 |
Claims  |
|
|
We claim:
1. A robotic device comprising:
a support structure;
an implement element;
means for moving the implement element in a controlled manner consisting of
first and second sets of positioning members each having two members; and
a further positioning member so that there are five positioning members;
and
first and second coupling means defining two coupling points;
said members making up a set of exactly five positioning members;
said implement element being supported solely by said five members;
said first set consisting of two elongated positioning members, each
pivotally attached to said implement element about a first common center
of rotation;
said second set consisting of two elongate positioning members, each
pivotally attached to said implement element about a second common center
of rotation distal from said first common center of rotation;
said further elongated positioning member being pivotally attached to said
implement element about said first common center of rotation in
association with said members of said first set of positioning members;
first connecting means for movably attaching each of the members of said
first set of positioning members to said support structure, said first
connecting means operatively connecting each of said members of said first
set of positioning members to said support structure;
second connecting means for movably attaching each of the members of said
second set of positioning members to said support structure, said second
connecting means operatively connecting each of said members of said
second set of positioning members to said support structure;
further means for movably attaching said further positioning member to said
support structure, said further means operatively connecting said further
positioning member to said support structure;
actuator means for independently moving at least the members of one of said
first and second sets of positioning members axially along their elongated
axes between said support structure and said implement element whereby the
position of said implement element with respect to said support structure
is solely controlled by said movement of said five positioning members.
2. The device of claim 1 wherein:
said first connecting means includes a first plurality of gimbal means
equal in number to said number of members of said first set of positioning
members, each of said first gimbal means for movably connecting one of
said members of said first set of positioning members to said support
structure and allowing said members to freely pivot with respect to said
support structure;
said second connecting means includes a second plurality of gimbal means
equal in number to said number of members of said second set of
positioning members, each of said second gimbal means for movably
connecting one of said members of said second set of positioning members
to said support structure and allowing said members to freely pivot with
respect to said support structure;
said further means includes a further gimbal means said further gimbal
means for movably connecting said further positioning member to said
support structure and allowing said further member to freely pivot with
respect to said support strure.
3. The device of claim 1 wherein:
said actuator means further for independently moving the other of said
first and second sets of positioning members axially along their elongated
axes between said implement element and said support structure.
4. The device of claim 3 wherein:
said actuator means further for moving said further positioning member
axially along its elongated axis between said implement element and said
support structure.
5. The device of claim 4 including:
said first connecting means includes a first plurality of gimbal means
equal in number to said number of members of said first set of positioning
members, each of said first gimbal means for movably connecting one of
said members of said first set of positioning members to said support
structure and allowing said members to freely pivot with respect to said
support structure;
said second connecting means includes a second plurality of gimbal means
equal in number to said number of members of said second set of
positioning members, each of said second gimbal means for movably
connecting one of said members of said second set of positioning members
to said support structure and allowing said members to freely pivot with
respect to said support structure;
said further means includes a further gimbal means, said further gimbal
means for movably connecting said further positioning member to said
support structure and allowing said further member to freely pivot with
respect to said support structure.
6. The device of claim 5 including:
each of said members of said first set of positioning members and said
further positioning member pivotal about said first common center of
rotation;
each of said members of said second set of positioning members pivotal
about said second common center of rotation.
