Coating apparatus – Control means responsive to a randomly occurring sensed... – Responsive to attribute – absence or presence of work
Reexamination Certificate
1999-03-30
2001-03-06
Crispino, Richard (Department: 1734)
Coating apparatus
Control means responsive to a randomly occurring sensed...
Responsive to attribute, absence or presence of work
C118S680000, C118S679000, C118S503000, C118S500000, C901S031000, C901S043000
Reexamination Certificate
active
06197115
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Technical Field
The present invention generally relates to a robot controlled sealant dispenser for use in a manufacturing environment. More particularly, the present invention is directed to a robot controlled sealant dispensing system which allows all six axes of the robotic manipulator to be utilized during the sealant dispensing and application process.
2. Discussion
Robot based manufacturing continues to find new applications as the technology for controlling and implementing robot based systems is improved. One particular use for robot based systems is the dispensing and application of sealant to individual parts to be assembled, such as those parts found in an automotive assembly facility. A variety of systems have been developed to implement this robot based automation technique. One such application involves utilizing one of the robot's motion axes to drive a dispensing pump mounted to the robot's end effector. This motion axis is sometimes referred to as the sixth axis of control. However, this application limits the motion of the robotic manipulator because only five of the typical six axes of motion are available. As a result, the robot manipulator is limited to applying sealant to a surface lying completely in a single dimensional plane. Thus, the functionality of this robotic manipulator design is severely limited for applications having a surface lying in two or more dimensional planes.
In addition, more complex hardware is required for supporting the sealant dispenser because it is always in motion with the end effector of the robotic manipulator. A substantial amount of weight is also placed on the robot end effector which can lead to uneven or inconsistent movement of the robotic manipulator. This inconsistent movement translates into error, which then reduces the benefits of using a high precision robot for the manufacturing task.
To achieve maximum flexibility in the manufacturing environment, it is desirable that the robot manipulator utilize all six axes of motion so that the end effector can be moved into any desired position. It is also desirable to remove the sealant dispenser from the robot manipulator, and mount the sealant dispenser in a fixed location. This in turn would remove a substantial amount of weight from the end effector of the robot, and increase the accuracy of the robot's movements. According to this envisioned design, the robotic manipulator can be used for moving parts to which sealant is to be applied about or underneath the fixed location sealant dispenser. Finally, it is desirable to operate the sealant dispenser with a feedback controlled servo mechanism for increasing the precision of the sealant application process.
SUMMARY OF THE INVENTION
In accordance with the present invention, an automated system for performing an operation on a component within a manufacturing workstation is disclosed. The system includes a robot controller having seven axes of motion control. A robotic manipulator is connected to the robot controller and has six axes of motion. The robotic manipulator includes tooling for grasping the component upon which the operation is performed. A fixed location tool is provided for performing the operation, and a servo mechanism is provided for operating the fixed location tool. The servo mechanism is controlled by one of the seven axes of motion control of the robot controller, whereby the robotic manipulator moves the component with respect to the fixed location tool for performing the operation.
REFERENCES:
patent: 4348623 (1982-09-01), Kobayashi et al.
patent: 4896274 (1990-01-01), Hohn et al.
patent: 4938383 (1990-07-01), Yamazai et al.
patent: 5046666 (1991-09-01), Ono
patent: 5292066 (1994-03-01), Torii et al.
patent: 5292368 (1994-03-01), Komine et al.
patent: 5315222 (1994-05-01), Kasagami et al.
patent: 5319568 (1994-06-01), Bezaire
patent: 5348585 (1994-09-01), Weston
patent: 5407100 (1995-04-01), Tracy et al.
Barrey Bruno
Deir Peter J.
Madsen Claus
ABB Flexible Automation Inc.
Crispino Richard
Harness & Dickey & Pierce P.L.C.
Koch, III George R.
LandOfFree
Robot based sealant dispenser does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Robot based sealant dispenser, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Robot based sealant dispenser will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2516824