Robotic apparatus and method for automatically moving a tool through three dimensions and manually to an extended position
OwnerTorsten H. Lindbominventor
Life of this patent
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Abstract
A robotic welding apparatus has means for moving a tool assembly through a three dimensional space and along a computer controlled path. The tool assembly and a welding torch can be rotated about intersecting axes so as to change either or both the lead or drag angle and the weld angle of the welding torch.
Claims16
Apparatus wherein a tool is moved through a three-dimensional space and along a predetermined path in response to signals and in which the tool is also movable to an extended position so that the tool can perform work on an object comprising:
- (a) a fixed base;
- (b) a plurality of interconnected elements having one end connected to said base and terminating at another end;
- (c) means responsive to said signals to move said interconnected elements and to move said another end through three dimensions to a desired location;
- (d) a tool assembly attached to said another end;
- (e) a tool holder attached to said tool assembly;
- (f) a tool mounted in said tool holder;
- (g) means responsive to said signals to move said tool assembly to adjust a first angular relationship between said tool and said object;
- (h) means responsive to said signals to move said tool holder to adjust a second angular relationship between said tool and said object;
- (i) extending means connected to said tool assembly for permitting extended movement of said tool wherein said extending means includes a first position in which said first and second angular relationships are adjusted and a second position in which said tool is moved to an extended position in order to access a relatively more remote work area;
- (j) arm means operably connected to said extending means;
- and
- (k) shaft means connected to said arm means, said shaft means being at a fixed, predetermined angle relative to said arm means, said angle being selected to optimize the extension of said tool when said extending means is in said second position.
Method wherein a tool is moved through a three-dimensional space and along a predetermined path in response to computer actuated signals and in which the tool is manually moved to an extended position so that the tool can perform work on an object, comprising:
- (a) providing a fixed base;
- (b) interconnecting a plurality of elements;
- (c) connecting one end of said interconnected elements to said base and terminating said interconnected elements at another end;
- (d) moving said interconnected elements in response to said computer actuated signals to move said another end through three dimensions to a desired location;
- (e) attaching a tool assembly to said another end, said tool assembly including an arm means, a shaft means, a pin, and first and second notches;
- (f) attaching a tool holder to said tool assembly;
- (g) positioning said shaft means at a fixed, predetermined angle relative to said arm means and positioning said pin in said first notch;
- (h) mounting a tool in said tool holder;
- (i) moving said tool assembly in response to said computer actuated signals to adjust a first angular relationship between said tool and said object;
- (j) moving said tool holder in response to said computer actuated signals to adjust a second angular relationship between said tool and said object;
- (k) determining that said tool is to be extended for reaching a relatively more remote work area;
- (l) manually removing said pin from said first notch;
- (m) re-positioning said pin in said second notch;
- and
- (n) manually moving said tool to the relatively more remote work area.
Apparatus in which a tool is moved through a three-dimensional space and along a predetermined path in response to signals and in which the tool is also manually movable to an extended position so that the tool can perform work on an object comprising:
- (a) a fixed base;
- (b) a plurality of interconnected elements having one end connected to said base and terminated at another end;
- (c) means responsive to said signals to move said interconnected elements and to move said another end through three dimensions to a desired location;
- (d) a tool assembly attached to said another end, said tool assembly including pin means, first and second notch means, link means, and a tool, said tool, said pin means, and said first and second notch means being connected to said link means, said pin means being movable between said first notch means and said second notch means;
- and
- (e) means responsive to said signals to move said tool assembly to adjust a first angular relationship and to adjust a second angular relationship between said tool and said object, said pin means being positioned in said first notch means when using said means responsive to said signals to adjust said first angular relationship and said second angular relationship, and said pin means being positioned in said second notch means to manually move said link means and to optimize the extension of said tool.
Dependencies are inferred from the claim text.