7. A robotic device comprising:
a support structure;
a tool carrier for supporting a working tool; and positioning and coupling
means for moving the carrier in a controlled manner consisting of exactly
five members including
a first triangular support having first and second members, said first
triangular support formed in part by said first and second members and in
a further part by a first section of said support structure, said first
and second members forming side portions of said first triangular support
and said first section of said support structure forming a base portion of
said first triangular support;
first connecting means for independently operatively connecting each of
said first and second members to said first section of said support
structure whereby each of said first and second members are independently
pivotal respect to said first section of said support structure and each
of said members are independently axially movable along an axis of said
member with respect to said first section of said support structure;
a second triangular support having third and fourth members said second
triangular support formed in part by said third and fourth members and in
a further part by a second section of said support structure, said third
and fourth members forming side portions of said second triangular support
and said second section of said support structure forming a base portion
of said second triangular support;
second connecting means for independently operatively connecting each of
said third and fourth members to said second section of said support
structure whereby each of said third and fourth members are independently
pivotal with respect to said second section of said support structure and
each of said members are independently axially movable along an axis of
said member with respect to said second section of said support structure;
first coupling means for connecting said first triangular support to said
tool carrier, said first coupling means operatively connecting the apex of
said first triangular support at the junction of said first and second
members to said tool carrier, said first coupling means including at least
a first coupler and a second coupler, said first coupler attaching to said
first member proximal to the apex of said first triangular support, said
second coupler attaching to said second member proximal to the apex of
said first triangular support, each of said first and second couplers
pivotally coupled to said tool carrier about a first common center of
rotation;
second coupling means for connecting said second triangular support to said
tool carrier, said second coupling means operatively connecting the apex
of said second triangular support at the junction of said third and fourth
members to said tool carrier, said second coupling means including at
least a third coupler and a fourth coupler, said third coupler attaching
to said third member proximal to the apex of said second triangular
support, said fourth coupler attaching to said fourth member proximal to
the apex of said second triangular support, each of said third and fourth
couplers pivotally coupled to said tool carrier about a second common
center of rotation;
moving means for independently moving said first and said second members
with respect to said first section of said support structure and said
third and said fourth members with respect to said second section of said
support structure; and
further means for moving said tool carrier with respect to said support
structure, said further means operatively associated with both said
support structure and said tool carrier, moving said tool carrier with
respect to said support structure independently from said movement
imparted to said tool carrier by said moving means said further means
including a fifth member, a fifth member connecting means and a fifth
member moving means, said fifth member pivotally coupled to said tool
carrier about said first common center of rotation;
said fifth member connecting means for connecting said fifth member to said
support structure whereby said fifth member is both pivotally movable and
axially movable along an axis of the fifth member with respect to said
support structure;
said fifth member moving means for moving said fifth member with respect to
said support structure,
said tool carrier being supported solely by said five members.
8. The tool device of claim 7 wherein:
said first connecting means includes a first pivoting means, a first axial
movement means, a second pivoting means and a second axial movement means,
said first and second pivoting means for providing for pivotal movement of
said first and second members respectively with respect to said first
section of said support structure, said first and second axial movement
means for providing for axial movement of said first and second members
respectively with respect to said first section of said support structure;
said first and second pivoting means movably connected to said support
structure, said first and second axial movement means connected to said
first and second pivoting means respectively, said first and second
members movably connecting to said first and second axial movement means
respectively;
said second connecting means includes a third pivoting means, a third axial
movement means, a fourth pivoting means and a fourth axial movement means,
said third and fourth pivoting means for providing for pivotal movement of
said third and fourth members respectively with respect to said second
section of said support structure, said third and fourth axial movement
means for providing for axial movement of said third and fourth members
respectively with respect to said second section of said support
structure;
said third and fourth pivoting means movably connected to said support
structure, said third and fourth axial movement means connected to said
third and fourth pivoting means respectively, said third and fourth
members movably connecting to said third and fourth axial movement means
respectively.
9. The tool device of claim 8 wherein:
said further means includes a fifth member, a fifth pivoting means, a fifth
axial movement means and a fifth member moving means;
said fifth pivoting means for providing for pivotal movement of said fifth
member with respect to said support structure, said fifth axial movement
means for providing axial movement of said fifth member with respect to
said support structure; said fifth pivoting means connected to said
support structure, said fifth axial movement means connected to said fifth
pivoting means, said fifth member movably connected to said fifth axial
movement means;
said fifth member moving means for axially moving said fifth member with
respect to said support structure;
a fifth member coupling means, said fifth member coupling means attaching
to said fifth member distal from said fifth axial means, said fifth member
coupling means further movably connecting to said tool carrier.
