flanges spaced apart from one another along the longitudinal axis of the pointer. The first and second flanges have outer flanges surfaces which conform in shape to the cross sectional shape of the bore.
According to another feature of the invention the first and second flanges remain at a fixed distance from the side walls of the bore during movement of the movable member from its first position to its second position to indicate proper alignment of the robot in the alignment position.
According to another feature of the invention the first and second flanges will move to variable distances from the side wall of the bore during movement of the movable member from its first to its second position to indicate improper alignment of the robot when in its alignment position.
According to another feature of the invention the bore is circular in cross section and the first and second flanges are circular in cross section.
According to a further feature of the present invention the robot member comprises a part of the robot.
According to another feature of the invention the robot member comprises a tool attached to the robot.
The method of the present invention comprises attaching a pointer to the movable robot member on a robot. The next step comprises moving the robot member and the pointer to a test position adjacent the test station. The method next comprises moving a movable alignment tool positioned at the test station along a straight line axis from a first position to a second position whereby the distance between the movable alignment tool and the pointer remains constant throughout movement of the alignment tool between its first and second positions whenever the robot is properly aligned, and varies whenever the robot is improperly aligned.
According to another feature of the method of the present invention the pointer axis and the straight line axis extend in the same direction whenever the pointer is in its test position and the robot is properly aligned, and they extend at angles with respect to one another whenever the robot is improperly aligned.
According to another feature of the method of the present invention the pointer axis and the straight-line axis are colinear when the robot is properly aligned.
According to another feature of the method of the present invention the alignment tool includes a tool bore and the method further comprises moving the movable tool into surrounding relation with respect to the pointer whereby the pointer is within the bore when the movable tool is in its second position.
REFERENCES:
patent: 4372721 (1983-02-01), Harjar et al.
patent: 5031304 (1991-07-01), Shepard et al.
patent: 5214857 (1993-06-01), McMurtry et al.
patent: 5309646 (1994-05-01), Randolph, Jr. et al.
patent: 5714674 (1998-02-01), Tsukuda et al.
patent: 6241507 (2001-06-01), Kuo
Bermann David N.
Mangelsen Jan C.
Fulton Christopher W.
Genesis Systems Group, Ltd.
Zarley McKee Thomte Voorhees & Sease
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