Movable gantry system configured to interface with jigs of different sizes
AssigneeWilder Systems Inc.
InventorWilliam Wilder
Life of this patent
Estimating the term…
Abstract
A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.
Claims20
A system comprising:
- a movable system comprising a sensor system and dimensioned to interface with a plurality of jigs of different dimensions, the sensor system comprising at least one of an optical sensor or a magnetic sensor;
- and
- a computing system configured to:
- determine a relative position between the movable system and a jig of the plurality of jigs;
- detect, based on sensor data of the sensor system, a location on a part mounted to the jig;
- perform a datuming process prior to moving an end effector that is coupled with the movable system and that is associated with an operation to be performed, wherein performing the datuming process comprises:
- determining based on the location and the relative position, a three dimensional position of a datum point in a coordinate system of the movable system;
- determining by using at least one sensor of the sensor system, a surface of the part;
- determining an angle needed to normalize the end effector to the surface of the part at the datum point,
- determining based on the angle, at least a rotation about an X, Y, or Z axis of the coordinate system of the movable system, and
- determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X, Y, or Z axis to move and rotate the end effector from the current position to the three dimensional position and about the axis;
- and
- direct the end effector to perform the operation in the coordinate system on the part by at least translationally and rotationally moving, after the datuming process, the end effector based on the translational X, Y, and Z data and on the rotational data.
A method implemented by a computing system, the method comprising:
- determining a relative position between a movable system and a jig of a plurality of jigs, the movable system comprising a sensor system and dimensioned to interface with the plurality of jigs, the sensor system comprising at least one of an optical sensor or a magnetic sensor;
- detecting, based on sensor data of the sensor system, a location on a part mounted to the jig;
- determining, based on the location and the relative position, a three dimensional position of a datum point in a coordinate system of the movable system;
- determining, by using at least one sensor of the sensor system, a surface of the part;
- determining an angle needed to normalize an end effector included in the movable system to the surface of the part at the datum point;
- determining, based on the angle, at least a rotation about an X, Y, or Z axis of the coordinate system of the movable system;
- determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X, Y, or Z axis to move and rotate the end effector from the current position to the three dimensional position and about the axis;
- and
- directing the end effector to perform an operation in the coordinate system on the part based on the translational X, Y, and Z data and on the rotational data.
A non-transitory computer-readable storage medium comprising computer-readable instructions that, upon execution by a computing system, configure the computing system to perform steps comprising:
- determining a relative position between a movable system and a jig of a plurality of jigs, the movable system comprising a sensor system and dimensioned to interface with the plurality of jigs, the sensor system comprising at least one of an optical sensor or a magnetic sensor;
- detecting, based on sensor data of the sensor system, a location on a part mounted to the jig;
- determining, based on the location and the relative position, a three dimensional position of a datum point in a coordinate system of the movable system;
- determining, by using at least one sensor of the sensor system, a surface of the part;
- determining an angle needed to normalize an end effector included in the movable system to the surface of the part at the datum point;
- determining, based on the angle, at least a rotation about an X, Y, or Z axis of the coordinate system of the movable system;
- determining, prior to directing a translational and rotational movement of the end effector from a current position, translational X, Y, and Z data and rotational data about the X, Y, or Z axis to move and rotate the end effector from the current position to the three dimensional position and about the axis;
- and
- directing the end effector to perform an operation in the coordinate system on the part based on the translational X, Y, and Z data and rotational data.
Dependencies are inferred from the claim text.