10. The tool device of claim 9 wherein:
said first, second, third, fourth and fifth pivoting means each comprise
gimbal means;
said first, second, third, fourth and fifth axial movement means each
comprise a ball screw assembly means and an acturator means for driving
said ball screw assembly means;
said first, second, third, fourth and fifth members each including a lead
screw located thereon, said lead screws on said respective members
operatively associated with said respective ball screw assembly means, so
as to move said respective members in response to said respective
actuators means driving said respective ball screw assembly means. |
|
 |
|
 |
Claims |
|
|
|
Description |
|
|
BACKGROUND OF THE INVENTION
This invention is directed to a robotic device capable of positioning a
working implement in a precise and reproducible spatial location with
respect to a reference of origin and dynamically repositioning said
working implement at a further spatial location which is precisely and
reproducibly located with respect to said reference of origin.
Machine tools and other devices exist for the manufacture of components
having precise tolerances and precise shapes. Until very recently, these
machine tools all required a human operator for their function. Other
manufacturing techniques and technology such as welding, riveting or
assembly also until very recently were impossible without a human to
perform these functions.
With all tasks which require a human operator or a human technician,
included in the costs associated with the task is the cost of the human
labor. In many instances, the labor costs associated with any one task
greatly overshadow all other costs associated with the task. Because of
this, in the past, the cost of many manufactured items was directly
dependent upon the labor costs.
Aside from economic considerations, human labor has other influences and
consequences. Humans are dynamic animals. They have good days and they
have bad days. They get ill, they get tired, and they are emotional. All
of these factors come into play with respect to the quality and
reproducibility of tasks performed by humans. Articles produced by a human
operator in the morning when the operator is "fresh" may differ in quality
from those produced by the same operator later on in the day, after the
drudgery of the day's work has taken its toll on the performance of the
human operator.
In order to remove the human operator and/or human technician from certain
manufacturing and assembly tasks, certain existing manufacturing machinery
has been automated. Examples of such automated machinery are machine tools
which are controlled by a taped program with respect to execution of a
sequence of operations. Certain of these machine tools have even been
equipped with tool carousels to allow for utilization of different tools.
While this represents a dramatic step forward toward automation of
operation, the existing automated machines still are "dedicated" with
respect to the tasks they can perform. A milling machine, whether or not
it is automated, is still only capable of performing milling operations.
It is static and stationary, requiring the work to be brought to it, and
not it to the work.
For certain operations which in the past required a human technician, such
as welding or assembly, a class of robotic devices have been developed.
For the most part these robotic devices mimic the function of a human arm.
They consist of a series of segments which are connected together about
axes of rotation to form an articulated arm. Generally, the axes of
rotation would be orthogonal in order to give the articulated arm the
ability to move within three dimensional space. The arm segments extend
from the base and have a working implement on the end of the arm distal
from the base. The arm thus forms a cantilever between the base and the
working implement.
While articulated arms represent great steps forward with respect to
automating certain tasks, they are not without their problems and/or
limitations. Because the arm is a cantilever supported at only one end on
the base, the loads which the implement can carry or the force which the
implement can apply are limited. Additionally, as the implement moves
toward or away from the base the lever arm between the implement and the
base is variable. This, along with several different axes of rotation
within the articulated arm contributes to the difficulty of computer
numerical control, "CNC", of these devices.
The variability of the lever arm of a cantilevered articulated arm also
contributes to a loss of accuracy with respect to these devices. The
accuracy of these devices is best when the lever arm is short. As the
lever arm is elongated, the accuracy degrades. In addition, each time a
point of rotation must be traversed in moving from one segment of the
cantilevered arm to the next, a degradation of the accuracy of the device
also occurs. Because the arm is cantilevered, there is a bending moment in
each of the individual points of rotation. Since the degradation of the
accuracy is cumulative, by the time one reaches the implement end of the
arm the accuracy of the arm is severely compromised.
It is thus evident that while current automated machine tools are capable
of highly accurate operations, they are expensive, immobile and dedicated
devices. Further, while articulated arms can be utilized to perform
functions not available with machine tools, they too are extremely
expensive, complicated to program and have limited accuracy.
BRIEF DESCRIPTION OF THE INVENTION
In view of the above, it is a broad object of this invention to provide for
a robotic structure capable of being fitted with a variety of implements
for doing different manufacturing and machining processes. It is a further
object to do this while still maintaining extremely high positional
accuracy with respect to placement of these implements in three
dimensional space. It is an additional object of this invention to provide
a device which uses only simple tensile and compressive forces so as to
limit the problems inherent with devices having bending moments. It is an
additional object to provide a device which is capable of positioning a
working implement throughout three hundred and sixty degrees of space with
respect to a working structure.
These and other objects, as will become evident from the remainder of this
specification, are achieved in a robotic device having a support structure
and an implement element. At least two positioning members are attached to
the implement element at a first position. At least two positioning
members are attached to the implement at a second position. A further
positioning member also attaches to the implement element. A first
connecting means is utilized to connect the first positioning members to
the support structure and a second connecting means is utilized to attach
the second positioning members to the support structure. A further
connecting means is utilized to attach the further positioning element to
the support structure. The device further includes actuator means for
independently moving at least either the first two positioning members or
the second two positioning members axially along axes between the support
structure and the implement element whereby the position of the implement
element with respect to the support structure is controlled by the
movement of the positioning members.
In an embodiment of the invention the first positioning members are
attached to the implement element about a first common center of rotation
as is the further member. The second positioning members are attached to
the implement element about a second common center of rotation. Further
each of the positioning members are attached to the support structure
utilizing a gimbal means, and each of the positioning members are movable
by the actuator means independently axially along axes between the
implement element and the support structure to achieve both positioning of
the implement element and maintaining its normality to a workpiece.
Further, these objects are achieved in a robotic device having a support
structure and a tool carrier for supporting a working tool. A first
triangular support is formed of first and second members and a portion of
the support structure. Each of these first and second members are
connected by connecting means to the support structure. A second
triangular support is formed of third and fourth members and a further
portion of the support structure. Each of the third and fourth members are
connected by a connecting means to the support structure. The apex of the
first triangular support where the first and second members join is
attached to the tool carrier by a first coupling means and in a similar
manner, the apex of the second triangular structure where the third and
fourth members join is attached to the tool carrier by a second coupling
means. An axial moving means is provided for independently axially moving
the first and second members with respect to the support structure and the
third and fourth members with respect to the support structure. A further
means is operatively associated with both the support structure and the
tool carrier further moving the tool carrier independently of the movement
imparted to the tool carrier by the axial moving means.
In an embodiment of the invention, the further means includes a fifth
member attaching to the tool carrier in association with the first
coupling means and the connecting means for connecting the individual
members to the support structure would each include a pivoting means and
an axial movement means. The pivoting means provides for pivotal movement
of the individual members with respect to the support structure and the
axial movement means provides for axial movement of the individual members
with respect to the support structure.
BRIEF DESCRIPTION OF THE DRAWINGS
This invention will be better understood when taken in conjunction with the
drawings wherein:
FIG. 1 is an isometric view of a first embodiment of the invention;
FIG. 2 is a side elevation view in section of an alternate embodiment of
the invention;
FIG. 3 is a plan view in partial section about the line 3--3 of FIG. 1;
FIG. 4 is a fragmentary isometric view in partial section of a component
found on the right hand side of FIG. 3;
FIG. 5 is an isometric view of a component of the invention seen repeatedly
used in FIG. 1 in five various locations within FIG. 1; and
FIG. 6 is an isometric view of a further alternate embodiment of the
invention showing certain components of the invention in solid line in a
first spatial configuration and in phantom lines in further spatial
configurations.
The invention described in this specification and shown in the drawings
utilizes certain principles and/or concepts as are set forth in the claims
appended hereto. Those skilled in the mechanical arts will realize that
these principles and/or concepts are capable of being utilized in a
variety of embodiments which may differ from the exact embodiments
utilized for illustrative purposes herein. In view of this, this
inventions should not be construed as being limited solely to the
illustrative embodiments but should only be construed in view of the
claims.
DETAILED DESCRIPTION OF THE INVENTION
This invention is directed to a robotic device used for positioning of a
working implement in precise locations and positions in three dimensional
space. Because of certain principles inherent in the invention it can be
utilized for many diverse machining and manufacturing processes ranging in
scope from certain micro processes such as those utilized during
integrated circuit manufacture to macro processes such as ship and
aircraft building.
As will be evident from the illustrative embodiments, a working implement
can be positioned in space with great accuracy which is independent of the
spatial orientation of the implement with respect to a support structure.
As will be discussed with respect to the illustrative embodiments, simple
tensile and compressive forces are utilized to position the working
implement. By utilizing only tensile and compression forces there are no
bending moments such as those found in typical articulated arm robotic
devices. The robotic device of the invention is capable of both manual
control and computer numeric control (CNC), with CNC control preferred for
total automation of the device.
Because there are no bending moments inherent in the robotic device of the
invention, the robotic device of the invention is capable of achieving
positional accuracies of the working implement many fold greater than
present articulated arm robotic devices. Independent of the scale of the
robotic device of the invention, i.e., whether it is being utilized in a
micro or macro environment, high degrees of accuracy can be achieved. This
accuracy is maintained throughout the "geometrical" range of the device
irrespective of the positioning of the working implement with respect to a
working surface.
With a conventional articulated arm robotic devices, reach of the arm is
only approximately 100 inches, with reproducibility of plus or minus 0.010
inches, and absolute reproducibility of plus or minus 0.05 inches. A
robotic device of the invention of the same scale would have a reach of
over 1200 inches and an accuracy within that reach of plus or minus about
0.0002 inches and if a constant environment was utilized so as to mitigate
temperature effects, this accuracy could be increased to plus or minus
about 0.00002 inches.
Contrary to existing articulated arm robotic devices which must be fixly
oriented in space in order to always account for the bending moments
within the articulated arm, the robotic device of the invention is capable
of being positioned within three dimensional space above, below or to any
side of a working surface and still maintain the accuracy of the device.
Further, the robotic device of the invention can be utilized in a dynamic
mode maintaining this accuracy as the robotic device of the invention
moves a working implement through three dimensional space as might be
necessary during fabrication and assembly of a complex structure. The
robotic device of the invention is capable of being utilized on both
horizontal and vertical planes while maintaining tool normality of a
working implement with respect to a working surface of a component.
Because the robotic device of the invention essentially serves as a
positioning structure and is not dedicated to a single or related family
of working implements, the robotic device of the invention is capable of a
variety of machining, assembly and other operations depending upon the
implement utilized. Because of the structure of the robotic device of the
invention, machine tool accuracy can be achieved throughout the range of
the device and all normal machine tool functions can be performed. Since
the device is in fact not limited in size or space, it can be scaled up
and equipped with appropriate working implements capable of performing
complex assembly on large structures such as airplanes and ships.
Prior to discussing the specific embodiments shown in FIGS. 1 and 2, the
more general embodiment of FIG. 6 will be described to indicate certain
overall features of the robotic device of the invention. In FIG. 6 a
portion of a robotic structural device 10 is shown. The device 10 is shown
utilizing a mobile gantry type structure generally depicted by the numeral
12. The mobile gantry 12 would include an overhead horizontal beam 14 and
an appropriate vertical sidewall structure 16 as shown. A sidewall similar
to sidewall 16 would support the other end of the beam 14. For simplicity
of the drawings and this specification, however, the other wall is not
shown, its function and structure being identical to that of the wall 16.
The wall 16 (and its mate on the other side of the beam 14) can be mounted
on appropriate wheels such as wheels collectively identified by the
numeral 18. The wheels 18 could ride on tracks such as tracks 20 shown in
FIG. 6. As is shown in FIG. 6, the device 10 would be useful for machining
and manufacturing operations on large structures.
The device 10 in FIG. 6 is shown working in several views in solid and
phantom line on a working structure 22. A representational tool turret 24
is shown attached to the device 10. The tool turret 24 would of course
include a variety of working tools located on it. Since tool turrets such
as the turret 24 and working tools located thereon are known, a detailed
description of these components is not deemed necessary for the
understanding of this invention, it being sufficient to say that they
would be appropriately mounted on the device 10 with the device 10 serving
its most important and primary function of correctly positioning the
working tools against the working structure 22 throughout three
dimensional space with respect to the working structure 22.
A central tool post or implement element 26 is attached to the gantry 12
utilizing five positioning members. The individual positioning members are
joined to the gantry 12 utilizing a like number of connecting members or
connecting means collectively identified by the numeral 28. The
positioning members can be thought of as occurring in three sets. These
include the first set or upper set having positioning member 30 and
positioning member 32 as members of this set. Below the first set is a
second set composed of members 34 and 36. The final positioning member or
further positioning member is positioning member 38. Positioning member 38
extends from the beam 14, whereas the other positioning members extend
from the sidewall 16. Each of the positioning members 30, 32, 34, 36 and
38 are movably joined to the gantry 12 by their respective connecting
member 28.
The positioning members 30, 32 and 38 are joined to the tool post implement
26 in the embodiment of FIG. 6 at a common center of rotation or coupling
point 40 located on one end of the tool post implement 26. The other two
positioning members, the positioning members 34 and 36 of the second set,
are joined to the tool post implement at a second or further coupling
point 42 formed on the other end of the tool post implement 26.
For the purposes of this specification, the attachment of the members 30,
32, 34, 36 and 38 to the tool post implement 26 was noted as being at
coupling means, i.e. the coupling points 40 and 42 and the attachment of
these members to the gantry 12 at connecting means, i.e. the connecting
members 28. The different words "connecting" and "coupling" are used
simply to differentiate whether the members 30, 32, 34, 36 and 38 are
attaching to the structural support, i.e. the gantry 12, or to the tool
post implement 26. The use of two different words "connecting" and
"coupling" to describe the "movable" attachments is for descriptive
reasons only to achieve clarity and easy of understanding of this
specification as should not be thought of as being limiting.
As is evident in FIG. 6, at any one instance, a portion of each of the
positioning members 30, 32, 34, 36 and 38 is located between the gantry 12
and the tool post implement 26 and a further portion of each of the
respective members are located external of the gantry 12 that is they
extend to the left or above the respective connecting members 28. The
ratio of these "external portions" of the respective positioning members
varies depending on the position of the tool post implement 26.
Each of the positioning members 30, 32, 34, 36 and 38 are pivotable with
respect to the support structure, i.e., either the sidewall 16 or the beam
14 from which they extend. In addition, they also are axially movable with
respect to those same support structures, the beam 14 and the sidewall 16,
along the length or elongated axis of the positioning members 30, 32, 34,
36 and 38. Because of this, the tool post implement 26 is freely
positional in three dimensional space within the gantry 12, and at the
same time the tool post implement 26 can be held normal to, that is
perpendicular to, whatever surface it might be working on irrespective of
whether this surface is simple, complex, planar, arcuate or convoluted.
The two positioning members 30 and 32 of the first or upper set in
conjunction with the portion of the sidewall 16 are triangulated to form a
rigid structure. The same is true with respect to the positioning members
34 and 36 of the second or lower set in conjunction with a further portion
of sidewall 16. The upper set of positioning members, members 30 and 32
and the further positioning member, positioning member 38, in conjunction
with a portion of the gantry 14 extending through sidewall 16 and beam 14
are also triangulated.
The triangulation of the respective positioning members fixes the position
of the tool post implement 26 with respect to the gantry 12 by the tension
and compression vectors extending along the elongated axis of the
respective positioning members. The positioning members 30, 32, 34, 36 and
38 connect to and extend between the coupling points 40 and 42 on the tool
post implement 26 and the connecting members 28 on the the gantry 12
utilizing only those tension and compression vectors which extend along
the elongated axis of the positioning members 30, 32, 34, 36 and 38.
Because the tool post implement 26 is in fact supported only by tension and
compressional forces along the elongated dimension of the positioning
members, great force can be exerted on the tool post implement 26 and a
working tool attached thereto as might be necessary for certain
manufacturing functions, as, for instance, drilling in titanium or other
extremely hard materials. These same forces simply are not available in
articulated arm devices because of the bending moments involved in those
devices. At the same time, extremely delicate and precisely accurate
movements in positioning of a working tool located on the tool post
implement 26 can be achieved by elongating and foreshortening the portion
of one or more of the positioning members 30, 32, 34, 36 and 38 located
between the tool post implement 26 and the gantry 12.
For the sake of understanding the movement of the robotic devices of the
invention, in specific reference to the device 10 of FIG. 6, if the
positioning member 38 were mentally envisioned to be disconnected for a
moment from the tool post implement 26 it is evident that the remaining
positioning members 30, 32, 34 and 36 would be free to pivot or rotate
with respect to the sidewall 16 about their respective connecting members
28. In the same manner, the positioning member 38 can also pivot within
its connecting member 28 with respect to the beam portion 14 of the gantry
12.
In addition to this pivotal motion each of the positioning members 30, 32,
34, 36 and 38 are capable of extending or retracting along an axis axially
passing along the elongated dimension of the positioning members 30, 32,
34, 36 and 38. For the purposes of defining the terminology of this
specification this motion can be considered as being axial, linear or
translational movement along the elongated axis of the respective members.
This individual axial, linear or translational motion of any particular
member when combined with the other members can result in either linear or
rotational movement of the tool post implement 26 depending upon the
combined motion of all of the members.
If members 32 and 36 are held so as to have a fixed length between the wall
16 and the tool post implement 26, when members 30 and 34 move in an
outwardly linear or translational manner with respect to the wall 16
"elongating" them, i.e., the portion of each of the members 30 and 32
located between the tool post implement 28 and the sidewall 16 increases,
the tool post implement 26 moves in an arcuate manner pivoting about the
connecting members 28 connecting the positioning members 32, 36 and 38 to
the gantry 12 and moving away from the connecting members 28 connecting
the positioning members 30 and 34 to the gantry 12.
If the members 30 and 34 are "elongated" with respect to the wall 16 and at
the same time the members 32 and 26 "forshortened" with respect to the
wall and the member 38 follows this motion and maintains the tool post
implement 26 at a constant height, this results in the tool post implement
26 moving parallel to the wall 16. Simultaneous "elongation" of members
30, 32, 34 and 36 at the same velocity results in movement of the tool
post implement 26 perpendicular to the wall 16. The movement of any one of
the members 30, 32, 34, 36 or 38 with respect to at least one other of the
respective members can be at the same velocity or at a different velocity
resulting in either constant or differential movement between the
respective members.
As is shown in solid line in FIG. 6 the tool post implement 26 is held in
one spatial configuration against a first portion of the working structure
22 and in the two phantom line views, the tool post implement 28 is held
in further positions with respect to the working structure 22. In FIG. 6
in moving from the solid line view of the tool post implement 26 to the
phantom line view shown in the right foreground, it can be seen that not
only is the tool post implement 26 moved from left to right across the
surface of the working surface 22, but at the same time it has been
inclined with respect to a hypothetical vertical axis from about 15
degrees to the left of a vertical axis to approximately 15 degrees to the
right of the same vertical axis. During actual use of the robotic device
10 shown in FIG. 6 this inclination and movement of the tool post
implement 26 and a working tool attached thereto could be made in a
dynamic manner while at all times holding the working implement against
the working structure 22 to execute a machine or assembly function during
movement.
It is thus evident that complex and precise movements can be achieved
depending only upon lengthening and shortening the portion of the
positioning members 30, 32, 34, 36 and 38 which extend between either the
sidewall 16 or the beam 14 and the tool post implement 26. Thus the tool
post implement 26 can be made to move parallel to the sidewall 16, can be
made to move perpendicular to the sidewall 16, can be moved in a straight
line which is at an angle to the sidewall 16, can be moved in an arcuate
manner curving essentially horizontal to the sidewall 16, can be moved in
an arcuate manner curving essentially vertical to the sidewall 16, can be
raised or lowered with respect to the beam 14, or any combination of two
or more of these movements. It is thus evident that any working tool
located on the tool post implement 26 can be moved in simple or complex
manners throughout the three dimensional space in the interior of the
gantry 12.
Referring now to FIG. 1 a further embodiment of the invention is described
in detail. Depicted in FIG. 1 is a robotic device 44. Its operation is
exactly the same as that of the device 10 of FIG. 6. The device 44 has a
supporting structure generally defined by the numeral 46 composed of a
cross braced wall 48 and a vertical braced extension 50. Five identical
gimbals 52, 54, 56, 58 and 60 are appropriately suspended in the support
structure 46. The gimbals serve as a portion of the connection means. As
per the embodiment of FIG. 6, four of these gimbals, gimbals 52, 54, 56
and 58 are located in the wall 48 and the fifth gimbal, gimbal 60, in the
vertical extension 50.
A first positioning member 62 is associated with the gimbal 50 and a second
positioning member 64 is associated with the gimbal 54. In a like manner a
third positioning member 66 is associated with gimbal 66 and a fourth
positioning member 68 is associated with the gimbal 58. Finally, a further
positioning member 70 is associated with gimbal 60. The positioning
members 62, 64, 66, 68 and 70 are utilized to support a tool post 72.
Positioning members 60, 62, 64 and 70 attach to an upper common coupler 74
while the positioning members 66 and 68 attach to a lower common coupler
76. An appropriate tool turret or carousel 78 extends from the tool post
72. A plurality of tools collectively identified by the numeral 80 are
located on the carousel 78. The tools 80 would be common machine tools as
are standard in the art. Representationally depicted by cylinder 82 would
be a variable speed tool motor and tool feed and retract mechanism.
Insofar as these are only one of many different working implements which
could be utilized with the robotic device 44, for the brevity of this
specification these components are only depicted schematically. The other
components of the robotic device 44 discussed in detail are utilized to
position these working implements within three dimensional space.
The positioning members 62, 64 and 66 are connected about a common center
of rotation within the upper coupler 74. The coupler of this embodiment is
seen in greater detail in FIG. 4. On the lower end of positioning member
70 is a ball 84. The ball 84 is fixed to the lower end of the positioning
member 70 so as to become an integral part thereof. The interior of the
ball 84 is hollow with an opening into this hollow interior opening out of
the lower pole of the ball 84. The tool post 72 extends upwardly through
the opening in the lower pole of the ball 84 and terminates in an inner
ball 86 which is positioned co-spherically within the hollow interior of
the ball 84. Since both the balls 84 and 86 have the same common center,
this allows for procession of the positioning member 70 with respect to
the tool post 72.
Encircling the ball 84 are upper and lower disks 88 and 90, respectively,
which are connected via a joining block 92 to positioning member 62. The
interior of the disks 88 and 90 are spherical so as to fit around the ball
84 allowing the disks 88 and 90 and the joining member 62 attached thereto
to also rotate about the common center of the balls 84 and 86.
A third, narrower disk, disk 94, is located between the two disks 88 and
90. The disk 94 is attached to the positioning member 64. The interior
surface of the disk 94 is also spherical so as to fit around the outside
surface of the ball 84 to connect the positioning member 64 to the
remainder of the | | |
